CN113288429A - Space registration and real-time navigation method of breast minimally invasive interventional operation robot - Google Patents
Space registration and real-time navigation method of breast minimally invasive interventional operation robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Abstract
The invention discloses a space registration and real-time navigation method of a breast minimally invasive interventional operation robot, which comprises the following steps: s1, modeling and simulating the kinematics of the robot; s2, positioning and registering the navigation system; s3, performing coordinate scale calculation and space registration of an ICP registration algorithm; s4, positioning the pose of the puncture needle in real time, wherein the method can perform kinematics modeling on the puncture device and perform forward and inverse kinematics solution; the degree of freedom, configuration and geometric parameters of the designed robot can meet the requirements of breast biopsy puncture preliminarily verified, and the problem of inconsistent coordinate space scales is solved through an ICP iterative registration algorithm based on coordinate scale calculation and a registration algorithm simulation experiment; a navigation experiment platform is built based on an OptiTrack motion capture system and 3ds Max three-dimensional animation software, passive positioning probe calibration and image space registration are completed, and visualization and positioning tracking of puncture needle pose are realized.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to a space registration and real-time navigation method of a breast minimally invasive interventional operation robot.
Background
The breast cancer is a common female malignant tumor, seriously harms the physical health and life safety of a female, and is still the first of new malignant tumors of the female according to the statistics of latest cancer data, so that the early detection, the early diagnosis and the timely treatment of the breast cancer have very important practical significance for reducing the fatality rate and improving the life quality.
With the development of the robot technology and the medical image technology, many research units at home and abroad develop research on the operation of the robot-assisted doctor and have related products falling to the ground, the surgical robot becomes an important branch in the robot field, and China puts the surgical robot into the national major development strategy plan.
The invention patent with the application number of 202011199915.1 discloses a novel breast tumor puncture biopsy device, which comprises a fixed bracket, a roller device, an arc plate track, a connecting frame, a rotary joint, a first rotary frame, a second rotary frame and a biopsy gun; the rotary joint is connected with the fixed support, the connecting frame is connected with the rotary joint through bolts and nuts, the arc plate track is fixedly connected with the connecting frame, the roller device is installed on the arc plate track, the first rotary frame is connected with the roller device through bolts and nuts, the second rotary frame is connected with the first rotary frame through bolts and nuts, and the biopsy gun is installed on the second rotary frame; when the nut is loosened, the first rotating frame, the second rotating frame and the rotating joint can rotate, and when the nut is locked, the position is fixed.
The three-coordinate positioning device formed by the X-axis linear module, the Z-axis linear module and the Y-axis linear module has the advantages of high motion stability, high positioning precision and large working range; the puncture needle posture adjusting mechanism is designed according to the physiological shape of the breast tissue, the multi-posture motion of the puncture needle can be realized, a doctor operates the device on the basis of the breast tissue three-dimensional reconstruction, puncture path planning and intraoperative navigation technology to better implement a biopsy operation, the defect of manual puncture is effectively overcome, the accuracy and the biopsy success rate of the puncture operation are improved, but the device still needs the doctor to hold the puncture tail end by hand and manually push a biopsy gun to implement puncture, the limitation of passive joint design cannot be overcome, and the puncture point positioning precision and the tumor puncture precision cannot be ensured; although the patent of the invention also discloses that the device is also matched with image three-dimensional reconstruction software, a path planning algorithm and an optical positioning navigation system to realize accurate and safe puncture biopsy of the breast tumor, the operation process has too many manual operation links, thereby reducing the working efficiency, reducing the operation accuracy and increasing the pain of patients.
Disclosure of Invention
The invention aims to solve the main technical problem of providing a space registration and real-time navigation method of a breast minimally invasive interventional operation robot, which combines active and passive degrees of freedom, has high puncture point positioning precision and tumor puncture precision, completes passive positioning probe calibration and image space registration, and realizes visualization and positioning tracking of puncture needle pose.
In order to solve the technical problems, the invention provides the following technical scheme:
a space registration and real-time navigation method of a breast minimally invasive interventional operation robot comprises the following steps: s1, modeling and simulating the kinematics of the robot; s2, positioning and registering the navigation system; s3, performing coordinate scale calculation and space registration of an ICP registration algorithm; and S4, positioning the pose of the puncture needle in real time.
The following is a further optimization of the above technical solution of the present invention:
the robot kinematics modeling and simulation comprises: D-H modeling; the D-H modeling comprises the steps that firstly, a coordinate system is placed for a base, a tail end and each connecting rod of a robot by using a D-H rule, any two joints are connected by one connecting rod, the current joint is labeled as i-1, the specified coordinate system is Zi-1, the next joint is i, the specified coordinate system is Zi, the connecting rod between the joint i-1 and the joint i is labeled as i-1, the coordinate system is established, four types of D-H geometric parameters between two adjacent connecting rods are obtained, the D-H geometric parameters are substituted into a homogeneous coordinate transformation general formula to obtain a transformation matrix of the two adjacent connecting rods, and a pose transformation matrix of a robot base coordinate system and a tool tail end coordinate system is obtained through matrix multiplication; the common formula for homogeneous coordinate transformation is:
further optimization: the D-H modeled coordinate system is established as follows: (1) firstly, confirming a Z axis which is collinear with a joint axis; (2) determining a coordinate origin; (3) determining an X axis; (4) the Y-axis is determined according to the right hand rule.
Further optimization: the robot kinematics modeling and simulation further comprises positive kinematics modeling, wherein the positive kinematics modeling is to obtain a spatial position point set of the puncture needle tip through simulation according to the joint motion range; the DH coordinate system is assigned.
Further optimization: calculating a homogeneous transformation matrix between each adjacent joint as follows:
multiplying the 6 homogeneous transformation matrixes in sequence to obtain a pose transformation relation between the puncture needle terminal coordinate system and the base coordinate system:
wherein subarray N represents attitude information, another subarray P represents position information, each transformation matrix is substituted into a formula:
obtaining member values of the two sub-arrays;
further optimization: the robot kinematics modeling and simulation further comprises: inverse kinematics modeling: through an inverse kinematics model of the puncture needle pose adjusting mechanism, the motion amount of each joint is obtained under the condition that the position and the posture of the puncture needle are known, and the position and the posture of the puncture needle are obtained by optimal puncture path planning; the inverse kinematics modeling obtains the expressions of all joint variables as:
further optimization: positioning and registering a navigation system: the method comprises the following steps: navigation positioning and navigation registration;
the navigation positioning is the space positioning of a robot, a patient or an operation execution tail end, and the navigation positioning method is divided into a mechanical navigation system, an ultrasonic navigation system, an electromagnetic navigation system and an optical navigation system;
the navigation registration is to establish a coordinate system of a corresponding system by identifying coordinates of each point in a point set, and establish a relation between the coordinate systems of the two systems by searching the relation between the coordinates of each point set; the spatial registration method is divided into registration of spatial points and registration of spatial surfaces.
Further optimization: and (3) coordinate scale calculation: introduction of metric scale in registration algorithmsIntroducing a set of image space points into a scaling metric prior to computing an optimal transformation matrix for the two sets of pointssAnd obtaining a new point set for eliminating the scale error, and then carrying out spatial registration.
Further optimization: ICP registration algorithm for coordinate scale calculation: sequentially storing mark point coordinates obtained under an optical navigation system in a point setQIn the method, the coordinates of the marker points in the three-dimensional reconstruction image coordinate system are stored in a point set in sequencePIn the method, coordinate points in two point sets are in one-to-one correspondence, and the specific steps are as follows:
(1) is provided withP i Is a point setPAt one point in the above-mentioned (b),Q i is a point setQOne point of (1), two point sets are collected in orderPAndQthe coordinates of the mark points in (1) are in one-to-one correspondence;
(2) calculating a metric scalesTo collect pointsQCarrying out scale transformation to obtain a new point setPAndQ"；
(3) make the number of iterationsk=0, calculating the objective function
Minimum optimal transformation matrix, note
And
；
(4) computing a new set of points
；
(5) Computing
Set of points and
squared error between sets of points
；
(6) If square errordLess than a given thresholdεOr if the number of iterations is larger than the preset maximum number of iterations, outputting the corresponding conversion matrix, and otherwise, re-executing the step (4).
Further optimization: the position and the pose of the puncture needle are positioned in real time; the method adopts an OptiTrack three-dimensional motion capture system, matched motion software and 3ds Max three-dimensional image software to perform puncture needle real-time positioning and tracking, including puncture needle real-time pose acquisition and motion visualization, and comprises the following specific operation steps:
(1) calibrating a system platform: the method comprises the following steps that an Ethernet network cable is adopted to connect a camera and a PoE switch, the camera transmits information to the PoE switch, the switch supplies power to the camera, a star topology mode is adopted to connect an uplink switch, the uplink switch is connected with a PC, motion tracking software is installed, a software running environment is configured, camera calibration and global coordinate system selection are carried out according to a user manual, and platform calibration is completed;
(2) establishing a rigid body: determining a vector relation of 3 points in space needed by a plane, defining a rigid body by 3-10 points in motion, and respectively selecting mark points Marker under a 3D view of motion software to complete rigid body creation;
(3) real-time data transmission: the method comprises the steps that the Marker tracking software acquires Motion data, the Motion data are transmitted to the software for further development and processing, after a server is selected under a 'Streaming' pane in the Motion software, the function of network broadcast data is started, a data stream real-time transmission plug-in OptiTrack Motion Capture is loaded in a 3ds Max, the IP and the port number of a computer where the Motion is located are bound, a data format and a forwarding rule are configured, a framework or rigid body name needing to be acquired is selected, a coordinate system is calibrated, a model is built in the 3ds Max software, and a data source dynamically captured by the Motion software is configured on the model under the 'Motion' pane, so that real-time driving of the model is achieved.
The invention designs a breast minimally invasive intervention operation robot combining active and passive degrees of freedom by combining with the current situation of breast tissue biopsy operation, a robot body system consists of a passive joint mechanical arm and an active puncture device, a doctor is responsible for operating the passive joint mechanical arm to move the active puncture device to a puncture point, the active puncture device actively performs operation, and simultaneously researches a navigation system and a high-precision puncture method of the operation, so that the puncture point positioning precision and the tumor puncture precision are improved, the limitation of passive joint design is compensated, and the robot can enable puncture to be more stable and accurate by virtue of an image system, the navigation system and the robot body system, thereby improving the operation efficiency and the safety.
And a D-H modeling method is adopted to carry out kinematics modeling on the five-degree-of-freedom puncture device, and forward and inverse kinematics solution is carried out. A motion simulation model of the five-degree-of-freedom puncture device is drawn by using a Matlab robot tool box, a Monte Carlo method is used for solving space points of a working domain of the five-degree-of-freedom puncture device, and the designed degree of freedom, configuration and geometric parameters of the robot can meet the requirements of breast biopsy puncture through preliminary verification.
By adopting an ICP iterative registration algorithm based on coordinate scale calculation and performing a registration algorithm simulation experiment, the problem of inconsistent coordinate space scales is solved; a navigation experiment platform is built based on an OptiTrack motion capture system and 3ds Max three-dimensional animation software, passive positioning probe calibration and image space registration are completed, and visualization and positioning tracking of puncture needle pose are realized.
The invention is further illustrated with reference to the following figures and examples.
Drawings
Fig. 1 is a schematic structural diagram of a signal connection relationship between systems according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a piercing robot body system in embodiment 1 of the present invention;
fig. 3 is a schematic structural view of an active puncturing device in embodiment 1 of the present invention;
FIG. 4 is a schematic view showing the structure of a puncture needle and a hub in example 1 of the present invention;
fig. 5 is a schematic structural view of a breast immobilization device in embodiment 1 of the present invention;
FIG. 6 is a schematic structural view of a joint locking assembly according to embodiment 1 of the present invention;
FIG. 7 is a schematic diagram showing the arrangement of D-H coordinate systems in embodiment 1 of the present invention;
FIG. 8 is a schematic view showing a spatial position and orientation in embodiment 1 of the present invention;
FIG. 9 is a schematic configuration diagram of a D-H coordinate system of the puncture needle pose adjustment mechanism in embodiment 1 of the present invention;
FIG. 10 is a schematic diagram of Matlab modeling of a robot in embodiment 1 of the present invention;
FIG. 11 is views of a working space in example 1 of the present invention;
FIG. 12 is a flowchart illustrating the operation of the navigation system in embodiment 1 of the present invention;
fig. 13 is a schematic diagram of a registration algorithm based on scale calculation in embodiment 1 of the present invention;
fig. 14 is a flowchart of an ICP iterative registration algorithm based on coordinate scale calculation in embodiment 1 of the present invention;
fig. 15 is a graph of experimental error and coordinates in example 1 of the present invention.
In the figure: 1-a three-dimensional linear module; 101-X axis linear module; 102-Y axis linear module; 102-Z axis straight line module; 2-passive joint mechanical arm; 201-joint locking assembly; 2011-spline shaft; 2012-mechanical arm joint; 2013-a first friction plate; 2014-second friction pad; 2015-locking nut; 3-an active puncture device; 301-a first support; 302-electric slipway; 303-fixing block; 3031-mounting holes; 3032-connecting groove; 3033-mounting groove; 304-puncture needle; 305-a sleeve; 3051-a sleeve handle; 306-a spring post; 307-a second stent; 308-a linear motor; 309-a first connecting frame; 310-a guide block; 3101-pilot holes; 4-mammary gland fixation devices; 401-a second link; 402-a third link frame; 403-a fixing ring; 404-a third support; 405-an electric push rod; 406-ram; 407-adjusting screw; 408-cover plate.
Detailed Description
Example 1:
as shown in fig. 1-6, a breast minimally invasive intervention operation robot comprises a puncture robot body system, a navigation system, an image system and a doctor operating table, wherein the puncture robot body system, the navigation system and the image system are all in signal connection with the doctor operating table, the puncture robot body system comprises a three-dimensional linear module 1, a passive joint mechanical arm 2 is fixedly connected to a sliding block of a Y-axis linear module 102 of the three-dimensional linear module 1, an active puncture device 3 is installed at one end, far away from the three-dimensional linear module 1, of the passive joint mechanical arm 2, and a breast fixing device 4 is arranged between the three-dimensional linear module 1 and the active puncture device 3.
The three-dimensional linear module 1 comprises an X-axis linear module 101, a Y-axis linear module 102 and a Z-axis linear module 103, wherein the stroke of the X-axis linear module 101 is required to be more than or equal to 400mm, the stroke of the Y-axis linear module 102 is required to be more than or equal to 200mm, and the stroke of the Z-axis linear module 103 is required to be more than or equal to 200 mm.
Passive joint arm 2 includes a plurality of linking arms, and two adjacent linking arms pass through joint locking Assembly 201 to be connected, joint locking Assembly 201 is including the arm joint 2012 who is used for connecting two adjacent linking arms, and arm joint 2012 endotheca is equipped with integral key shaft 2011, and one side of arm joint 2012 is provided with first friction disc 2013.
The passive joint mechanical arm 2 is designed to be a passive joint without motor driving, the weight of the mechanical arm can be reduced, the size of the robot is reduced, the flexibility of the mechanical arm is enhanced, the purposes of avoiding obstacles, avoiding joint limits and avoiding singular positions can be achieved, and the passive joint mechanical arm has the advantages of simple structure and convenience in use for doctors.
According to the physiological characteristics of breasts, the five-degree-of-freedom passive joint mechanical arm 2 is designed to meet the requirement of the puncture degree of freedom, when the puncture device is used, the puncture device is only positioned above the breasts through the positioning device, and a doctor manually adjusts each joint to a proper puncture point and then actively punctures the joint through the active puncture device 3.
Active piercing depth 3 includes first support 301, and first support 301 rigid coupling keeps away from the one end of three-dimensional sharp module 1 at passive joint arm 2, and the rigid coupling has electronic slip table 302 on first support 301, and the rigid coupling has fixed block 303 on the slider of electronic slip table 302, electronic slip table 302 removes through 28 step motor drive sliders, and the stroke is 100 mm.
A mounting hole 3031 is formed in the fixing block 303, a connecting groove 3032 communicated with the mounting hole 3031 is formed in one side of the mounting hole 3031, and a mounting groove 3033 communicated with the connecting groove 3032 is formed in one side, far away from the mammary gland fixing device 4, of the connecting groove 3032.
The sleeve 305 is arranged in the mounting hole 3031, a sleeve handle 3051 is fixedly connected to the outer wall of the sleeve 305, and the puncture needle 304 is arranged in the sleeve 305. A spring column 306 for fixing a sleeve handle 3051 is arranged below the connecting groove 3032.
One side of the first bracket 301 is fixedly connected with a second bracket 307, the second bracket 307 is fixedly connected with a linear motor 308, the output end of the linear motor 308 is connected with a first connecting frame 309 in a transmission manner, and one end, far away from the linear motor 308, of the first connecting frame 309 is fixedly connected with a guide block 310.
The linear motor 308 is a linear stepping motor with the model of 20DBM-K, and the stroke is 20 mm.
The guide block 310 is a semi-spherical structure, and a guide hole 3101 for guiding the puncture needle 304 is formed in the guide block 310.
The breast fixing device 4 comprises a second connecting frame 401, the second connecting frame 401 is connected with the passive joint mechanical arm 2 in a sliding mode, the lower portion of the second connecting frame 401 is connected with a third connecting frame 402 in a rotating mode, and one end, far away from the second connecting frame 401, of the third connecting frame 402 is fixedly connected with a fixing ring 403.
The section of the second connecting frame 401 is of a 'Lu' shaped structure, and the section of the third connecting frame 402 is of an 'L' shaped structure.
A plurality of third supports 404 are fixedly connected to the outer circumference of the fixing ring 403, the third supports 404 are annularly arranged around the outer circumference of the fixing ring 403, an adjusting screw 407 is connected to the side wall, away from the fixing ring 403, of the third support 404 through threads, one end, close to the fixing ring 403, of the adjusting screw 407 is in transmission connection with an electric push rod 405, an output shaft of the electric push rod 405 is in transmission connection with a pressure head 406, and the pressure head 406 is in a semi-spherical structure.
The electric push rod 405 is a high-precision micro direct current motor push rod, the stroke is larger than 75mm, the thrust is 10N to 20N, the number of the electric push rod 405 and the number of the pressure heads 406 are not less than three, and the number of the electric push rod 405 and the number of the pressure heads 406 are four in the implementation.
The fixing device can realize the fixation of mammary gland tissues, and can also control the tumor tissues to actively shift to a puncture path by using a closed-loop control algorithm, so that the puncture precision is further improved, and the structural defects of the passive joint mechanical arm 2 are overcome.
Puncture robot body system design parameters: degree of freedom: the passive joint mechanical arm 2 has five degrees of freedom and comprises three rotary joints and two movable joints; the active puncture device 3 has an active degree of freedom.
The image system can be a modern imaging device such as ultrasound, CT, MRI and the like.
According to the soft and bone-free structural characteristics of breast tissues, the ultrasonic imaging device is adopted in the embodiment, compared with other guiding methods, the ultrasonic imaging device has great advantages in the aspects of patient comfort, radiation, operation time, economy and the like, and meanwhile, compared with the CT and MRI, the size of the ultrasonic imaging device is smaller, the configuration of the robot is not limited basically, and the limitation of ultrasonic imaging can be made up through an accurate path planning or puncture method, so that the ultrasonic imaging device is more suitable for being matched with the robot for use.
The doctor operating table mainly comprises an upper computer, a master controller and the like, and the doctor can perform operations such as puncture process monitoring, puncture path planning, navigation space registration, surgical robot control and the like through the doctor operating table.
The navigation system comprises a navigation tracker, a passive navigation support, a passive probe, a navigation workstation and other equipment, and is characterized in that the navigation system completes calibration of the passive joint mechanical arm 2 and the active puncture device 3 and registration of a three-dimensional image system and the navigation system based on a high-precision OptiTrack three-dimensional motion capture system based on an optical positioning principle and 3ds Max three-dimensional software, and finally realizes real-time navigation tracking of a puncture pose.
The OptiTrack three-dimensional motion capture system comprises a hardware system (a camera PrimeX 13) and a software system (motion), the shooting speed can reach hundreds of frames per second, and three-dimensional space information of a mark point can be accurately constructed.
The 3ds Max can acquire the pose data of the puncture needle 304 in real time and perform visual display, so as to guide a doctor to implement operation on the operation process through the passive joint mechanical arm 2 and the active puncture device 3.
The navigation system is used as a medium, a puncture robot body system, the navigation system, an image system and breast tissues of the robot are connected together by coordinate transformation, and signals are transmitted to a doctor operating table for cooperative processing.
Before an operation, the image system scans mammary tissue, a three-dimensional image system is established, the position of tumor tissue is searched and marked in the three-dimensional image system, the optimal puncture needle insertion point and puncture pose are planned in the three-dimensional image system, and the coordinate transformation relation between the three-dimensional image system and the navigation system is established through a registration technology according to the position coordinate of the mark point in the mammary tissue in the navigation system and the coordinate of the corresponding mark point in the three-dimensional image system, so that the coordinate transformation relation between any two systems in each system can be obtained, the planned puncture point in the three-dimensional image system can be converted into the robot body system, and the active puncture device 3 of the robot body system can be guided to reach the designated planning pose through the navigation system.
For a surgical robot navigation system, the real-time pose of a surgical instrument can be converted into a virtual image coordinate system only after registration of each space is completed, so that a doctor is guided to perform surgical operation.
The targeted tissue of the embodiment is mammary tissue, which is different from human skeleton, the mammary tissue belongs to soft tissue and has high mobility, the base coordinate of the mammary tissue continuously changes, and the mammary tissue belongs to a nonlinear time-varying system.
The space registration and real-time navigation method of the breast minimally invasive interventional operation robot comprises the following steps: modeling and simulating the kinematics of the robot; positioning and registering a navigation system; spatial registration based on coordinate scale calculation and ICP registration algorithm; and the position and the pose of the puncture needle are positioned in real time.
The robot kinematics modeling and simulation comprises: D-H modeling; modeling positive kinematics; modeling inverse kinematics;
the D-H modeling is a kinematics modeling method provided by Denavit and Hartenberg, firstly, a coordinate system is placed for a base, a tail end and each connecting rod of a robot by using a D-H rule, any two joints are connected by one connecting rod as shown in figure 7, the current joint is labeled as i-1, the specified coordinate system is Zi-1, the next joint is i, the specified coordinate system is Zi, the connecting rod between the joint i-1 and the joint i is labeled as i-1, and the accuracy of a kinematics model can be ensured only by following a certain rule when the connecting rod coordinate system is established.
The principle of XYZ three axes is selected: (1) first, the Z axis is confirmed, the Z axis is collinear with the joint axis, and the orientation is specified according to the convention.
(2) Determining a coordinate origin, wherein if the Z axes of two adjacent joints do not intersect, the coordinate origin is the intersection point of the common vertical line and the Z axis; if the Z axes of two adjacent joints are overlapped, selecting a point with the offset distance of 0 as the origin; if the Z axes of two adjacent joints intersect, the origin is the intersection point.
(3) Determining an X axis; if the Z axes of two adjacent joints do not intersect, the X axis is superposed with the common vertical line; if the Z axes of two adjacent joints are intersected, the X axis is perpendicular to the plane of the axes; if the Z axes of two adjacent joints are coincident, the X axis is perpendicular to the Z axes and the other link parameters are 0.
(4) The Y-axis is determined according to the right hand rule.
Establishing a correct coordinate system, thereby obtaining four types of D-H geometric parameters between two adjacent connecting rods, substituting the four types of D-H geometric parameters into a homogeneous coordinate transformation general formula to obtain a transformation matrix of the two adjacent connecting rods, and obtaining a pose transformation matrix of a robot base coordinate system and a tool tail end coordinate system through matrix multiplication operation; the four types of geometric parameters and their meanings are as follows:
length of connecting rod
: along an axisx i Direction, axis of rotationz i And axisz i-1The distance between them;
connecting rod torsion angle
: perpendicular tox i Plane, axisz i And axisz i-1The included angle between them;
offset of connecting rod
: along an axisz i Direction, axis of rotationx i-1And axisx i The distance between them;
corner joint
: perpendicular toz i Plane, axisx i-1And axisx i The included angle therebetween.
The homogeneous coordinate transformation general formula is essentially the superposition of the X-axis and Z-axis translational and rotational movements of the current coordinate system relative to the reference coordinate system:
the following are specifically mentioned: homogeneous transformation matrix:
the pose of the rigid body in the three-dimensional space comprises position information of three parameters and posture information of six parameters, and any rigid body has only one group of space and posture information which represents the position state of the rigid body in a three-dimensional space coordinate system. As shown in fig. 8, the coordinate system a is a reference coordinate system of the coordinate system B, and the coordinate system B is a coordinate system fixed to the rigid body.
The position of the rigid body is represented as a 3 x 1 matrix, i.e. the origin of the coordinate system BO BPosition in reference coordinate system a:
the posture of the rigid body is represented as a 3 x 3 matrix, and the column vector of the matrix is represented as one of the coordinate axes of the coordinate system BO B X B、O B Y B、O B Z BUnit principal vector on three coordinate axes of reference coordinate system a, from a geometrical perspective, attitude information, i.e., rotational motion of coordinate system { B } relative to reference coordinate system { a }:
through the rotating matrix general formula, a rigid coordinate system { B } can be obtained based on the three-coordinate-axis rotation of the reference coordinate systemθAttitude matrix after angle:
in robot kinematics analysis, a homogeneous coordinate system is used to move the rotationThe combination of the motion and the translation motion constructs a 4 × 4 homogeneous transformation matrix including both the rotation motion and the translation motion to describe a certain vector in the rigid coordinate system BB PPose transformation in reference coordinate system a:
wherein the content of the first and second substances,A P BORGrepresenting a translation transformation in the pose transformation,
representing a rotation transformation in the pose transformation.
Solving a robot forward and inverse kinematics model according to a robot kinematics analysis basis; forward kinematics is a process of giving variable parameters of each joint of the robot and solving the terminal pose of the robot; the inverse kinematics is to give the end pose of the robot and solve the variables of each joint of the robot, the counter robot comprises a three-degree-of-freedom positioning platform and a five-degree-of-freedom puncture needle pose adjusting mechanism, and the three-degree-of-freedom moving platform is used for fixing and suspending the active puncture device 3.
Positive kinematic modeling:
the establishment of the positive kinematic model of the pose adjusting mechanism is the mathematical basis of using MATLAB to carry out puncture working space analysis, and a spatial position point set which can be reached by the puncture needle tip can be obtained through simulation according to the joint motion range, so that whether the working space of the device provided by the invention meets the surgical requirements or not is judged.
As shown in FIG. 9, the assignment of the DH coordinate system is performed because the first joint is a rotating joint, the parametersd 1Is 0, so the base coordinate systemx 0 y 0 z 0And the first joint coordinate systemx 1 y 1 z 1Can be completely overlapped; rotary jointx 2 y 2 z 2Representing the rotational degree of freedom of the arc plate, located at the center of the arc plate, and parametersa 3Representing a coordinate systemx 3 y 3 z 3Distance to the center of the circle; increased moving coordinate systemx 5 y 5 z 5Setting parametersd 5At a constant value, using the coordinate system of the puncture needle tipx 6 y 6 z 6And a coordinate systemx 5 y 5 z 5Parameter of (2) in betweend 6To represent the movement variables of the fifth joint.
The nominal values of the geometric parameters were obtained from the results of the DH coordinate system assignment, as shown in the table below.
TABLE 3.1 nominal values of geometric parameters
| Joint |
 |
 |
 |
 |
Variation of joint | |
| 1 | 0 | 0 | 0 | 0 | θ 1 | 0-360 |
| 2 | 0 | -140 | 90 | 0 | θ 2 | 0-90 |
| 3 | 90 | 0 | 0 | 0 | θ 3 | 0-360 |
| 4 | 0 | 60 | -90 | 0 | θ 4 | -90-90 |
| 5 | 0 | d 5 | 90 | -90 | d 5 | 30 |
| 6 | 0 |
|
0 | 0 | d 6 | 0-20 |
Knowing the DH coordinate system configuration and the geometric parameters, calculating a homogeneous transformation matrix between each adjacent joint as follows:
and multiplying the 6 homogeneous transformation matrixes in sequence to obtain the pose transformation relation between the puncture needle terminal coordinate system and the base coordinate system:
wherein:
。
the above formula represents the position and attitude information of the puncture tip relative to the base coordinate system, where subarray N represents the attitude information and another subarray P represents the position information, and substituting each transformation matrix into formula 3.7 may obtain the membership values of the two subarrays:
in the formula:
，
the meanings of other symbols in the formula are abbreviated according to the expression method.
Inverse kinematics modeling:
solving the inverse kinematics of the robot, namely solving the variable values of all joints by using the known terminal pose information; the motion amount of each joint can be obtained under the condition that the position and the posture of the puncture needle are known through an inverse kinematics model of the puncture needle pose adjusting mechanism, and the position and the posture of the puncture needle are obtained by optimal puncture path planning; because the robot joint motion limit and the motion coupling, the robot can not reach any spatial posture, and the inverse kinematics model of the robot can help to eliminate the puncture needle planning posture which can not be reached; the inverse kinematics modeling adopts an iteration method to carry out kinematics inversion, and the specific kinematics inverse solution derivation process is as follows:
firstly, sequentially calculating an intermediate matrix used for solving the inverse kinematics model:
meanwhile, the matrix can be obtained by another formula with an expected pose matrix, elements in the expected pose matrix are known quantities, elements in the matrices on two sides are correspondingly equal, and a proper equation is selected for calculation to solve the unknown quantity.
According to
Therefore, the following steps are carried out:
can find outθ 3+θ 4The values of (A) are:
according to
Therefore, the following steps are carried out:
solving the equation set 3.17 can directly obtainθ 1The values of (A) are:
equation 3.18 squares the left and right sides and adds the equation to the left and right, eliminatingθ 3+θ 4Available cosθ 2Expression (c):
sin can be obtained according to equation 3.19 in the same wayθ 2Expression (c):
it is known thatθ 1Can obtain the value ofθ 2The values of (A) are:
according to the equation
Can find outd 6The value of (c):
according to
Therefore, the following steps are carried out:
because of the fact thatθ 1Andθ 2is known, can be foundθ 3The values of (A) are:
the expressions for all joint variables are finally obtained as follows:
kinematic solution example:
the Link function and the SerialLink function in the Matlab robot toolbox are used for establishing and connecting robot connecting rods, and a robot model is drawn through a plotpt function, as shown in fig. 10:
because the robot model has moving joints, the main procedures are as follows:
l (6) = Link ('theta', -pi/2, 'a',0, 'alpha', pi/2, 'qlim', [60,60])% defines the sixth Link
bot_robot.plotopt= {'workspace', [-300, 300, -200, 200,-350, 350]};
Assume a set of 6-element matrices
The matrix is a group of attitude parameters corresponding to the tail end in a joint space, a specific tail end attitude parameter value is solved by positive kinematics, a joint variable value is solved by inverse kinematics, and the tail end attitude parameter value and the joint variable value are compared to verify the correctness of the inverse kinematics solution.
Positive kinematic end pose matrix:
through the inverse kinematics calculation, the variables of each joint are obtained as
Identical to the matrix parameters given before, the correctness of the inverse kinematics solution is verified.
Simulation analysis of a robot working space:
the representative numerical method for solving the robot working space is a Monte Carlo method, and the Monte Carlo method is a statistical calculation method for random sampling. Firstly, each connecting rod parameter fixed value is required to be defined and the joint variable is assigned, and the spatial point of the working domain can be selected to take the position item of the terminal homogeneous transformation matrix for calculation.
The mammary gland can be approximately hemispheroid, the average radius is 70mm, the height is generally equal to the radius of the sphere which is 70mm, the calculated working space is shown in figure 11, and the designed puncture device and the size parameters basically meet the operation space requirement of mammary gland puncture.
The robot kinematics modeling and simulation comprises the steps of firstly describing pose transformation, homogeneous matrix transformation and a D-H modeling method, then carrying out kinematics modeling on a five-degree-of-freedom puncture device by adopting the D-H modeling method, and carrying out forward and inverse kinematics solution. A motion simulation model of the five-degree-of-freedom puncture device is drawn by using a Matlab robot tool box, a Monte Carlo method is used for solving space points of a working domain of the five-degree-of-freedom puncture device, and the designed degree of freedom, configuration and geometric parameters of the robot can meet the requirements of breast biopsy puncture through preliminary verification.
Positioning and registering a navigation system:
the navigation system is the 'eye' of the whole surgical robot system, so that the robot system is more intelligent and accurate; in a surgical robot space navigation positioning system, preoperative space registration and intraoperative real-time navigation tracking positioning are two key technical contents; the invention starts from a navigation system of a breast minimally invasive interventional operation robot, introduces the composition of the navigation system and a positioning and registering method, realizes the positioning and tracking of the posture of a puncture needle through the construction of the navigation system, and guides a doctor to adjust the puncture device to the optimal puncture position.
And (3) navigation workflow:
surgical robot systems based on navigation are generally divided into a robot body system, a patient system, a three-dimensional image system and a navigation system; the navigation system mainly comprises a navigation tracker, a passive navigation support, a passive probe and a navigation workstation, and is used as a medium for connecting the four systems of the robot together by coordinate transformation.
As shown in fig. 12, before operation, CT/MR scanning is performed on a diseased region of a patient to establish a three-dimensional image system, and an optimal puncture needle insertion point and a puncture pose are planned in the three-dimensional image system, and according to the position coordinates of a marker point in the patient system in a navigation system and the coordinates of a corresponding marker point in the three-dimensional image system, a coordinate transformation relationship between the three-dimensional image system and the navigation system is established through a registration algorithm, so that the coordinate transformation relationship between any two systems in the four systems can be obtained, and the planned puncture point in the three-dimensional image system can be converted into the patient system and a robot body system, so that the robot or a puncture tip can be guided to reach the designated planning pose through the navigation system.
The navigation system positioning and registering comprises: navigation positioning and navigation registration.
The navigation positioning refers to the space positioning of a robot, a patient or a surgical execution end in the surgical process. In view of the development of surgical navigation and positioning, the navigation and positioning method can be divided into a mechanical navigation system, an ultrasonic navigation system, an electromagnetic navigation system and an optical navigation system.
The mechanical navigation system is divided into a frame type mechanical positioning system and a frameless mechanical arm positioning system, and the frame type mechanical positioning method is mainly used for fixing the skull in the neurosurgery, has high positioning precision and occupies larger operation space; the frameless mechanical arm positioning is to solve the pose of a space point through a mechanical arm with a high-precision encoder and through the kinematic calculation of a robot. Mechanical navigation accuracy is relatively high and shielding problems do not exist, but certain mechanical device assistance is needed, operation is clumsy, and real-time positioning cannot be achieved. The ultrasonic navigation system utilizes the principle of ultrasonic waves to position certain characteristic points in an area, and the ultrasonic navigation needs to scan two-dimensional ultrasonic information to reconstruct a three-dimensional ultrasonic image so as to identify the characteristic points, and belongs to contact type positioning. The electromagnetic navigation belongs to non-contact positioning, the method is easy to realize, the problem of light path shielding does not exist, and the positioning precision is generally within 3 mm; in the operation area, ferromagnetic instruments are not lacked, and the metal objects can interfere with electromagnetic navigation.
The optical navigation method utilizes the principle of binocular vision, and has the highest precision in all navigation systems, and the positioning precision is within 0.5 mm. The optical navigation system is divided into an active type and a passive type, the passive type optical navigation system is composed of a device capable of sending and receiving optical signals and a plurality of optical reflection devices, and the system can calculate the position of the optical reflection device in a navigation space by calculating parameters such as reflection time and the like, so that the space posture of an instrument corresponding to the optical reflection device can be known. The active optical navigation positioning system consists of a receiver and a plurality of devices for actively transmitting optical signals. Compared with the prior art, the passive type surgical navigation system has the advantages of convenient operation, high positioning precision and easier realization of real-time navigation, but the light path shielding is an important factor influencing navigation in the surgical process.
Because the breast minimally invasive interventional operation robot uses the passive joint, a high-precision OptiTrack three-dimensional motion capture system based on an optical positioning principle is selected, wherein the high-precision OptiTrack three-dimensional motion capture system comprises a hardware system (a camera PrimeX 13) and a software system (motion), the shooting speed can reach hundreds of frames per second, and the three-dimensional spatial information of the mark point can be accurately constructed. Compared with the NDI positioning navigator commonly used by neurosurgical robots, the OptiTrack three-dimensional motion capture system has higher positioning precision which is as high as 0.1mm, has longer target point capture distance and leaves larger activity space for doctors.
The navigation registration is in the minimally invasive interventional operation robot system of mammary gland, the registration technology is the important means to link each subsystem of the robot together, mainly set up the coordinate system of the corresponding system by discerning the coordinate of each point in the set of points, set up the link between two system coordinate systems by searching the link between the coordinates of each set of points; the spatial registration method can be divided into registration based on spatial points and registration based on spatial surfaces according to different types of point sets used in the registration process.
Registration based on spatial points; the point-based registration is a registration method which is widely applied in the current surgical robot navigation system, and the point registration is based on some characteristic points before and after the surgery and mainly comprises frame type registration, anatomical characteristic point-based registration and external landmark point-based spatial registration. The frame type registration is to place a mark point which can be imaged under CT/MR on a mechanical frame, and the method has high precision but reduces the operation space of a doctor. The registration based on the anatomical feature points is realized by acquiring some feature points on the physiological structure of the patient, and the registration error of the method is large because the doctor manually selects the feature points and has autonomy and large error. The spatial registration based on external marker points is to fix the marker points capable of being imaged on the CT/MR in the affected area, which is basically no damage to the tissue, but the registration accuracy and the fixing mode are directly related.
Spatial surface based registration; the method comprises the steps of acquiring a series of surface random points as registration points, and establishing a conversion relation of corresponding points with surface data in a three-dimensional reconstruction image acquired before an operation. The method has high registration speed because the position of a single registration point does not need to be acquired. Generally, a laser scanner or ultrasonic scanning is adopted to collect random points on the surface of a space, but the registration points are more, so that the requirement on surgical hardware equipment is higher, and the navigation cost is increased.
The targeted tissue is the mammary tissue which is different from human skeleton, the mammary tissue belongs to soft tissue and has high mobility, the basic coordinate of the mammary tissue is constantly changed, and the mammary tissue belongs to a nonlinear time-varying system. In consideration of high research difficulty, the invention carries out simplification processing, and selects a registration method based on paired external feature points and a simplified breast model to carry out experimental verification of registration algorithm and real-time navigation.
Spatial registration based on coordinate scale calculation and ICP registration algorithm
The space registration technology is to unify the coordinate systems of all spaces into a certain coordinate system through the designated mark points and coordinate transformation. For a surgical robot navigation system, the real-time pose of a surgical instrument can be converted into a virtual image coordinate system only after registration of each space is completed, so that a doctor is guided to perform surgical operation. The essence of the spatial registration algorithm is to solve the set of source points
And a set of target points
Optimal rotation matrix therebetweenRAnd translation matrixTAnd substituting it into the following objective functionEAnd minimum.
The calculation of the optimal transformation matrix is the key for ensuring the successful registration of the space coordinate system. At present, the most commonly used optimal matrix solving methods mainly include a three-point method, a Singular Value Decomposition (SVD) method, a quaternion method, a closest point iterative algorithm (ICP), and the like. The singular value decomposition method and the quaternion method are computing methods based on paired point clouds, and have the advantages of simplicity and quickness in computing; the iterative algorithm can be applied to the calculation of unpaired point clouds, the registration accuracy is higher than that of the first three methods, but the ICP iterative algorithm is easy to fall into local optimization due to an initial value problem. Generally, a quaternion method or a singular value method is firstly adopted to solve a relatively accurate initial iteration matrix, and then an ICP algorithm is used to iterate an optimal matrix. Meanwhile, in the process of researching the registration algorithm, the problem of scale measurement difference possibly existing in the coordinate systems of the two systems is also considered, so that the ICP space registration algorithm based on the measurement scale is designed.
Quaternion method:
the quaternion method and the singular value decomposition method are two commonly used linear methods for solving the objective function, the quaternion method is called in the ICP iterative registration algorithm to solve the transformation matrix of a two-point set, and the concrete solving process of the quaternion method is as follows:
(1) in a first step, an objective function is defined. First, calculate the two-point setPAndQthe center of gravity of each is
And
represents:
will point setPAndQthe center of gravity is subtracted from the coordinates of each point in the image to convert the coordinates into two new point sets
And
：
wherein
。
Substituting the new point sets obtained by equations 4.4 and 4.5 into equation 4.1 yields:
in the formula (I), the compound is shown in the specification,
so that whenTWhen the value is not less than 0, the reaction time is not less than 0,Etaking the minimum value, equation 4.1 transforms to a new objective function:
(2) and secondly, solving a transformation matrix. From the objective function, a set of points is solvedPAndQcovariance matrix ofB：
Construction of a symmetric matrix from the elements in equation 4.8A：
Matrix arrayAThe eigenvector and unit quaternion corresponding to the maximum eigenvalue of (2)
Equality, representing the rotation matrix by a unit quaternionRComprises the following steps:
rotation matrix to be obtainedREquations 4.2 and 4.3 are put into 4.1 to obtain the translation vectorT：
Knowing the rotation matrix and the translation vector, the homogeneous transformation matrix of the two-point set is obtained
。
And (3) coordinate scale calculation:
the singular value decomposition method and the quaternion method need to be carried out in two coordinate spaces with the same measurement scale, but the difference of the measurement scale exists between the actual patient space and the image space, and the difference can cause larger registration error, so the measurement scale is introduced into the registration algorithms，sThe ratio of unit lengths of the coordinate system of the patient space and the image space is expressed, so that corresponding points of the two point sets are ensured to have the same measurement unit. Measurement scalesThe specific solving process is as follows:
suppose that the spatial points of the patient are centered at two points
And
the image space point set has two points
And
measure the scalesCan be expressed as:
after introducing the metric scale, the set of image space points can be represented as:
the objective function obtained from equation 4.7 can be converted to:
expanding equation 4.14 as follows:
rewrite equation 4.15 to:
equation 4.16 is further rewritten as:
it can be known that when
Error obtained from timeEMinimum, then dimensionsComprises the following steps:
as shown in FIG. 13, prior to computing the optimal transformation matrix for a two-point set, a set of image space points is introduced into a scaling metricsAnd obtaining a new point set for eliminating the scale error, and then carrying out spatial registration.
An ICP registration algorithm based on coordinate scale calculation:
the ICP algorithm is widely applied in the current surgical robot navigation system, and is substantially an optimal matching method based on a least square method. The ICP algorithm first needs to obtain two point setsQAndPaccording to certain constraint conditions, the target point set can be obtainedQTo search for a pointQ i And source point setPOne point inP i The shortest distance, called the neighboring point: (P i , Q i ) Then continuously iteratively solving an optimal rotation matrix between the two point setsRAnd translation matrixTAnd substituted into the error function 4.1 until the error function converges to a certain metric criterion or a preset number of iterations is reached, thereby achieving registration between the two point sets.
A specific implementation flow of the ICP iterative registration algorithm based on coordinate scale calculation is shown in fig. 14.
Because the scale of the point cloud obtained by the method is small, a point-to-point registration method is adopted. Sequentially storing mark point coordinates obtained under an optical navigation system in a point setQIn the method, the coordinates of the marker points in the three-dimensional reconstruction image coordinate system are stored in a point set in sequencePIn the method, coordinate points in two point sets are in one-to-one correspondence, so that the problem of searching the nearest point is solved. The method comprises the following specific steps:
(1) is provided withP i Is a point setPAt one point in the above-mentioned (b),Q i is a point setQOne point of (1), two point sets are collected in orderPAndQthe coordinates of the mark points in (1) are in one-to-one correspondence;
(2) calculating a metric scalesTo collect pointsQCarrying out scale transformation to obtain a new point setPAndQ"；
(3) make the number of iterationsk=0, calculating the objective function
Minimum optimal transformation matrix, note
And
；
(4) computing a new set of points
；
(5) Computing
Set of points and
squared error between sets of points
；
(6) If square errordLess than a given thresholdεOr if the number of iterations is larger than the preset maximum number of iterations, outputting the corresponding conversion matrix, otherwise, re-executing the step (4).
Registration algorithm simulation experiment:
the registration algorithm plays a crucial role in the construction of the whole navigation system, so before the registration algorithm is applied to engineering practice, the registration algorithm needs to be verified experimentally. Randomly selecting a group of point sets P1, assuming that the measurement scale S and the conversion matrix T1 are known, calculating the point set P1 through the conversion matrix to obtain a point set P2, wherein the spatial scales of the two point sets are consistent, dividing the point set P2 by the measurement scale S to obtain a point set P3 to be paired, and calculating the optimal rotation matrix T2 of the point sets P1 and P3 by respectively adopting the ICP registration algorithm based on coordinate scale calculation provided by the invention. And then randomly selecting a group of point sets Q1, respectively carrying out coordinate transformation by using transformation matrixes T1 and T2 to obtain new point sets Q2 and Q3, wherein Q2 is a reference point set, Q3 is an actual calculation point set, and the theoretical error of the algorithm is the Euclidean distance of the corresponding points of Q2 and Q3.
Theoretically, the registration accuracy will increase correspondingly with the increase of the number of the pairs of the mark points, but in practical engineering application, too many mark points will increase the time of the registration process and the complexity of the doctor operation, so that the reasonable selection of the number of the mark points is very necessary. The research in document [52] finds that when the number of the mark points exceeds a certain value, the increase of the registration accuracy is no longer obvious, and 6 to 10 mark points are generally the best, so that the data of 6 groups of mark points are selected for experimental verification to obtain an average error of 0.40mm, and as a result, the requirement of a navigation system on the spatial registration accuracy is met, and the experimental error and the coordinates are shown in fig. 15.
The puncture needle pose real-time positioning method and the navigation experiment comprise the following steps:
an OptiTrack three-dimensional motion capture system, matched motion software and 3ds Max three-dimensional image software are adopted to perform puncture needle real-time positioning and tracking experiments, including puncture needle real-time pose acquisition and motion visualization. In order to obtain the best tracking effect, before the calibration of the motion software is started, obstacles and reflective points which can block the camera are removed, and sunlight incidence is reduced. The specific operation steps are as follows:
(1) system platform calibration
Adopt Cat6 or higher version's ethernet cable, connect camera and PoE switch, the camera transmits information to PoE switch, and the switch supplies power for the camera. The system has 12 cameras and adopts two switches, so that an uplink switch is required to be connected in a star topology mode and is connected with a PC.
And installing motion tracking software, configuring a software operating environment, calibrating a camera and selecting a global coordinate system according to a user manual, and completing platform calibration.
Firstly, adjusting a camera holder to ensure that all cameras can irradiate the same area; starting a camera calibration option in motion software, and removing light-reflecting objects which cannot be removed in a field; the handheld Calibration rod shakes in a public area, Calibration sampling points are collected, and when the sampling points of the cameras are larger than 1000, Calibration results are directly calculated by using a Calibration option card under a Camera Calibration pane; when the calibration result is less than 1mm, the system is available, and when the result is not satisfactory, the camera calibration needs to be carried out again.
Then, a proper area is selected on the ground plane to place a calibration right angle, and the direction is ensured to be horizontal to the ground, wherein the longer side points to the positive direction of the Z axis, the shorter side points to the positive direction of the X axis, and the positive direction of the Y axis is determined to point upwards by the right-hand rule; the global coordinate system is calibrated using the "Ground Plane" tab under the software "Camera Calibration" pane and the data is saved.
(2) Rigid body building
The method is characterized in that a vector relation of 3 points in space is needed for determining a plane, 3-10 points are generally needed to define a rigid body in motion, and 4 marking points are selected to create the rigid body. And respectively selecting mark points Marker under the 3D view of the motion software to complete rigid body creation. After the rigid body is created, the default Pivot Point (Pivot Point) is located at the geometric center, and the direction of the local coordinate axis is consistent with the global coordinate axis during calibration, and the local coordinate axis can be modified by software. The Rigid Body motion pose information can be displayed in Real Time by using a 'Real-Time Info' tab under a software 'Rigid Body' pane, wherein the motion position information is changed by a pivot point relative to the origin of a global coordinate system, and the pose information is changed by a Rigid Body initial coordinate axis.
(3) Real-time data transmission
The Motion data collected by Marker tracking software can be transmitted to other software (ROS, 3ds Max, Motion Builder, and the like) for further development and processing, and various methods for transmitting data in real time are available, such as VRPN, NatNet SDK, and the like, which are integrated by the Motion software. After a server is selected under a 'Streaming' pane in the motion software, the function of network broadcast data is started. Loading a data stream real-time transmission plug-in OptiTrack Motion Capture in 3ds Max, binding an IP (Internet protocol) and a port number of a computer where Motion is located, configuring a data format and a forwarding rule, selecting a framework or rigid body name to be collected, and calibrating a coordinate system. A model is established in 3ds Max software, and a data source dynamically captured by the Motion software is configured on the model under a Motion pane, so that real-time driving of the model can be realized.
Passive positioning probe calibration:
the probe calibration is used for calculating the pose of the needle tip in the global coordinate system, and aims to measure the pose of the space mark point in the global coordinate system, acquire point cloud data and realize space registration. Firstly, four reflective marker points are placed at the tail end of the probe, the motion tracking software can acquire pose change information of the tail end of the probe in real time, and a local coordinate system of the tail end of the probe is calculated according to position and pose data acquired by the softwareO rigid Global coordinate system of three-dimensional motion capture systemO O Is converted into a matrix
。
An original conversion matrix output by the OptiTrack three-dimensional motion capture system is represented based on Euler angles, the Euler angles are obvious in geometric sense and simple in representation, but singularity problems easily occur and multiple times of triangular calculation is needed[52]. The present invention uses quaternions to represent the rotation matrix between the two coordinate systems. Knowing the Euler angles, a rotation matrix represented by a quaternion can be obtained in the order of the rotation of the Euler angles Z-Y-X
。
The quaternion is converted to euler angles as:
probe tip coordinate systemO N And a global coordinate systemO O The relationship (c) needs to be obtained by calibration. Preparing a calibration block, placing the probe tip at the center of the calibration block, and performing a rotational motion.
At the moment, the motion software records a local coordinate system when the tail end of the probe rotatesO rigid In a global coordinate systemO O Is as followsnThe attitude change data is calculated when the probe is rotated to the first positioniIn position, the rotation matrix is expressed as
The translation matrix is represented as
Substituting the following formula:
wherein the content of the first and second substances,P t the coordinate of the needle tip under the global coordinate system of the capturing system;P r is the coordinate of the tip in the local coordinate system of the probe end. When the probeWhen the rotating wheel rotates to any position,P t the coordinates are constant with respect to the local coordinate system, so the following is obtained:
mixing the aboven-1 equation is added to obtain:
order to
，
Equation 4.25 can be simplified to:
multiplying both sides of equation 4.26 simultaneously
Obtaining:
will find outP r Substituting into the formula 4.23, the position information of the needle tip under the global coordinate system under different spatial positions can be obtained.
And (3) registering the three-dimensional image with a navigation system:
the global coordinate system of the OptiTrack three-dimensional motion capture system is not consistent with the global coordinate system of the 3ds Max image space, so that the real-time positioning navigation of the tail end can be realized only after the registration of the navigation space and the image space is completed. Because human organ tissue irregularity and the real organ three-dimensional reconstruction process are complex and need to be subjected to a plurality of processes such as image processing, image segmentation, image reconstruction and the like, the regular hemispherical simplified model is used for replacing the breast and 3D printing entity, and meanwhile, an image model with the equivalent size is directly established in 3ds Max, and the method is mainly used for researching and realizing the real-time navigation process.
The mark points and the passive bracket with the reflecting mark points are arranged on the breast model, so that the coordinate system of the patient system can be determinedO patient Because the present invention employs a substantially fixed three-dimensional model, the motion transfer relationship between the patient system and the image system is not considered. Obtaining the global coordinate system of the breast model mark points in the navigation space by using the calibrated passive navigation probeO o The location information in (1); coordinate values of corresponding position points of the breast three-dimensional model can be acquired by using a grid capture function on 3ds Max software, and the coordinate information is based on the image global coordinate system spaceO i And (5) obtaining by map. Using a registration algorithm, a transformation matrix between two coordinate systems can be determined
And completing the registration between the coordinate system of the three-dimensional reconstruction image and the coordinate system of the motion capture system.
Puncture needle real-time navigation experiment:
firstly, after the system platform construction, the camera calibration and the coordinate system selection are completed according to the steps, the motion software can acquire the pose change information of the mark points, the rigid bodies or the frameworks. Then, calibrating the positioning probe, and acquiring probe change position data from motion.
And then, touching the mark points on the breast model by using the calibrated positioning probe to obtain coordinate values of a global coordinate system in a navigation space, wherein the coordinate values correspond to the coordinate values in the 3ds Max image space one by one, and calculating the optimal transformation matrix of the two spaces by using a registration algorithm.
After the calculation of the spatial registration matrix is completed, the correction of the rotation matrix is carried out in the data stream real-time transmission plug-in OptiTrack Motion Capture, and the correction of the translation matrix is carried out in 3ds Max software. And a real-time data stream transmission interface is configured, so that the pose data of the puncture needle can be acquired in real time in 3ds Max and can be visually displayed.
The above description introduces the surgical robot navigation system, and selects the navigation positioning method and the registration method according to the requirements of the present invention; an ICP iterative registration algorithm based on coordinate scale calculation is provided, and a registration algorithm simulation experiment is performed, so that the problem of inconsistent coordinate space scales is solved; a navigation experiment platform is built based on an OptiTrack motion capture system and 3ds Max three-dimensional animation software, passive positioning probe calibration and image space registration are completed, and visualization and positioning tracking of puncture needle pose are realized.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (10)
1. A space registration and real-time navigation method of a breast minimally invasive interventional operation robot is characterized by comprising the following steps: the method comprises the following steps: s1, modeling and simulating the kinematics of the robot; s2, positioning and registering the navigation system; s3, performing coordinate scale calculation and space registration of an ICP registration algorithm; and S4, positioning the pose of the puncture needle in real time.
2. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 2, characterized in that: the robot kinematics modeling and simulation comprises: D-H modeling; the D-H modeling comprises the steps that firstly, a coordinate system is placed for a base, a tail end and each connecting rod of a robot by using a D-H rule, any two joints are connected by one connecting rod, the current joint is labeled as i-1, the specified coordinate system is Zi-1, the next joint is i, the specified coordinate system is Zi, the connecting rod between the joint i-1 and the joint i is labeled as i-1, the coordinate system is established, four types of D-H geometric parameters between two adjacent connecting rods are obtained, the D-H geometric parameters are substituted into a homogeneous coordinate transformation general formula to obtain a transformation matrix of the two adjacent connecting rods, and a pose transformation matrix of a robot base coordinate system and a tool tail end coordinate system is obtained through matrix multiplication;
the common formula for homogeneous coordinate transformation is:
3. the method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 2, characterized in that: the D-H modeled coordinate system is established as follows: (1) firstly, confirming a Z axis which is collinear with a joint axis; (2) determining a coordinate origin; (3) determining an X axis; (4) the Y-axis is determined according to the right hand rule.
4. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 3, characterized in that: the robot kinematics modeling and simulation further comprises positive kinematics modeling, wherein the positive kinematics modeling is to obtain a spatial position point set of the puncture needle tip through simulation according to the joint motion range; the DH coordinate system is assigned.
5. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 4, characterized in that: calculating a homogeneous transformation matrix between each adjacent joint as follows:
multiplying the 6 homogeneous transformation matrixes in sequence to obtain a pose transformation relation between the puncture needle terminal coordinate system and the base coordinate system:
wherein:
；
wherein subarray N represents attitude information, another subarray P represents position information, each transformation matrix is substituted into a formula:
obtaining member values of the two sub-arrays;
6. the method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 5, characterized in that: the robot kinematics modeling and simulation further comprises: inverse kinematics modeling: through an inverse kinematics model of the puncture needle pose adjusting mechanism, the motion amount of each joint is obtained under the condition that the position and the posture of the puncture needle are known, and the position and the posture of the puncture needle are obtained by optimal puncture path planning; the inverse kinematics modeling obtains the expressions of all joint variables as:
7. the method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 6, characterized in that: positioning and registering a navigation system: the method comprises the following steps: navigation positioning and navigation registration;
the navigation positioning is the space positioning of a robot, a patient or an operation execution tail end, and the navigation positioning method is divided into a mechanical navigation system, an ultrasonic navigation system, an electromagnetic navigation system and an optical navigation system;
the navigation registration is to establish a coordinate system of a corresponding system by identifying coordinates of each point in a point set, and establish a relation between the coordinate systems of the two systems by searching the relation between the coordinates of each point set; the spatial registration method is divided into registration of spatial points and registration of spatial surfaces.
8. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 7, characterized in that: and (3) coordinate scale calculation: introduction of metric scale in registration algorithmsIntroducing a set of image space points into a scaling metric prior to computing an optimal transformation matrix for the two sets of pointssAnd obtaining a new point set for eliminating the scale error, and then carrying out spatial registration.
9. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 8, characterized in that: ICP registration algorithm for coordinate scale calculation: sequentially storing mark point coordinates obtained under an optical navigation system in a point setQIn the method, the coordinates of the marker points in the three-dimensional reconstruction image coordinate system are stored in a point set in sequencePIn the method, coordinate points in two point sets are in one-to-one correspondence, and the specific steps are as follows:
(1) is provided withP i Is a point setPAt one point in the above-mentioned (b),Q i is a point setQOne point of (1), two point sets are collected in orderPAndQthe coordinates of the mark points in (1) are in one-to-one correspondence;
(2) calculating a metric scalesTo collect pointsQCarrying out scale transformation to obtain a new point setPAndQ"；
(3) make the number of iterationsk=0, calculating the objective function
Minimum optimal transformation matrix, note
And
；
(4) computing a new set of points
；
(5) Computing
Set of points and
squared error between sets of points
；
(6) If square errordLess than a given thresholdεOr if the number of iterations is larger than the preset maximum number of iterations, outputting the corresponding conversion matrix, and otherwise, re-executing the step (4).
10. The method for the spatial registration and the real-time navigation of the breast minimally invasive interventional surgery robot according to claim 9, characterized in that: the position and the pose of the puncture needle are positioned in real time; the method adopts an OptiTrack three-dimensional motion capture system, matched motion software and 3ds Max three-dimensional image software to perform puncture needle real-time positioning and tracking, including puncture needle real-time pose acquisition and motion visualization, and comprises the following specific operation steps:
(1) calibrating a system platform: the method comprises the following steps that an Ethernet network cable is adopted to connect a camera and a PoE switch, the camera transmits information to the PoE switch, the switch supplies power to the camera, a star topology mode is adopted to connect an uplink switch, the uplink switch is connected with a PC, motion tracking software is installed, a software running environment is configured, camera calibration and global coordinate system selection are carried out according to a user manual, and platform calibration is completed;
(2) establishing a rigid body: determining a vector relation of 3 points in space needed by a plane, defining a rigid body by 3-10 points in motion, and respectively selecting mark points Marker under a 3D view of motion software to complete rigid body creation;
(3) real-time data transmission: the method comprises the steps that the Marker tracking software acquires Motion data, the Motion data are transmitted to the software for further development and processing, after a server is selected under a 'Streaming' pane in the Motion software, the function of network broadcast data is started, a data stream real-time transmission plug-in OptiTrack Motion Capture is loaded in a 3ds Max, the IP and the port number of a computer where the Motion is located are bound, a data format and a forwarding rule are configured, a framework or rigid body name needing to be acquired is selected, a coordinate system is calibrated, a model is built in the 3ds Max software, and a data source dynamically captured by the Motion software is configured on the model under the 'Motion' pane, so that real-time driving of the model is achieved.
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