CN115153782A - Puncture robot space registration method under ultrasonic guidance - Google Patents

Abstract

The embodiment of the present invention provides a method for spatial registration of a puncture robot under ultrasonic guidance. The method obtains the conversion relationship between the initial position coordinate system of the needle tip, the camera coordinate system and the coordinate system of the robot arm through the structure, and establishes the needle tip through the control of the motor. The transformation relationship between the coordinate system of the current position and the coordinate system of the robot arm completes the spatial registration between the puncture needle and the robot; the transformation between the coordinate system of the initial ultrasonic position and the coordinate system of the camera is established by identifying the marker points on the initial ultrasonic position by the camera. Through the control of the motor, the transformation relationship between the current position coordinate system of the ultrasound and the coordinate system of the initial position is established to complete the space registration between the ultrasound and the robot; through the registration, the current position coordinate system of the needle tip and the ultrasound current position coordinate system are obtained. After the conversion relationship is obtained, the final conversion relationship between the current position coordinate system of the needle tip and the image coordinate system is obtained by combining the conversion relationship between the ultrasonic coordinate system and the image coordinate system.

Description

A space registration method for puncture robot under ultrasound guidance

technical field

An example of the present invention relates to the field of artificial intelligence, in particular to a method for spatial registration of a puncture robot under the guidance of ultrasound.

Background technique

With the development of robotics, the application of robots in the medical field has also developed rapidly. Among them, due to the high-precision characteristics of surgery, higher requirements are placed on the spatial registration technology of robots. The spatial registration technology of medical robots is aimed at The technology of establishing the coordinate system transformation relationship between the robot, the instrument and the patient is the key technology to complete the intraoperative navigation.

At present, the commonly used method for spatial registration of medical robots is to install markers at the appropriate positions of patients, surgical instruments and robots, and place them within the recognition range of the positioning system. The conversion relationship between the coordinate systems of the positioning system; based on the above three conversion relationships, the coordinate system of the positioning system can be used as an intermediate conversion medium to establish the mutual conversion relationship between the robot coordinate system, the surgical instrument coordinate system and the patient coordinate system, so as to complete the Spatial registration between patients, surgical instruments, and robots.

However, in the process of realizing the above-mentioned space registration, due to the particularity of the positioning system, a large space is often required to arrange the positioning system, or it is easily interfered by the complex surgical environment, which is difficult to arrange in the surgical scene.

SUMMARY OF THE INVENTION

One of the technical problems solved by the embodiments of the present application is to provide a space registration method for a puncture robot under the guidance of ultrasound, which not only compresses the layout space in the surgical scene, but also is not easily affected by the complex surgical environment while facilitating the layout. Interference, synchronization can complete the space registration again.

An embodiment of the present invention provides a method for spatial registration of a puncture robot under ultrasonic guidance, including: according to the puncture needle being fixedly connected to the end of the robot arm through a mechanical structure driven by a motor, a binocular camera being fixedly connected to the front end of the end of the robot arm, and a mechanical The coordinates of the end of the manipulator in the coordinate system of the manipulator obtained by the forward kinematics of the arm are used to establish the transformation relationship between the coordinate system of the initial position of the needle tip, the coordinate system of the binocular camera and the coordinate system of the manipulator.

According to the initial conversion relationship between the initial position coordinate system of the needle tip and the coordinate system of the manipulator, and the movement distance of the current position of the needle tip relative to the initial position obtained through the control of the motor, the relationship between the coordinate system of the current position of the needle tip and the coordinate system of the manipulator is established. The conversion relationship between the puncture needle and the robot completes the spatial registration.

According to the spatial coordinates in the camera coordinate system of at least five marker points on the ultrasonic initial position recognized by the camera on the end of the robotic arm, the marker points are divided into three groups, wherein the two groups respectively contain two points to determine the direction of one axis , and the third group contains a point set as the coordinate origin to establish the transformation relationship between the ultrasonic initial position coordinate system and the camera coordinate system.

According to the conversion relationship between the ultrasonic initial position coordinate system and the camera coordinate system, and the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system is established through the control of the motor, the ultrasonic current position coordinate system and the robot arm coordinates are established. The transformation relationship between the departments completes the spatial registration between the ultrasound and the robot.

The final transformation relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound is obtained according to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot.

According to the final transformation relationship between the coordinate system of the current position of the needle tip and the coordinate system of the current position of the ultrasound, and the transformation relationship between the coordinate system of the current position of the ultrasound and the coordinate system of the image, the coordinate system of the current position of the needle tip, the coordinate system of the current ultrasound position and The final transformation relationship between image coordinate systems.

Optionally, the five marked points are divided into three groups, wherein each of the two groups has two points, and the lines connecting the two points are perpendicular to each other, and are respectively demarcated as two coordinate axes of the ultrasonic coordinate system, and the third group of marks The point is only one point, which is calibrated as the coordinate origin and determined as the third coordinate axis of the ultrasonic coordinate system, and the ultrasonic coordinate system is established.

Optionally, the rotation of the ultrasound, the feeding movement in the front-rear direction and the movement of the puncture needle are controlled by a motor, thereby determining the transformation relationship between the coordinate system of the current position of the ultrasonic wave and the current position of the needle tip of the puncture needle and the coordinate system of the initial position. .

Optionally, the step of obtaining the final transformation relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound by the spatial registration between the puncture needle and the robot and the spatial registration between the ultrasound and the robot is: according to the needle tip. The conversion relationship between the initial position coordinate system and the robot coordinate system, as well as the conversion relationship between the current position coordinate system of the needle tip and the initial position coordinate system, establish the first spatial relationship between the current position coordinate system of the needle tip and the robot coordinate system; The transformation relationship between the established robot and the ultrasonic initial position is the second spatial relationship; according to the transformation relationship between the ultrasonic current position coordinate system and the initial position coordinate system, and the second spatial relationship, the ultrasonic current position coordinate system and the ultrasonic current position coordinate system are established. A third spatial relationship between the robot coordinate systems; according to the first spatial relationship and the third spatial relationship, a fourth spatial relationship between the current ultrasonic position coordinate system and the current position coordinate system of the puncture needle tip is established.

Optionally, according to the final conversion relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound, and the conversion relationship between the current position coordinate system of the ultrasound and the image coordinate system, establish the current position coordinate system of the needle tip, The steps of the final conversion relationship between the ultrasonic current position coordinate system and the image coordinate system are as follows: the emission surface of the ultrasonic wave on the ultrasonic wave is fixed, and a fifth spatial relationship between the ultrasonic image space coordinate system and the ultrasonic current position coordinate system can be established, and then the ultrasonic wave can be established. According to the fourth spatial relationship, the conversion relationship between the current position coordinate system of the puncture needle and the ultrasound image spatial coordinate system is established, which is the sixth spatial relationship. Combined with the fifth and sixth spatial relationships, the surgical instruments and ultrasound are uniformly mapped to the ultrasound image. In the space, the final transformation relationship between the coordinate systems of the image, ultrasound, and puncture needle is established, and the spatial registration of the image, ultrasound, and surgical instruments is completed.

It can be seen from the above technical solutions that the ultrasonic-guided puncture robot space registration method provided by the embodiment of the present application is based on the fact that the puncture needle is fixedly connected to the end of the mechanical arm through a motor-driven mechanical structure, and the binocular camera is fixedly connected to the front end of the end of the mechanical arm. And the coordinates of the end of the manipulator in the coordinate system of the manipulator obtained through the forward kinematics of the manipulator, establish the conversion relationship between the coordinate system of the initial position of the needle tip, the coordinate system of the binocular camera and the coordinate system of the manipulator; The initial conversion relationship between the position coordinate system and the robot arm coordinate system, as well as the movement distance of the current position of the needle tip relative to the initial position obtained through the control of the motor, establish the conversion relationship between the current position coordinate system of the needle tip and the robot arm coordinate system, Complete the spatial registration between the puncture needle and the robot; according to the spatial coordinates in the camera coordinate system of at least five marker points on the ultrasonic initial position identified by the camera on the end of the robotic arm, the marker points are divided into three groups, two of which are divided into three groups. The group respectively contains two points to determine the direction of an axis, and the third group contains a point set as the coordinate origin to establish the transformation relationship between the ultrasonic initial position coordinate system and the camera coordinate system; according to the ultrasonic initial position coordinate system and the camera The conversion relationship between the coordinate systems, and the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system is established through the control of the motor, and the conversion relationship between the ultrasonic current position coordinate system and the robot arm coordinate system is established. The space registration between the robots; according to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot, the final transformation relationship between the coordinate system of the current position of the needle tip and the coordinate system of the current position of the ultrasound is obtained; according to the The final conversion relationship between the coordinate system of the current position of the needle tip and the coordinate system of the current position of the ultrasound, as well as the conversion relationship between the coordinate system of the current position of the ultrasound and the coordinate system of the image, to establish the coordinate system of the current position of the needle tip, the coordinate system of the current ultrasound position and the image coordinate system The final transformation relationship between the images, ultrasound and the current position of the puncture needle completes the spatial registration.

Compared with the surgical robot space registration method in the prior art, this practical embodiment, on the one hand, starts from the robot body and establishes a high-precision conversion relationship between high-precision surgical instruments, sensors and the robot through the mechanical structure. The sensor performs spatial positioning of the ultrasound, establishes a high-precision transformation relationship between the ultrasound coordinate system and the robot coordinate system, and then uses the ultrasound as the registration medium to complete the image, ultrasound, robot and surgical instruments through the fixed transformation relationship between the ultrasound and the image. The high-precision spatial registration between the two devices solves the difficult placement of the positioning system and the difficulty of clinical application; on the other hand, the rotation of the ultrasound, the feeding movement in the front and rear directions, and the movement of the puncture needle are controlled by the motor to establish the current position of the ultrasound and the puncture needle. The conversion relationship between the coordinate system of the current position of the needle tip and the coordinate system of the initial position forms an important part of the entire spatial registration process. The motor control accuracy has a crucial impact on the spatial registration accuracy. Here, the motor uses a servo motor Precise control ensures the accuracy of the final spatial registration.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

FIG. 1 is a schematic flowchart of a method for spatial registration of a puncture robot under ultrasound guidance according to an embodiment of the present application.

Detailed ways

Of course, implementing any technical solution of the embodiments of the present invention does not necessarily need to achieve all the above advantages at the same time.

In order to make those skilled in the art better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described above are only a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the embodiments of the present invention should fall within the protection scope of the embodiments of the present invention.

As shown in FIG. 1 , an embodiment of the present application provides a method for registration of controls of a puncture robot under the guidance of ultrasound, including steps 101-106.

Step 101: The puncture needle is fixedly connected to the end of the manipulator through the motor-driven mechanical structure, the binocular camera is fixedly connected to the front end of the manipulator, and the end of the manipulator obtained through the forward kinematics of the manipulator is in the coordinate system of the manipulator The coordinates of the initial position of the needle tip, the coordinate system of the binocular camera and the coordinate system of the robot arm are established.

During the actual operation, a set of end effector is fixedly installed at the end of the robotic arm by bolting, a camera module is fixedly connected by bolts on the front end surface of the end effector, and a puncture is connected by bolts on the motion device of the end effector. For needle modules, the installation accuracy of each module is guaranteed by machining and assembly accuracy. As long as the mechanical structure design is reliable, the dimensional relationship between each module can be obtained from the design drawing, so as to establish a high-precision conversion relationship.

Step 102: According to the initial conversion relationship between the initial position coordinate system of the needle tip and the coordinate system of the robot arm, and the movement distance of the current needle tip position relative to the initial position obtained through the control of the motor, establish the current position coordinate system of the needle tip and the robot arm. The transformation relationship between the coordinate systems completes the spatial registration between the puncture needle and the robot.

During the actual operation, the initial installation position of the puncture needle is set as the initial position of the puncture needle, and the coordinate system of the initial position of the puncture needle tip can be obtained from the method described in step 101, and the puncture needle module is driven by the motor through the mechanical transmission structure. The circular rotation of the motor is converted into the forward and backward movement of the puncture needle along the needle axis to achieve the effect of puncturing. During this process, the mechanical transmission accuracy and the control accuracy of the motor will have a great impact on the current position of the final puncture needle tip. , to solve this problem by using a servo motor for high-precision closed-loop control, the high-precision conversion relationship between the current position of the puncture needle and the initial position can be obtained, and then combined with the coordinate system of the initial position of the puncture needle tip obtained in step 101 and the robot The conversion relationship between the coordinate systems can map the current position coordinate system of the puncture needle to the robot coordinate system, and establish a high-precision conversion relationship between the current position coordinate system of the puncture needle and the robot coordinate system, which is the first spatial relationship.

Step 103: According to the spatial coordinates in the camera coordinate system of at least five marker points on the ultrasonic initial position recognized by the camera on the end of the robotic arm, the marker points are divided into three groups, wherein each of the two groups contains two points to determine one. The direction of the axis, the third group contains a point set as the coordinate origin to establish the transformation relationship between the ultrasonic initial position coordinate system and the camera coordinate system.

During the actual operation, five marker points with a specific positional relationship are installed on the ultrasonic support frame at a fixed position. They are perpendicular to each other and are coplanar. The directions determined by these two sets of points are respectively calibrated as the directions of the two coordinate axes of the ultrasonic coordinate system. The third set of marked points has only one point, which is calibrated as the coordinate origin, and this point is determined to be determined from the two sets of points. The vertical direction of the plane is the third coordinate axis of the ultrasonic coordinate system, and the ultrasonic initial position coordinate system is established. Since the spatial coordinates of the marker point are obtained by the camera module on the robot, the pose of the ultrasonic relative to the camera can be obtained. The transformation relationship between the ultrasound initial position coordinate system and the camera coordinate system is the first spatial relationship, thereby establishing the basis for spatial registration between the ultrasound and the robot.

Step 104: According to the conversion relationship between the ultrasonic initial position coordinate system and the camera coordinate system, and the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system is established through the control of the motor, and the ultrasonic current position coordinate system and the ultrasonic current position coordinate system are established. The transformation relationship between the coordinate systems of the robotic arm completes the spatial registration between the ultrasound and the robot.

During the actual operation, the ultrasonic probe is mounted on a fixed ultrasonic probe stepper. In order to ensure the repeatable positioning accuracy, the ultrasonic probe is installed at a specific initial position. The stepper integrates a transmission mechanism that rotates around the ultrasonic axis and moves back and forth. , and closed-loop control is performed by a high-precision servo motor. The specific control method is as described in step 102 for the motion control of the puncture needle, thereby determining the high-precision conversion relationship between the ultrasonic current position and the initial position coordinate system; as shown in step 103 As described above, the spatial positioning of the ultrasonic initial position has been completed, and the conversion relationship between the ultrasonic initial position coordinate system and the camera coordinate system has been established. Combined with the conversion relationship between the camera coordinate system and the robot coordinate system described in step 101, the ultrasonic initial position can be established. The second spatial relationship between the position coordinate system and the robot coordinate system, from which the positional relationship of the robot relative to the ultrasonic current position coordinate system can be obtained. Combined with the conversion relationship between the above-mentioned ultrasonic current position and the initial position coordinate system, the final result can be obtained The third spatial relationship between the ultrasonic current position coordinate system and the robot coordinate system completes the spatial registration between the ultrasonic current position coordinate system and the robot coordinate system.

Step 105: Obtain the final transformation relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound according to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot.

During the actual operation, according to the first spatial relationship between the coordinate system of the current position of the puncture needle and the coordinate system of the robot described in step 102 and the third spatial relationship between the coordinate system of the current ultrasonic position and the coordinate system of the robot described in step 104, because The robot coordinate system and the ultrasonic initial position coordinate system are fixed, and the robot coordinate system is mapped to the ultrasonic initial coordinate system to realize the ultrasonic probe stepper as the core registration medium of the entire registration system, and to establish the current position coordinate system of the puncture needle and the needle tip. The high-precision transformation relationship between the coordinate systems of the current position of the ultrasound is the fourth spatial relationship, which realizes the spatial registration between the ultrasound and the puncture needle.

Step 106: According to the final conversion relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound, and the conversion relationship between the current position coordinate system of the ultrasound and the image coordinate system, establish the current position coordinate system of the needle tip and the current ultrasound position. The final transformation relationship between the coordinate system and the image coordinate system completes the spatial registration of the image, ultrasound, and the current position of the puncture needle.

During the actual operation, the emission surface of the ultrasonic wave on the ultrasonic wave is fixed, and the spatial position of the sagittal plane and the coronal plane of the ultrasonic wave relative to the ultrasonic probe can be determined by the parameters of the ultrasonic wave. According to the fixed distance parameter, the ultrasonic emission point spatial coordinate system and The transformation relationship between the ultrasound current position coordinate system, and the fixed scale coefficient between the ultrasound image space and the actual ultrasound space, can determine the positional relationship of a point in the image in the actual space, and map the ultrasound current position coordinate system In the ultrasound image space coordinate system, the conversion relationship between the ultrasound image coordinate system and the current ultrasound position can be established, which is the fifth spatial relationship. Combined with the fourth spatial relationship described in step 105, the current position coordinate system of the puncture needle is mapped to the ultrasound. In the image space, the transformation relationship between the current position coordinate system of the puncture needle and the ultrasound image space coordinate system is established, which is the sixth spatial relationship. Combined with the fifth and sixth spatial relationships, the surgical instruments and ultrasound are uniformly mapped into the ultrasound image space. , to establish the final transformation relationship between the coordinate systems of image, ultrasound, and puncture needle, and complete the spatial registration of images, ultrasound, and surgical instruments.

The method for spatial registration of a puncture robot under the guidance of ultrasound provided in the embodiment of the present application establishes the transformation relationship between the initial position coordinate system of the needle tip, the coordinate system of the binocular camera and the coordinate system of the robot arm through the mechanical structure of the robot body, and uses the motor Control the movement distance of the acquired current position of the needle tip relative to the initial position, establish the conversion relationship between the current position coordinate system of the needle tip and the coordinate system of the robotic arm, and complete the space registration between the puncture needle and the robot, so as to obtain the current position of the puncture needle and the robot. The relative positional relationship between them; through the spatial coordinates of at least five marker points on the initial ultrasonic position identified by the camera on the end of the robot arm in the camera coordinate system, the spatial positioning of the current ultrasonic position is realized, and the ultrasonic initial position coordinate system and the ultrasonic initial position coordinate system are established. The conversion relationship between the camera coordinate systems, and the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system is established through the control of the motor, and the spatial registration between the ultrasonic current position and the robot is completed; according to the current position of the puncture needle The space registration with the robot and the space registration between the ultrasound current and the robot obtain the final transformation relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound. Using ultrasound as the medium, the current position of the puncture needle and the current position of the puncture needle are completed. The spatial registration between the current ultrasound positions; according to the above-mentioned spatial position relationship and the transformation relationship between the ultrasound current position coordinate system and the image coordinate system, establish the current position coordinate system of the needle tip, the ultrasound current position coordinate system and the image coordinate system. The final transformation relationship completes the spatial registration of images, ultrasound and the current position of the puncture needle.

The method for spatial registration of a puncture robot under ultrasound guidance provided by the embodiments of the present application avoids the problems that the positioning system has too large space for layout and is easily affected by the surgical environment during the existing spatial registration process. It can complete the space registration, improve the clinical operation efficiency of the surgical robot, and use the existing necessary surgical equipment as the registration medium to maximally compress the space registration layout space, and can achieve good registration accuracy, compared with traditional puncture surgery. In other words, the puncture accuracy is greatly improved.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit of the technical solutions in the embodiments of the present application. scope.

Claims (5)

1. a puncture robot space registration method under ultrasonic guidance, is characterized in that, comprises the following steps: According to the puncture needle is fixedly connected to the end of the manipulator through the mechanical structure driven by the motor, the binocular camera is fixedly connected to the front end of the manipulator, and the coordinates of the end of the manipulator in the coordinate system of the manipulator obtained through the forward kinematics of the manipulator, Establish the conversion relationship between the initial position coordinate system of the needle tip, the binocular camera coordinate system and the robotic arm coordinate system; According to the initial conversion relationship between the initial position coordinate system of the needle tip and the coordinate system of the manipulator, and the movement distance of the current position of the needle tip relative to the initial position obtained through the control of the motor, the relationship between the coordinate system of the current position of the needle tip and the coordinate system of the manipulator is established. The conversion relationship between the puncture needle and the robot completes the spatial registration between the puncture needle and the robot; According to the spatial coordinates in the camera coordinate system of at least five marker points on the ultrasonic initial position recognized by the camera on the end of the robotic arm, the marker points are divided into three groups, wherein the two groups respectively contain two points to determine the direction of one axis , the third group contains a point set as the coordinate origin to establish the transformation relationship between the ultrasonic initial position coordinate system and the camera coordinate system; According to the conversion relationship between the ultrasonic initial position coordinate system and the camera coordinate system, and the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system is established through the control of the motor, the ultrasonic current position coordinate system and the robot arm coordinates are established. The transformation relationship between the departments to complete the spatial registration between the ultrasound and the robot; According to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot, the final transformation relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound is obtained; According to the final transformation relationship between the coordinate system of the current position of the needle tip and the coordinate system of the current position of the ultrasound, and the transformation relationship between the coordinate system of the current position of the ultrasound and the coordinate system of the image, the coordinate system of the current position of the needle tip, the coordinate system of the current ultrasound position and The final transformation relationship between the image coordinate systems completes the spatial registration of the image, ultrasound and the current position of the puncture needle. 2 . The method for spatial registration of a puncture robot under ultrasound guidance according to claim 1 , wherein the five marked points are divided into three groups, wherein each of the two groups has two points, and the connection between the two points is between the two points. 3 . They are perpendicular to each other and are respectively calibrated as the two coordinate axes of the ultrasonic coordinate system. The third group of marked points has only one point, which is calibrated as the coordinate origin and determined as the third coordinate axis of the ultrasonic coordinate system to establish the ultrasonic coordinate system. 3. The method for spatial registration of a puncture robot under the guidance of ultrasound according to claim 1, wherein the rotation of the ultrasound and the feeding movement in the front-rear direction and the movement of the puncture needle are controlled by a motor, thereby determining the current position of the ultrasound and the transformation relationship between the coordinate system of the current position of the puncture needle tip and the coordinate system of the initial position. 4 . The method for spatial registration of a puncture robot under ultrasound guidance according to claim 1 , wherein the current position of the needle tip is obtained from the spatial registration between the puncture needle and the robot and the spatial registration between the ultrasound and the robot. 5 . The steps of the final transformation relationship between the coordinate system and the coordinate system of the current position of the ultrasound are: According to the transformation relationship between the needle tip initial position coordinate system and the robot coordinate system, and the transformation relationship between the needle tip current position coordinate system and the initial position coordinate system, establish the first spatial relationship between the needle tip current position coordinate system and the robot coordinate system ; Taking the established transformation relationship between the robot and the ultrasonic initial position as the second spatial relationship; According to the transformation relationship between the ultrasonic current position coordinate system and the initial position coordinate system, and the second spatial relationship, establish a third spatial relationship between the ultrasonic current position coordinate system and the robot coordinate system; According to the first spatial relationship and the third spatial relationship, a fourth spatial relationship between the current position coordinate system of the ultrasound and the current position coordinate system of the puncture needle tip is established. 5. The method for spatial registration of a puncture robot under ultrasound guidance according to claim 1, characterized in that, according to the final conversion relationship between the current position coordinate system of the needle tip and the current position coordinate system of the ultrasound, and the current ultrasound The conversion relationship between the position coordinate system and the image coordinate system, the steps to establish the final conversion relationship between the current position coordinate system of the needle tip, the current ultrasonic position coordinate system and the image coordinate system are: According to the fixed ultrasonic emission surface on the ultrasonic wave, a fifth spatial relationship between the ultrasonic image space coordinate system and the ultrasonic current position coordinate system can be established; According to the fourth and fifth spatial relationships, the conversion relationship between the current position coordinate system of the puncture needle and the ultrasonic image spatial coordinate system is established, which is the sixth spatial relationship; According to the fifth and sixth spatial relationships, the surgical instruments and ultrasound are uniformly mapped into the ultrasound image space, and the final transformation relationship between the coordinate systems of the image, ultrasound, and puncture needle is established, and the three coordinate systems of the image, ultrasound, and surgical instruments are completed. space between registrations.

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