CN115211961A

CN115211961A - Positioning method, device, system and computer readable storage medium

Info

Publication number: CN115211961A
Application number: CN202111679834.6A
Authority: CN
Inventors: 柳建飞; 潘鲁锋; 胡润晨; 周高峰
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2021-04-17
Filing date: 2021-12-31
Publication date: 2022-10-21
Also published as: WO2022218387A1; CN217219033U; WO2022218389A1; CN217723539U; WO2022218388A1; CN115211964A; CN115222801A; CN115211874A

Abstract

A positioning method, device, system and computer readable storage medium, wherein the method comprises: the method comprises the steps of obtaining an ultrasonic image of a target to be positioned through an ultrasonic probe device provided with an ultrasonic probe marker, obtaining a position parameter of the target under an ultrasonic probe coordinate system according to the ultrasonic image, obtaining an X-ray image of the ultrasonic probe marker through an X-ray image acquisition device, determining a position coordinate of the ultrasonic probe marker under a pre-established mechanical coordinate system according to the X-ray image, and obtaining a position coordinate of the target under the mechanical coordinate system according to the position coordinate of the ultrasonic probe marker under the mechanical coordinate system and the position parameter of the target under the ultrasonic probe coordinate system. The real-time coordinate of the focus under the mechanical coordinate system is obtained by utilizing the ultrasonic and X-ray combined positioning, and the positioning accuracy can be improved.

Description

Positioning method, device, system and computer readable storage medium

Technical Field

The embodiments of the present application relate to the field of mechanical devices and communication technologies, and in particular, to a positioning method, apparatus, system, and computer-readable storage medium.

Background

In medical examination and surgery, the positioning of the object of the examination and surgery is of great importance. The positioning method is mainly to register the CT three-dimensional image with an endoscope and an X-ray machine, and a doctor judges the position of the target through a two-dimensional or three-dimensional scanning image near the target to be positioned. Specifically, the position is confirmed in the three-dimensional model of the human body by CT and three-dimensional reconstruction.

However, the method has technical defects that the path registration of the CT image and the endoscope image has errors, the pointing direction to the target point is not accurate enough, and the target point registration of the CT and the X-ray machine has errors, which affect the positioning accuracy.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, a positioning system and a computer-readable storage medium, which can acquire real-time coordinates of a focus under a preset mechanical coordinate system by using a combined positioning mode of ultrasound and X-ray, so that the positioning accuracy is improved.

An embodiment of the present application provides a positioning method, including:

acquiring an ultrasonic image of a target to be positioned through an ultrasonic probe device provided with an ultrasonic probe marker;

obtaining a position parameter of the target under an ultrasonic probe coordinate system according to the ultrasonic image of the target, wherein the ultrasonic probe coordinate system is established based on the ultrasonic probe device;

acquiring an X-ray image of the ultrasonic probe marker through an X-ray image acquisition device, and determining the position coordinate of the ultrasonic probe marker in a pre-established mechanical coordinate system according to the X-ray image;

and obtaining the position coordinate of the target in the mechanical coordinate system according to the position coordinate of the ultrasonic probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasonic probe coordinate system.

An aspect of the embodiments of the present application further provides a positioning apparatus, including:

the acquisition module is used for acquiring an ultrasonic image of a target to be positioned through an ultrasonic probe device provided with an ultrasonic probe marker;

the calculation module is used for obtaining the position parameters of the target under an ultrasonic probe coordinate system according to the ultrasonic image of the target, wherein the ultrasonic probe coordinate system is established on the basis of the ultrasonic probe device;

the acquisition module is also used for acquiring an X-ray image of the ultrasonic probe marker through an X-ray image acquisition device;

the determining module is used for determining the position coordinates of the ultrasonic probe marker in a pre-established mechanical coordinate system according to the X-ray image;

the calculation module is further configured to obtain a position coordinate of the target in the mechanical coordinate system according to the position coordinate of the ultrasonic probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasonic probe coordinate system.

An aspect of an embodiment of the present application further provides an electronic apparatus, including:

a memory and a processor;

the memory stores an executable computer program;

the processor coupled to the memory, invokes the executable computer program stored in the memory, performing the steps of the positioning method as described above.

An aspect of an embodiment of the present application further provides a positioning system, including: the system comprises an ultrasonic detection device, an X-ray image acquisition device, an ultrasonic probe marker, a signal conversion device and a processor;

wherein the processor is configured to perform the steps of the positioning method.

An aspect of the embodiments of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the positioning method provided in the foregoing embodiments.

As can be seen from the foregoing embodiments of the present application, in the present application, an ultrasonic probe device provided with an ultrasonic probe marker is used to obtain an ultrasonic image of a target to be positioned, and obtain a position parameter of the target in an ultrasonic probe coordinate system according to the ultrasonic image of the target, where the ultrasonic probe coordinate system is established based on the ultrasonic probe device, and an X-ray image acquisition device is used to obtain an X-ray image of the ultrasonic probe marker, and determine a position coordinate of the ultrasonic probe marker in a pre-established mechanical coordinate system according to the X-ray image, and obtain a position coordinate of the target in the mechanical coordinate system according to the position coordinate of the ultrasonic probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasonic probe coordinate system, so as to obtain a real-time coordinate in the mechanical coordinate system by using a combination of ultrasound and X-ray, thereby accurately positioning a lesion tissue containing gas, which cannot be positioned by X-ray or ultrasound alone.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of a structure of a catheter of the ultrasound probe of the localization system of FIG. 1;

FIGS. 3a to 3d are schematic views of the configuration of the ultrasound probe markers in the localization system of FIG. 1;

FIG. 4 is a schematic cross-sectional view of another configuration of a catheter of the ultrasound probe of the localization system of FIG. 1;

fig. 5 is a flowchart illustrating an implementation of a positioning method according to an embodiment of the present application;

fig. 6 is an overall structural schematic diagram of an X-ray machine according to an embodiment of the present disclosure;

FIG. 7 is an enlarged view of a portion of the X-ray machine of FIG. 6 showing the emission end Stewart platform;

FIG. 8 is another enlarged view of a portion of the X-ray machine shown in FIG. 6, showing the receiving end Stewart platform;

fig. 9 is a flowchart illustrating an implementation of a control method for an X-ray machine according to an embodiment of the present disclosure;

FIG. 10 is a static platform coordinate system S of a receiving end Stewart platform _tre -X _stre Y _stre Z _stre And moving platform coordinate system M _re -X _Mre Y _Mre Z _Mre A schematic diagram of (a);

FIG. 11 is a stationary platform coordinate system S of a Stewart platform at a transmitting end _ttr -X _sttr Y _sttr Z _sttr And moving platform coordinate system M _tr -X _Mtr Y _Mtr Z _Mtr A schematic diagram of (a);

fig. 12 is a schematic diagram of the transmission end Stewart platform and the receiving end Stewart platform in opposite transmission;

FIG. 13 is a schematic diagram of the position change of a transmitting end Stewart platform and a receiving end Stewart platform;

fig. 14 is a schematic control diagram of an X-ray transmitting end Stewart parallel platform and an X-ray receiving end Stewart parallel platform by a main manipulator;

FIG. 15 is a schematic view of ultrasound image acquisition;

FIG. 16 is a schematic view of the probe coordinate system corresponding to FIG. 15;

fig. 17 is a schematic view of an ultrasonic detection plane obtained by rotating the ultrasonic probe again;

FIG. 18 is a schematic diagram of the calculation of position by ultrasound detection;

FIG. 19 is a schematic illustration of the spatial coordinates of a target spot registered to an X-ray image acquired by an X-ray image acquisition device;

FIG. 20 is a schematic illustration of the location of a lesion registered to a virtual image obtained from a CT scan;

FIG. 21 is a schematic diagram showing the comparison between the position of the needle tip of the puncture needle and the virtual target point obtained by the current shooting;

FIG. 22 is another schematic view of the catheter of the positioning system of FIG. 1;

FIGS. 23-26 are schematic diagrams illustrating the operation of the catheter in the positioning system of FIG. 1;

fig. 27 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

fig. 28 is a schematic hardware structure diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for ease of description and simplicity of description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly and include, for example, fixed or removable connections or integral parts; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. The technical solution of the present application will be described in detail below with specific examples. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Referring to fig. 1, a schematic structural diagram of a positioning system according to an embodiment of the present application is provided. As shown in fig. 1, the positioning system includes: an ultrasonic detection device 101, an X-ray image acquisition device 102, an ultrasonic probe marker 103, a signal conversion device 104 and a processor 105.

As shown in fig. 2, an ultrasonic probe marker 103 and a signal conversion device 104 are mounted on an ultrasonic probe 101. Specifically, the ultrasound probe marker 103 and the signal conversion device 104 (e.g., an ultrasound transducer) are disposed on the catheter 111 of the ultrasound probe 101, preferably inside the catheter 111, such as inside the front end of the catheter 111 of the ultrasound probe 101, such as on an ultrasound probe. Wherein the ultrasound probe is optionally a mechanical probe, imaging by rotational scanning. Alternatively, the ultrasound probe may be a phased array probe, which does not require rotation to image. After the probe detects the focus, the ultrasonic probe can be controlled to stop rotating, and the X-ray can be directly used for acquiring the detection surface, the space position of the target point and the angle information of the target point in the detection surface, without stopping the probe and acquiring the initial direction of the ultrasonic transducer.

The catheter 111 of the ultrasound probe 101 is an intravascular ultrasound catheter with a water balloon structure 112 to enable its application in a gaseous environment. The end of the sheath of the catheter 111 is provided with a water sac structure and a sealing structure, and the sheath can be injected with water. The intravascular ultrasonic catheter is inserted into the sheath tube, and the sheath tube carries the ultrasonic catheter to enter the bronchus, so that the ultrasonic catheter is prevented from being too soft and bent. After water is injected into the sheath, the ultrasonic catheter can be positioned in an environment similar to a blood vessel to enable the rotation to be smoother. The water sac at the tail end of the sheath tube can be expanded after water is injected, so that the surface of the water sac is in close contact with the wall of the trachea, and the ultrasonic probe obtains an ultrasonic image in a liquid environment.

As shown in fig. 22, the duct 111 includes: adapter, pipe body, water pocket. One end of the catheter body is fixedly connected with the adapter, and the other end of the catheter body is fixedly connected with the water bag. One end of the adapter is used for connecting a water injector, the other end of the adapter is a sealing surface, and a small hole is formed in the middle of the adapter and can be used for connecting an ultrasonic catheter. With reference to fig. 23 to 26, the operation principle of the duct 111 is: the water injector injects water into the sheath tube to make the water sac expand to contact with the tracheal wall, so that the intravascular ultrasound system obtains the ultrasound image around the probe.

The ultrasound probe marker 103 may be a metallic marker or an optical marker that is visualized under X-rays. In one embodiment, the marker may reflect the position of the ultrasound probe and may also reflect the pose of the ultrasound probe. In one example, the marker is not typically a regular geometric object (e.g., a cube, sphere, etc.) that would otherwise be difficult to discern in pose under projection of X-rays. In one example, the tag may be a three-dimensional structure that can indicate direction. Preferably, the ultrasound probe marker 103 comprises a positioning structure for positioning different positions on the outline of the ultrasound probe marker 103, thereby enabling positioning of the position or orientation of the ultrasound probe, in particular a positioning structure 1031 comprising a notch and an arrow on the marker as shown in fig. 18.

The ultrasonic probe marker 103 is preferably a metal marker, and is used for indicating the initial position of the ultrasonic probe under X-ray, and by measuring the position of the ultrasonic probe marker 103, the angle between the target point and the initial position in the detection plane can be measured, so as to obtain the specific coordinate of the target point in space. The form of the marker is not exclusive, and as an example, the form of the marker can be specifically shown in fig. 3a to 3 d. In practical applications, the marker may have other forms as needed, and the application is not limited in particular.

The mounting position of the ultrasonic probe marker 103 in the ultrasonic catheter is not unique, and as shown in fig. 2, the ultrasonic probe marker 103 is preferably mounted below the signal conversion device 104. Alternatively, the ultrasound probe marker 103 may be mounted at other locations of the ultrasound catheter, as long as the marker 103 is pointed in the same direction as the signal conversion device 104, such as above the signal conversion device 104 shown in fig. 4.

The ultrasonic detection device 101 is used for acquiring an ultrasonic image of a certain part in a body and determining the position of a target point.

An X-ray image acquisition device 102 for acquiring an X-ray image of a body part, and the body part positioning the ultrasound probe; the ultrasonic probe marker 103 (e.g., a developing ring or a metal sheet) embedded in the ultrasonic detection device 101 is used for determining the position of the ultrasonic detection device 101 relative to the target point during the X-ray image imaging, as shown in the embodiment shown in fig. 5 below, which is not repeated herein; the signal conversion device 104 is used for converting the sound wave signal into an electric signal; the processor 105 is configured to determine the position of the ultrasonic probe, determine the position of the ultrasonic detection apparatus 101 by combining the X-ray image and the ultrasonic image, and solve the geometric orientation of the target point, which may be referred to as the embodiment shown in fig. 5 below, and will not be described herein again.

The processor 105 is electrically coupled to the ultrasonic detection device 101, the X-ray image acquisition device 102, and the signal conversion device 104, and performs data interaction with the X-ray image acquisition device 102 and the ultrasonic detection device 101, or performs data interaction with the X-ray image acquisition device 102 and the signal conversion device 104, or performs data interaction with the X-ray image acquisition device 102, the ultrasonic detection device 101, and the signal conversion device 104. The processor 105 implements the positioning method in the following embodiments according to the data transmitted by the X-ray image acquisition device 102, the ultrasound detection device 101 and/or the signal conversion device 104. The signal conversion device 104 may directly output the data to the processor 105, or forward the data to the processor 105 after being processed by the processor of the ultrasound detection device 101.

In one embodiment, the processor 105 may also be used to plan a path for percutaneous puncture, with the target puncture path planning the location of the target primarily determined by methods coupled with medical imaging.

For the specific process of implementing the respective functions of the devices in the positioning system, reference may be made to the following description of the method embodiments, which is not repeated herein.

It is understood that fig. 2 and 4 only show a part of the structure of the ultrasonic detection device 101 for the convenience of understanding, and in practical applications, the ultrasonic detection device 101 may have more or less structures as needed.

Preferably, an embodiment of the present application further provides an X-ray machine, which can be used as the X-ray image collecting device 102 in the positioning system and the positioning method embodiments described below.

In one embodiment, the X-ray machine provided herein is a dual Stewart platform correlation X-ray machine, comprising: the device comprises a transmitting end Stewart platform mechanical arm (hereinafter referred to as a transmitting end Stewart platform), an X-ray transmitter, an X-ray receiver, a receiving end Stewart platform mechanical arm, a position sensor and a control processing device.

The X-ray emitter is fixed at the tail end of one mechanical arm of the surgical robot with the multi-degree-of-freedom mechanical arm, and the X-ray receiver is installed below the surgical bed plate. In one embodiment, the position and angle of the X-ray receiver can be adjusted by a receiving end Stewart platform robotic arm. For example, a movable receiving end Stewart platform mechanical arm can be arranged on a base or a floor of an operating bed, and the X-ray receiver is arranged on the receiving end Stewart platform mechanical arm, so that the position and the angle of the X-ray receiver can be adjusted through the receiving end Stewart platform mechanical arm (hereinafter referred to as a receiving end Stewart platform).

The positions of the transmitter and the receiver of the X-ray are flexibly adjusted by using the two Stewart platforms of the transmitting end and the receiving end, so that the axes of the transmitter and the receiver are always coincident, and perspective images of a patient in different directions are obtained according to the requirements of doctors.

The control processing device receives signals of position sensors on the transmitter and the receiver, and the doctor controls the transmitter to reach a desired perspective position through the main manipulator. Specifically, according to the known position information of the emitter, the receiving position to which the receiver should arrive is calculated, and the receiving end Stewart platform is driven to adjust the receiver to reach the receiving position, so that the emitter and the receiver are always ensured to be on the same axis, namely, the plane of the receiver is parallel to the plane of the emitter in real time, and the perpendicular bisectors of the emitting end Stewart platform and the receiving end Stewart platform are coincided in real time, so that X rays emitted by the emitting end can be received by the receiving end in real time, and the perspective imaging effect can be ensured.

With reference to fig. 6 to 8, the specific structure and control method of the X-ray machine are as follows:

referring to fig. 6, fig. 6 is a schematic structural view of an X-ray machine according to an embodiment of the present disclosure, the X-ray machine may be divided into an X-ray emitting end and an X-ray receiving end distributed on the upper and lower sides of an operating table; the X-ray emission end comprises a mechanical arm 10, an emission end Stewart platform 20 connected with the mechanical arm 10 and an X-ray emitter 30 connected with the emission end Stewart platform 20; the X-ray receiving end comprises an X-ray receiver 40 for receiving X-rays emitted by the X-ray emitter 30 and a receiving end Stewart platform 50 connected with the X-ray receiver 40, wherein the X-ray emitter 30 and the X-ray receiver 40 can keep the axes coincident under the driving of the mechanical arm 10, the emitting end Stewart platform 20 and the receiving end Stewart platform 50.

By adopting two Stewart platforms (namely the emission end Stewart platform 20 and the receiving end Stewart platform 50), flexible and accurate intraoperative perspective position and angle adjustment can be realized, so that the X-ray emitter 30 and the X-ray emitter 40 can be positioned on the same axis, the X-ray transmission imaging effect is ensured, and the problems that the C-shaped arm occupies intraoperative space and interferes with surgical instruments or surgical robots are solved.

Fig. 7 is an enlarged schematic view of the emission end Stewart platform 20 of the X-ray machine shown in fig. 6. As shown in fig. 7, in this embodiment, the launching-end Stewart platform 20 is a six-degree-of-freedom parallel mechanism, and includes a launching-end static platform 21, a launching-end dynamic platform 22, and six launching-end telescopic elements 23 connected between the launching-end static platform 21 and the launching-end dynamic platform 22.

Optionally, the transmitting end static platform 21 is connected with one end of six transmitting end telescopic elements 23 by adopting a U-shaped hinge method or a ball hinge method. In this embodiment, the transmitting-end stationary platen 21 can rotate in the X-axis and Y-axis directions, but the degree of freedom in the Z-axis direction is limited. The transmitting end telescopic element 23 consists of a motor and a lead screw, and the lead screw is driven by the motor to be freely telescopic, so that the motion state of the transmitting end movable platform 22 is changed. The six transmitting end telescopic elements 23 are arranged according to a certain rule, so that the deflection angle of the transmitting end telescopic elements 23 is smaller. Preferably, the firing end telescoping member 23 is angularly offset from the Z axis in a range of 20. In this embodiment, the diameter of the movable platform 22 of the launching end is smaller than that of the static platform 21 of the launching end. The motion state of the transmitting end movable platform 22 is controlled by the length change of the six transmitting end telescopic elements 23, and the rotation in three directions of an X axis, a Y axis and a Z axis can be realized.

A transmitting end static platform 21 of a transmitting end Stewart platform 20 is fixedly connected with the mechanical arm 10, and a transmitting end movable platform 22 of the transmitting end Stewart platform 20 is fixedly connected with the X-ray emitter 30.

The X-ray machine further comprises a robot column 60 and a plurality of robotic arms 10 connected to the robot column 60. An X-ray emitter 30 is located at the end of one of the robotic arms 10 of the plurality of robotic arms 10. Specifically, the launching-end Stewart platform 20 is connected to the end of one of the robotic arms 10, and the X-ray emitter 30 is connected to the launching-end moving platform 22 of the launching-end Stewart platform 20.

In fig. 6, the robot arm 10 includes a rotation mechanism 11, a first telescoping mechanism 12, and a second telescoping mechanism 13. The rotating mechanism 11 has one end rotatably connected to the robot column 60 and the other end connected to one end of the first telescoping mechanism 12. The other end of the first telescoping mechanism 12 is rotatably connected with one end of the second telescoping mechanism 13. The other end of the second telescopic mechanism 13 is connected with a launching end static platform 21 of a launching end Stewart platform 20.

Fig. 8 is a partial enlarged view of a receiving end Stewart platform 50 of the X-ray machine shown in fig. 6, where the receiving end Stewart platform 50 is a six-degree-of-freedom parallel mechanism, and includes a receiving end static platform 51, a receiving end moving platform 52, and six receiving end telescopic elements 53 connected between the receiving end static platform 51 and the receiving end moving platform 52.

Optionally, the receiving end static platform 51 is connected with one end of six receiving end telescopic elements 53 by using a U-shaped hinge or a ball hinge. In this embodiment, the receiving-end static platform 51 can rotate in the X-axis and Y-axis directions, but the degree of freedom in the Z-axis direction is limited. The receiving end telescopic element 53 is composed of a motor and a lead screw, and the lead screw is driven by the motor to be freely telescopic, so that the motion state of the receiving end moving platform 52 is changed. The six receiving-end telescopic elements 53 are arranged in a certain rule so that the deflection angle of the receiving-end telescopic elements 53 is small. Preferably, the receiving end telescoping member 53 is angularly offset from the Z axis in a range of 20. In this embodiment, the diameter of the receiving end moving platform 52 is smaller than that of the receiving end static platform 51. The motion state of the receiving end moving platform 52 is controlled by the length change of the six receiving end telescopic elements 53, and the rotation in three directions of the X axis, the Y axis and the Z axis can be realized.

A receiving end static platform 51 of the receiving end Stewart platform 50 is arranged on the ground and is specifically arranged on a cross slide rail, and a receiving end moving platform 52 of the receiving end Stewart platform 50 is fixedly connected with the X-ray receiver 40.

The X-ray machine also comprises a transmitting end position sensor, a receiving end position sensor and a control processor which is electrically connected with the transmitting end position sensor and the receiving end position sensor. The emitting end position sensor is used to detect the position of the X-ray emitter 30, and the receiving end position sensor is used to detect the position of the X-ray receiver 40. The control processor is used for receiving signals of the transmitting end position sensor and the receiving end position sensor and controlling the X-ray emitter 30 and the X-ray receiver 40 to reach the expected positions by controlling the transmitting end Stewart platform 20 and the receiving end Stewart platform 50.

During the operation, the doctor inputs position information based on the operation table 70 which is planned in advance. If the transmitting end position sensor detects that the X-ray emitter 30 is not located at the target transmission position, the control processor controls the mechanical arm 10 and the transmitting end Stewart platform 20 to automatically move to the planned pose so as to position the X-ray emitter 30. Next, the control processor calculates a receiving position to which the X-ray receiver 40 should arrive according to the detected position information of the X-ray emitter 30, and accordingly drives the receiving end Stewart platform 50 to adjust to an accurate receiving position, thereby ensuring that the X-ray emitter 30 and the X-ray receiver 40 are always on the same axis, completing transmission images in different directions, and ensuring the effect of perspective imaging.

Further, the present application also provides an X-ray machine control method for controlling the X-ray machine, as shown in fig. 9, the method specifically includes the following steps:

step S901, establishing a static platform coordinate system Stre-X of a receiving end Stewart platform _stre Y _stre Z _stre And moving platform coordinate system Mre-X _Mre Y _Mre Z _Mre ；

First, as shown in fig. 10, a stationary platform coordinate system S of the receiving end Stewart platform is established _tre -X _stre Y _stre Z _stre And moving platform coordinate system M _re -X _Mre Y _Mre Z _Mre . Correspondingly, as shown in fig. 11, a stationary platform coordinate system S of the transmitting end Stewart platform is established _ttr -X _sttr Y _sttr Z _sttr And a moving platform coordinate system M _tr -X _Mtr Y _Mtr Z _Mtr 。

The establishment rule of the coordinate system comprises the following steps: the origin of the receiving end static platform is positioned at the center of the static platform, and the directions of XYZ axes are respectively parallel to the XYZ axes of the mechanical coordinate system; the origin of the receiving end moving platform is located at the center of the moving platform, and the directions of the XYZ axes in the initial state are respectively parallel to the XYZ axes of the mechanical coordinate system. The mechanical coordinate system is a coordinate system O-X of the dual Stewart platform correlation X-ray machine _O Y _O Z _O . The mechanical coordinate system is arranged at the center of a base of the mechanical arm, the origin of the coordinate system is fixedly connected to a base of the mechanical arm, the Z axis is vertically upwards from the origin, the Y axis points to the mechanical arm from the origin, and the X axis points to accord with the right-hand coordinate system. The two crossed guide rail directions of the slide rail are respectively parallel to the X axis and the Y axis of the mechanical coordinate system.

And step S902, resolving to obtain a conversion matrix between the receiving end static platform coordinate system and the mechanical coordinate system based on the establishment rule of the coordinate system.

Specifically, based on the establishment rule of the coordinate system, the following transformation matrix between the static platform coordinate system and the mechanical coordinate system of the stewart parallel platform of the X-ray receiving end can be obtained by calculation:

wherein x is ₀ ，y ₀ ，z ₀ Respectively are coordinates of the origin of the receiving end static platform coordinate system in the mechanical coordinate system at the initial position; x is the number of _re ，y _re The distance of the receiving end static platform moving to the positive direction of the X axis along the slide rail and the displacement of the receiving end static platform moving to the positive direction of the Y axis along the slide rail are respectively.

Further, it is known in the art

And a conversion matrix between the known mechanical coordinate system and the transmitting end static platform coordinate system (namely the Stewart computing coordinate system) and the user coordinate system

The transformation matrix between the receiving end static platform coordinate system and the mechanical arm Stewart calculation coordinate system and the user coordinate system can be known

And

respectively as follows:

according to a preset Stewart platform forward and backward kinematics algorithm, a conversion matrix between a transmitting end moving platform coordinate system and a transmitting end static platform coordinate system can be known

And a conversion matrix between the receiving end moving and static platform coordinate systems

Can obtain the transformation matrix between the coordinate system of the transmitting end moving platform, the mechanical coordinate system and the user coordinate system

And

and a conversion matrix between the receiving end moving platform coordinate system and the mechanical coordinate system and the user coordinate system

And step S903, controlling the receiving end Stewart platform to move by using the conversion matrix and a preset control algorithm of the X-ray receiving end.

In this step, the control algorithm of the X-ray receiving end is specifically as follows:

as shown in fig. 12, when the plane of the X-ray emitter and the plane of the X-ray receiver are parallel to each other and the perpendicular bisector coincides, it is ensured that the X-ray emitted from the X-ray emitter can be received by the X-ray receiver in real time.

According to the correlation principle, the distance between the transmitting end Stewart platform and the receiving end Stewart platform has no influence on the lesion detection, so that the coordinate of the origin of the receiving end moving platform coordinate system in the Z-axis direction of the mechanical coordinate system is fixed. The moving range of the receiving end Stewart platform in the XY plane of the slide rail is wider, so that the movement of the X-ray receiving end in the XY plane is realized through the slide rail, and the posture rotation of the receiving end is realized through the receiving end Stewart platform.

Firstly, mapping the motion of a master hand onto a transmitting-end Stewart platform according to the following mapping rule: and (3) scaling the translational motion of the main hand by using a displacement scale coefficient K, and mapping the rotation angle to a movable platform of a Stewart platform at the transmitting end according to the original scale. The specific implementation method comprises the following steps:

1. at the time of T0, the pose matrix of the tail end point of the master hand in the user coordinate system is made to be a fourth-order identity matrix T _M0 ：

2. At the time of T0, according to the known positive kinematics of the passive arm and Stewart platform positive kinematics, a pose matrix of a transmitting end moving platform coordinate system under a user coordinate system can be calculated

And will be

Saved as a known value.

3. After a unit period T, the solution is solved according to the positive kinematics of the master handCalculating to obtain a pose matrix T of the tail end point of the master hand at the time T in a user coordinate system _Mt 。

4. Scaling the translational motion of the main hand by using a displacement scale coefficient K, mapping the rotation angle to the transmitting end movable platform according to the original proportion, and recording the mapping matrix as T _Map ：

Wherein, using T _Mtij Represents T _Mt The ith row and the jth column of the matrix.

Secondly, resolving the motion of the receiving end Stewart platform according to the mapping relation, wherein the specific implementation method comprises the following steps:

1. according to a mapping matrix T _Map Position matrix of the launching end moving platform coordinate system under the user coordinate system can be obtained

2. Conversion matrix according to user coordinate system and mechanical coordinate system

Position matrix of the launching end moving platform coordinate system under the mechanical coordinate system can be obtained

3. Resolving an attitude matrix of the receiving end movable platform under a mechanical coordinate system according to the condition that a receiving end movable platform coordinate system and a transmitting end movable platform coordinate system are parallel and reverse

4. According to the transformation matrix of the mechanical coordinate system and the receiving end static platform coordinate system, the attitude matrix of the receiving end dynamic platform coordinate system under the receiving end static platform coordinate system is solved

5. According to

And the inverse kinematics principle of the receiving end moving platform can be used for calculating the motion parameters of all joints of the receiving end Stewart platform, so that the corresponding of the receiving end moving platform and the transmitting end moving platform is realized.

Thirdly, motion parameters of the receiving end Stewart platform on the sliding rail (or the guide rail) are solved according to the mapping relation, and the specific implementation method comprises the following steps:

1. recording the Z coordinate of the origin of the moving platform of the receiving end Stewart platform in a mechanical coordinate system ⁰ Z， ⁰ Z is a constant value;

2. conversion matrix of mechanical coordinate system and transmitting end movable platform

Resolving to obtain the Z-axis coordinate of the origin of the receiving end moving platform coordinate system under the transmitting end moving platform coordinate system ^Mtr Z；

Because the origin of the receiving end moving platform coordinate system is positioned on the Z axis of the transmitting end moving platform coordinate system, the position vector of the origin of the receiving end moving platform coordinate system under the transmitting end moving platform coordinate system can be obtained

3. Conversion matrix capable of passing through mechanical coordinate system and transmitting end moving platform coordinate system

Resolving to obtain a position vector of the origin of the coordinate system of the receiving end moving platform in the mechanical coordinate system

Coordinates of the origin of the coordinate system of the movable platform of the receiving end in the XY direction of the mechanical coordinate system, namely coordinates of the origin of the coordinate system of the stationary platform of the receiving end in the XY direction of the mechanical coordinate system, so that the movement x of the Stewart platform of the receiving end on the cross slide rail can be obtained _re And y _re ：

In the motion control, the main manipulator controls the X-ray emission end Stewart parallel platform and the X-ray receiving end Stewart parallel platform, the emission end Stewart platform controls the change of the angle and the change of the coordinate of the X-ray emitter from the initial position to the acquisition position, and the receiving end Stewart platform controls the change of the angle and the change of the coordinate of the X-ray receiver from the initial position to the acquisition position, as shown in fig. 13 and 14.

By using the method to control the motion of the X-ray receiving end Stewart platform, a real-time X-ray image is obtained, on one hand, the real-time performance is high because the motion is only controlled according to the position of the robot, and on the other hand, the motion based on the driving end of the X correlation platform is mapped to the parallel platform and the slide rail of the driven end, so that the cooperation range is enlarged.

The inventor finds that in the minimally invasive surgery, the success of the surgery is guaranteed and the treatment time is shortened when the surgery is punctured accurately and quickly. The puncture guiding method mainly comprises C-arm X-ray guiding and ultrasonic guiding in related technologies, but the C-arm X-ray guiding cannot illuminate soft tissue contours, the ultrasonic guiding has the problems that puncture needle radiography is not clear, guiding is not visual enough and the like, a doctor judges a proper needle inserting point and a proper needle inserting direction through a two-dimensional or three-dimensional scanning image near a focus, and then the puncture operation is manually completed through experience, so that the doctor is difficult to grasp the puncture direction and depth. When a puncture robot is used for operation, the robot cannot position the lesion of some parts of the human body by using a single medical image. Taking a lung nodule as an example, because the lung has gas, the focus cannot be directly detected in vitro by an ultrasonic instrument, the whole lung is soft tissue, and the focus cannot be positioned by irradiating X-ray in vitro.

In view of the above, the present application considers that the coordinates of the lesion in the mechanical coordinate system are obtained by combining the above two methods to locate the lesion in real time. Specifically, an ultrasonic instrument enters the lung of a human body through a navigation instrument to check a lesion part to obtain the position of a focus based on an ultrasonic probe, and then the position of the ultrasonic probe based on the in-vitro X-ray equipment is obtained through a marker which is arranged on the ultrasonic probe and can be identified by the in-vitro X-ray equipment, so that the position of the focus based on the X-ray equipment is obtained, namely the position of the focus under a mechanical coordinate system is obtained, and finally, the accurate registration of a target point and the human body is realized.

By combining the steps in the following method and taking the puncture robot as an example, the puncture robot with the surgical navigation system has the following working principle: firstly, a puncture robot or a third-party computer device carries out three-dimensional synthesis on a scanned two-dimensional image to form a three-dimensional image near a focus; then, the doctor judges the position of the target point and a proper needle inserting path through the three-dimensional image and inputs the target point position and the proper needle inserting path into a navigation system; then, the navigation system calculates the current state and the target point of the robot operating arm and plans a track; finally, the operation arm completes puncture positioning according to the planned track, and then the needle insertion is completed manually through the needle insertion mechanism or a doctor, so that errors caused by pure manual operation are avoided.

Referring to fig. 5, an implementation flow diagram of the positioning method provided in the embodiment of the present application is shown. The method may be applied to the positioning system shown in fig. 1, implemented by the processor 105. Alternatively, the method may be applied to a computer device that implements the method shown in fig. 5 by using data interaction with a positioning system. The processor 105 may be separately configured in a computer device with a data processing function, or may be integrated in the ultrasound detection apparatus 101 or the X-ray image acquisition apparatus 102. Among other things, computer devices with data processing capabilities may include, but are not limited to including, for example: the system comprises various mobile terminals such as a mobile phone and a tablet personal computer, a desktop computer, a server, a robot with a surgical navigation system and the like.

Specifically, as shown in fig. 5, the ultrasonic and X-ray combined positioning is to obtain the position of the target based on the ultrasonic detection device through the ultrasonic detection device, the ultrasonic detection device is provided with an ultrasonic probe marker that can be identified by the X-ray image acquisition device, and then the position of the ultrasonic probe marker is obtained through the X-ray image acquisition device, so as to obtain the position of the ultrasonic detection device based on the X-ray image acquisition device, further obtain the position of the target based on the X-ray image acquisition device, and finally obtain the position of the target under the mechanical coordinate system through coordinate conversion between coordinate systems, where the method includes:

step S501, obtaining an ultrasonic image of a target to be positioned through an ultrasonic probe device provided with an ultrasonic probe marker;

step S502, obtaining a position parameter of the target under an ultrasonic probe coordinate system according to the ultrasonic image of the target, wherein the ultrasonic probe coordinate system is established based on the ultrasonic probe device;

step S503, acquiring an X-ray image of the ultrasonic probe marker through an X-ray image acquisition device, and determining the position coordinate of the ultrasonic probe marker in a pre-established mechanical coordinate system according to the X-ray image;

step S504, obtaining the position coordinate of the target in the mechanical coordinate system according to the position coordinate of the ultrasonic probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasonic probe coordinate system.

It is understood that the X-ray image capturing device is integrated with the robot or mounted on the robot arm of the robot, and therefore, the coordinate system established based on the X-ray image capturing device can be regarded as a mechanical coordinate system. The navigation is performed according to the target position of the lesion in the mechanical coordinate system, for example, a robot is guided to perform a puncture operation on the lesion according to the target position, or other operations such as an ablation operation are performed.

Specifically, the steps can be specifically realized by the following modes:

in step 1, a preset path planning method is used to plan a surgical path, and the end of an endoscope (such as a bronchoscope) is guided to reach a bronchus near a focus.

In step 2, the ultrasound probe of the ultrasound probe device is placed into the cavity of the sheath (which is rotatable) and inserted together from the endoscopic forceps channel hole until it appears in the bronchoscope field of view.

In step 3, the ultrasound catheter of the ultrasound probe is rotated and an ultrasound image is obtained, and simultaneously, as shown in fig. 15, the ultrasound probe surface of the ultrasound probe is adjusted by advancing and retracting the sheath and bending the end until the lesion is found. It can be understood that the above path planning method is a known method, and there are many methods related to path planning at present, and the present application is not limited specifically.

And 4, searching a section with a better focus, locking the bending angle of the sheath and the depth of the ultrasonic probe after the section is found, and stopping the rotation of the ultrasonic catheter. Alternatively, the X-rays can be taken from multiple (e.g., two) different angles of the ultrasound catheter by using an X-ray image system mounted on the interventional surgical robot, 3 feature points A, B, C on the metal markers are selected in the X-ray images, and the coordinates of A, B, C in the mechanical coordinate system are calculated.

And 5, rotating the ultrasonic catheter again to obtain an ultrasonic detection surface taking the direction of the current metal marker as a starting line, and obtaining the position information of the target point in the ultrasonic detection surface relative to the starting line.

And 6, calculating to obtain the coordinates of the ultrasonic detection surface in the mechanical coordinate system according to the X-ray image obtained in the step 4, calculating to obtain the coordinates of the target point in the ultrasonic detection surface according to the image of the ultrasonic detection surface obtained in the step 5, and calculating to obtain the space coordinates of the target point in the mechanical coordinate system through a preset coordinate conversion relation.

And 7, registering the coordinates of the target point in the ultrasonic detection plane, which is obtained by calculation in the step 6, on the X-ray image acquired in the step 4 through a coordinate conversion relation to serve as a confirmation basis of the puncture accuracy.

According to the embodiment of the application, the marker is arranged on the ultrasonic probe device and used as the marker of the ultrasonic probe device, and meanwhile, the marker can be developed under X-rays, so that the pose of the marker can be displayed in an X-ray image, namely the pose of the ultrasonic probe device can be indicated. Because the position relation between the X-ray image acquisition device and the X-ray image acquired by the device is fixed, the pose of the marker in the X-ray image can be determined to determine the pose of the marker relative to the X-ray image acquisition device.

In one embodiment, the lesion calculated in step 6 may be registered to a CT virtual image, and then a path is secondarily planned in a CT three-dimensional model formed by the CT virtual image according to a new target point, and a puncture depth is calculated; then, after the ultrasonic probe is drawn out from the adjustable bent sheath tube, the catheter is controlled to point to a target spot according to a new navigation path; then, a puncture needle enters from the adjustable bent sheath lumen to puncture a target spot; and finally, after the puncture needle is in place, shooting X-rays again at the same two angles as in the step 4, comparing the needle point position with the image with the virtual target point obtained in the step 4, and confirming that the puncture needle is in place.

The calculation process of the transformation relationship between the preset platform coordinate system and the mechanical coordinate system is described in further detail below, and the target is expressed by taking a lesion as an example.

In step 4, after finding a better lesion section suitable for the observation of the doctor, the bending angle of the sheath and the depth of the ultrasonic probe are locked, and the rotation of the ultrasonic catheter is stopped. Then, the dual Stewart platform opposite-emitting X-ray machine shown in fig. 6 to 8 mounted on the robot is used to respectively shoot X-rays on the ultrasonic catheter from two different shooting angles, so as to obtain X-ray images. Then, 3 contour feature points A, B, C which can be used to describe the contour of the ultrasonic probe marker are selected from the X-ray image, as shown in fig. 16, fig. 16 is a schematic diagram of the ultrasonic probe structure and the ultrasonic probe coordinate system corresponding to the ultrasonic probe image shown in fig. 15, and the coordinates of A, B, C in the mechanical coordinate system are calculated, taking the calculation of the coordinates of point a as an example, the method is as follows:

first, the point a is marked at a position in the X-ray image corresponding to the center point of the X-ray image, and for example, a coordinate system may be established with the center point of the X-ray image as the origin, and the coordinate of the point a may be expressed as (X) ₁ ,y ₁ ). Meanwhile, according to the motion of a main manipulator (called the main manipulator for short), the motion attitude of the X-ray emission Stewart platform at the moment is solved by a master-slave control algorithm, namely a conversion matrix from a movable platform to a static platform is recorded as

In practical application, a doctor can use a master hand to operate a mechanical arm with an X-ray emitting end to scan a human body, and when the position of a focus is found in an image, the position of the focus in the image relative to a central point is marked as (X) ₁ ,y ₁ )。

Secondly, the X-ray emitting end is controlled to deflect to another position where the point A can be seen, and an X-ray image at the position is collected. Based on the X-ray image, the position of the point A in the X-ray image relative to the center point is marked, for example, the center point of the X-ray image is used as the origin, and the coordinate of the point A is expressed as (X) ₂ ，y ₂ ) (ii) a Meanwhile, according to the movement of the main hand, the movement attitude of the X-ray emission Stewart platform at the moment is solved by a main-slave control algorithm, namely the moving platform is moved to the static platformIs given as a transformation matrix of

Thirdly, the coordinate of the point A at the first position in the coordinate system of the movable platform is recorded as (x) ₁ ，y ₁ ，z ₁ ) Wherein x is ₁ ，y ₁ Is a known quantity, z ₁ Is an unknown quantity. The coordinates are expressed as a position vector, noted

According to a conversion matrix

The coordinates of point a under the stationary platform can be obtained:

then, the coordinates of the point A at the second position in the moving platform coordinate system are recorded as (x) ₂ ，y ₂ ，z ₂ ) Wherein x is ₂ ，y ₂ Is a known quantity, z ₂ Is an unknown quantity, the coordinates are expressed as a position vector, which is noted as

According to a conversion matrix

The coordinates of point a under the stationary platform can be obtained:

then, according to the fact that the position of the point a under the stationary platform coordinate system is stationary, the following equation system can be obtained:

wherein

Representing a vector

The jth element in (a).

Then, the above equation system is solved to obtain z ₁ ，z ₂ And converting the coordinate of the point A (or the focus) under the movable platform into the coordinate under a mechanical coordinate system through a coordinate conversion matrix:

based on the method, the coordinate (x) of the point A under the mechanical coordinate system can be obtained _A ，y _A ，z _A ) Similarly, the coordinates (x) of B, C point in the mechanical coordinate system can be obtained _B ，y _B ，z _B ) And (x) _C ，y _C ，z _C )。

Further, in step 4, a probe coordinate system needs to be established, which is specifically established in the following manner with reference to fig. 16:

calculating the origin O of the coordinate system of the probe according to the coordinates of the 3 characteristic points A, B, C in the mechanical coordinate system _d (x _o ,y _o ,z _o ) And the direction vector O of the Z axis of the probe coordinate system in the mechanical coordinate system _d Z _d And the direction vector O of the X axis in the mechanical coordinate system _d X _d 。

Wherein, O _d (x _o ,y _o ,z _o )：x _o ＝(x _A +x _B )/2；y _o ＝(y _A +y _B )/2；z _o ＝(z _A +z _B )/2；O _d X _d ＝(x _B -x _A ,y _B -y _A ,z _B -z _A )；

Direction vector of Y axis is represented by O _d Y _d That is, since the Y-axis is perpendicular to both the Z-axis and the X-axis, the vector O can be calculated according to the vector product calculation formula _d Y _d ：

O _d Y _d ＝O _d Z _d ×O _d X _d ＝(l,m,n)；

Wherein the content of the first and second substances,

unitizing the vector of the X-axis, Y-axis and Z-axis:

forming the unitized vectors of the X-axis, the Y-axis and the Z-axis into a 3X3 vector matrix

Coordinate O of known probe coordinate system origin in mechanical coordinate system _d (x _o ,y _o ,z _o ) And a vector matrix T of X-axis, Y-axis and Z-axis _xyz Obtaining the attitude matrix of the probe coordinate system under the mechanical coordinate system

Wherein the content of the first and second substances,

represents T _xyz The transposed matrix of (2).

Further, in step 5, the ultrasound catheter is rotated again, see fig. 17, and fig. 17 is a schematic view of the ultrasound probe plane obtained by rotating the ultrasound probe again, the ultrasound probe plane with the pointing direction of the current ultrasound probe marker as the start line is obtained, and the position information of the target point in the ultrasound probe plane relative to the start line is obtained.

By measuring theta in fig. 17 _c And r _c According to theta _c And r _c The coordinates of the target point under the probe coordinate system can be calculated:

S _t (r _c cosθ _c ,-r _c sinθ _c ,l _z )。

in practical application, θ _c And r _c This can be measured manually or also automatically by the processor.

It will be appreciated that the target point is a point in the lesion, which may be, for example, the best puncture point selected by the physician.

According to the coordinates of the target point in the probe coordinate system, a position matrix of the focus in the probe coordinate system can be obtained

Wherein l _z The distance from the AB edge of the ultrasonic probe marker to the ultrasonic emission window of the ultrasonic transducer, namely the distance from the AB edge to the ultrasonic detection surface. l _z Is a parameter set in advance and is a known quantity. The coordinates of the focus under the mechanical coordinate system can be obtained according to the coordinate conversion relation

After the coordinates of the focus under the mechanical coordinate system are obtained, the coordinates of the focus under the mechanical coordinate system can be converted into the Stewart calculation coordinate system of other operation execution mechanical arms through the joint information of other mechanical arms,

then, knowing the coordinate of the target point under a Stewart calculation coordinate system of the surgical execution mechanical arm, the joint motion amount of the Stewart platform of the surgical execution mechanical arm can be calculated through inverse kinematics of a Stewart parallel platform, so that the tail end of the instrument of the surgical execution mechanical arm can accurately reach the position of a focus, and the focus can be accurately positioned. In addition, the focus is positioned by the method, the dependence on manual operation in the combined positioning and registering process of the ultrasound and the X-ray can be reduced, the operation safety is improved, and as one of the clinical applications of the surgical robot, a complex system does not need to be independently developed, so the development cost can be reduced.

Further, step S502 obtains a position parameter of the target in the ultrasound probe coordinate system according to the ultrasound image of the target, specifically, determines the relative position information between the ultrasound probe marker and the target according to the ultrasound image of the target, and obtains a position parameter of the target in the ultrasound probe coordinate system according to the relative position information between the ultrasound probe marker and the target.

Determining the relative position information of the ultrasonic probe marker and the target according to the ultrasonic image of the target, and obtaining the position parameters of the target in an ultrasonic probe coordinate system according to the relative position information of the ultrasonic probe marker and the target, wherein the relative position information comprises the linear distance and the included angle of an operation target, and the position parameters of the operation target in the ultrasonic probe coordinate system comprise the position coordinates and the position matrix of the operation target in the ultrasonic probe coordinate system. Specifically, a linear distance and an included angle between the tail end of the ultrasonic probe marker and the target scanned by the ultrasonic image are measured, and a position coordinate and a position matrix of the target in the ultrasonic probe coordinate system are obtained according to the linear distance and the included angle, more specifically, in step 6, a spatial coordinate of a target point in a mechanical coordinate system is calculated, that is, a specific process of calculating a coordinate expression of the lesion in the mechanical coordinate system is as follows:

the ultrasonic probe marker reflects the position of the ultrasonic probe and the posture of the ultrasonic probe, so the ultrasonic probe marker cannot be a regular geometric object, and the posture cannot be distinguished under the projection of X-ray. The morphology of the ultrasound probe markers is not unique and is illustrated here by way of example in fig. 18.

The shape is based on a right triangle, the right angle position is the origin position Od of the probe coordinate system, the direction of the right angle pointing to one of the acute angles is the Z-axis direction (i.e., the OdZd direction shown in fig. 18), the direction of the right angle pointing to the other acute angle is the X-axis direction (i.e., the OdXd direction shown in fig. 18), and the Y-axis direction is obtained by the right hand rule. Under the X-ray projection, the position corresponding to each corner of the image can be identified.

The end of the ultrasonic probe is located on the Z axis of the probe coordinate system, and the ultrasonic detection surface is located in the XOZ plane of the probe coordinate system.

Further, step S503 is to acquire an X-ray image of the ultrasound probe marker through an X-ray image acquisition device, and determine the position coordinates of the ultrasound probe marker in a pre-established mechanical coordinate system according to the X-ray image, and specifically includes: respectively shooting X-ray images of the ultrasonic probe marker at a plurality of different positions through the X-ray image acquisition device; the X-ray image acquisition device is arranged on a preset platform, and each X-ray image comprises the relative positions of a plurality of contour characteristic points for marking the ultrasonic probe marker in the X-ray image; acquiring a motion parameter relation of a platform where the X-ray image acquisition device is located when each X-ray image is acquired; determining the coordinates of the target under a platform coordinate system based on the image information respectively corresponding to each X-ray image; wherein, the image information comprises the relative position and the motion parameter relation; and converting the coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the coordinate system of the platform into the position coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the mechanical coordinate system according to the conversion relation between the coordinate system of the platform of the preset X-ray image acquisition device and the mechanical coordinate system.

More specifically, the determining the coordinates of the target in the platform coordinate system based on the image information corresponding to each X-ray image includes: for each X-ray image, determining xy coordinates of the profile characteristic point of the ultrasonic probe marker in a preset coordinate system of a platform based on the relative position of the profile characteristic point of the ultrasonic probe marker in the X-ray image; determining the z coordinate of the contour characteristic point of the ultrasonic probe marker in the coordinate system of the platform based on the xy coordinate of the contour characteristic point of the ultrasonic probe marker in each X-ray image in the coordinate system of the platform and the motion parameter relationship when the X-ray image is acquired;

the step of converting coordinates of a plurality of contour feature points of the ultrasonic probe marker in the coordinate system of the platform into position coordinates of the plurality of contour feature points of the ultrasonic probe marker in the mechanical coordinate system according to a conversion relation between the coordinate system of the platform of a preset X-ray image acquisition device and the mechanical coordinate system comprises the following steps: converting the xyz coordinates of each contour feature point into the position coordinates of the contour feature point in the mechanical coordinate system according to the conversion relation between the coordinate system of the platform and the mechanical coordinate system; and in each X-ray image, determining the position of the ultrasonic probe marker in the mechanical coordinate system according to the position coordinates of the contour feature point in the mechanical coordinate system.

In one embodiment, the platform on which the X-ray machine is located includes a movable platform and a stationary platform, and the planar coordinate system of the X-ray image is parallel to the xOy plane of the movable platform of the transmitting end, and the xy coordinates are coordinates of the target under the coordinate system of the movable platform of the transmitting end. Based on the moving platform and the static platform, the method for determining the z coordinate may include: and determining the z coordinate of the target under the moving platform coordinate system based on the xy coordinate of the target under the moving platform coordinate system in each X-ray image, the motion parameter relationship between the moving platform coordinate system and the static platform coordinate system when the X-ray image is acquired, and the condition that the position of the target under the static platform coordinate system is unchanged.

In one embodiment, the platform on which the X-ray machine is located includes a moving platform and a stationary platform, and coordinates of the target under the moving platform coordinate system can be converted into position coordinates of the target under the robot mechanical coordinate system according to a motion parameter relationship between moving and stationary platform coordinate systems when the X-ray image is acquired and a conversion relationship between a preset stationary platform coordinate system of the X-ray machine and the robot mechanical coordinate system.

Wherein the predetermined coordinate transformation matrix is the above

As described in further detail below, the target is expressed in terms of a lesion.

With reference to fig. 18, the coordinate solution of the lesion in the mechanical coordinate system includes:

1. by measuring l in FIG. 18 _c 、l _m And theta _c Obtaining the coordinate S of the focus under the coordinate system of the probe _t ＝l _c sinθ _c ,0,l _c cosθ _c +l _m The position matrix of the focus under the coordinate system of the probe is

Wherein l _c The linear distance between the tail end of the ultrasonic probe marker on the ultrasonic image of the target and the target; theta _c Is the angle between the end of the ultrasonic probe marker on the ultrasonic image of the target and the target,/ _m Is the linear distance between the end of the ultrasound probe marker on the ultrasound image of the target and the origin of the ultrasound probe coordinate system.

In practical application, the ultrasonic probe can be guided into a human body with the aid of medical navigation equipment, and the focus can be displayed under an ultrasonic image.

2. According to the method for calculating the coordinates of the 3 characteristic points A, B, C in the mechanical coordinate system, the coordinates O of the vertexes of the three angles of the ultrasonic probe marker in the mechanical coordinate system are calculated _d (x _o ，y _o ，z _o )，X _d (x _X ，y _X ，z _X )，Z _d (x _Z ，y _Z ，z _Z ) According to the coordinates of the three vertexes in the mechanical coordinate system, the direction vector of the Z axis of the probe coordinate system can be represented by O _d Z _d The direction vector of the X-axis is represented by O _d X _d Represents:

O _d Z _d ＝(x _Z -x _o ,y _Z -y _o ,z _Z -z _o )，

O _d X _d ＝(x _X -x _o ,y _X -y _o ,z _X -z _o )。

direction vector of Y axis is represented by O _d Y _d Indicating that vector O can be derived from the Y axis perpendicular to both the Z axis and the X axis _d Y _d Is O _d Z _d And O _d X _d The vector product of (a):

O _d Y _d ＝O _d Z _d ×O _d X _d 。

3. coordinate O of known probe coordinate system origin in mechanical coordinate system _d (x _o ,y _o ,z _o ) And directional vectors O of three coordinate axes _d Z _d ，O _d X _d ，O _d Y _d Obtaining the attitude matrix of the probe coordinate system under the mechanical coordinate system

4. The coordinates of the focus under the mechanical coordinate system can be obtained according to the coordinate conversion relation

When the ultrasonic probe is a mechanical probe, rotational imaging is required, and when the ultrasonic probe is a phased array probe, imaging can be performed without rotation. After the phased array type probe detects the focus, the spatial position of a detection surface and a target point can be directly obtained by X-ray, and the phased array type probe does not need to stop rotating to obtain the starting direction of the ultrasonic transducer. After finding the focus, the mechanical probe ultrasonic probe can stop rotating and directly shoot X-rays to obtain the angle information of the target spot in the detection surface.

The ultrasound contrast is clear and the guidance is intuitive, so the puncture direction of the operation can be grasped efficiently. According to the method and the device, the ultrasonic probe marker (such as a metal marker or an optical marker) is added on the ultrasonic detection device, when a 3D image of a focus is obtained through ultrasonic detection, three-dimensional coordinate information of the focus is obtained by utilizing conversion of a 2D coordinate and a 3D coordinate, accurate registration of a target point and a human body can be achieved, and the dependence of the registration process of positioning on manual operation is small, so that the operation is safer.

It should be noted that, knowing the coordinates of the lesion under the mechanical coordinate system, the coordinates of the lesion under the mechanical coordinate system can be converted into the Stewart calculation coordinate system of the mechanical arm through the joint information of the mechanical arm for operation execution,

knowing the coordinate of the target spot under the operation execution mechanical arm Stewart calculation coordinate system, the joint motion amount of the operation execution mechanical arm Stewart platform can be calculated through inverse kinematics of a Stewart parallel platform, so that the tail end of an instrument of the operation execution mechanical arm can accurately reach the position of a focus.

Further, the coordinates of the ultrasonic probe coordinate system in the mechanical coordinate system are obtained through calculation according to the X-ray image, and the Z-axis direction of the ultrasonic probe coordinate system is combined with the Z-axis direction _z Obtaining the coordinate of the ultrasonic detection surface under the mechanical coordinate system; the coordinates of the target point under the probe coordinate system are obtained through calculation according to the ultrasonic image and are combined with the coordinate I _z Obtaining the coordinate of the target point in the ultrasonic detection plane; and further calculating to obtain the space coordinate of the target point under the mechanical coordinate system through the coordinate conversion relation.

Further, the calculated spatial coordinates of the target point are registered to the X-ray image acquired by the X-ray image acquisition device through a coordinate transformation relationship, so as to be used as a confirmation basis for the accuracy of the puncture, as shown in fig. 19.

Further, as shown in fig. 20, the lesion position calculated through the above steps is registered to the virtual image obtained by CT scanning.

Further, performing secondary path planning in the CT three-dimensional model according to a new target point through CT and three-dimensional reconstruction, and calculating the puncture depth; after the ultrasonic probe is drawn out of the sheath, the catheter is controlled to point to a target spot according to a path of secondary planning, a puncture needle enters from the cavity of the sheath, and the target spot is punctured; after the puncture is in place, the X-ray image acquisition device shoots the X-rays from the two shooting angles again, the needle point position of the puncture needle is compared with the image with the virtual target point obtained by shooting at this time, and the puncture needle is confirmed to be in place, as shown in fig. 21.

It is understood that the CT and three-dimensional reconstruction methods used in the present application are known methods, and there are many current CT and three-dimensional reconstruction methods, and the present application is not limited in particular.

In combination with the above embodiments, the present application has at least the following innovation points:

1. the intravascular ultrasound catheter with the water sac structure is adopted, so that the intravascular ultrasound catheter can be applied to a gas environment;

2. the position of the ultrasonic probe is indicated through the ultrasonic probe marker at the tail end of the ultrasonic catheter, so that the positioning accuracy is improved;

3. the sheath is used for carrying the ultrasonic catheter, so that the phenomenon that the ultrasonic catheter is bent due to over-soft texture in the process of entering an air passage and approaching a target point, and further propulsion cannot be continued is avoided.

4. And acquiring real-time coordinates of the focus under a mechanical coordinate system in a mode of ultrasonic and X-ray combined positioning.

According to the embodiment of the application, the advantages and the disadvantages of ultrasonic positioning and X-ray positioning are made up, the real-time coordinate of the focus under a mechanical coordinate system is obtained by utilizing a mode of ultrasonic and X-ray combined positioning, and the positioning accuracy can be improved.

Referring to fig. 27, a schematic structural diagram of a positioning device according to an embodiment of the present application is provided. For convenience of explanation, only portions related to the embodiments of the present application are shown. The device can be configured in a computer device with data processing function separately, or can be integrated in the ultrasonic detection device 101 or the X-ray image acquisition device 102. As shown in fig. 27, the apparatus includes:

the acquisition module 271 is used for acquiring an ultrasonic image of a target to be positioned through the ultrasonic probe device provided with the ultrasonic probe marker;

the calculation module 272 is configured to obtain a position parameter of the target in an ultrasonic probe coordinate system according to the ultrasonic image of the target, where the ultrasonic probe coordinate system is established based on the ultrasonic probe device;

the acquisition module 271 is further configured to acquire an X-ray image of the ultrasound probe marker through an X-ray image acquisition device;

a determining module 273, configured to determine position coordinates of the ultrasound probe marker in a pre-established mechanical coordinate system according to the X-ray image;

the calculating module 272 is further configured to obtain a position coordinate of the target in the mechanical coordinate system according to the position coordinate of the ultrasound probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasound probe coordinate system.

The calculating module 272 is further configured to determine the relative position information between the ultrasound probe marker and the target according to the ultrasound image of the target, and obtain the position parameter of the target in the ultrasound probe coordinate system according to the relative position information between the ultrasound probe marker and the target.

The relative position information comprises a linear distance and an included angle, and the position parameters of the target in the ultrasonic probe coordinate system comprise a position coordinate and a position matrix of the target in the ultrasonic probe coordinate system;

the calculating module 272 is further configured to measure a linear distance and an included angle between the end of the ultrasonic probe marker on the ultrasonic image of the target and the target scanned by the ultrasonic image, and obtain a position coordinate and a position matrix of the target in the ultrasonic probe coordinate system according to the linear distance and the included angle.

The ultrasonic probe device has an ultrasonic detection surface for the target located in an XZ plane of the ultrasonic probe coordinate system, and the distal end of the ultrasonic probe marker is located on a Z axis of the ultrasonic probe coordinate system, then the calculation module 272 is further configured to determine the position coordinate St of the target in the ultrasonic probe coordinate system by the following expression:

S _t (l _c sinθ _c ,0,l _c cosθ _c +l _m )；

determining the position matrix of the target in the coordinate system of the ultrasonic probe by the following formula

Wherein l _c The linear distance between the tail end of the ultrasonic probe marker on the ultrasonic image of the target and the target; theta _c The included angle between the tail end of the ultrasonic probe marker on the ultrasonic image of the target and the target; l _m Is the linear distance between the end of the ultrasound probe marker on the ultrasound image of the target and the origin of the ultrasound probe coordinate system.

The acquisition module 271 is further configured to capture X-ray images of the ultrasound probe markers at a plurality of different positions by the X-ray image acquisition device; the X-ray image acquisition device is arranged on a preset platform, and each X-ray image comprises the relative positions of a plurality of contour characteristic points for marking the ultrasonic probe marker in the X-ray image.

The determining module 273 is further configured to obtain a motion parameter relationship when the platform where the X-ray image acquisition device is located acquires each X-ray image;

determining the coordinates of the target under a platform coordinate system based on the image information respectively corresponding to each X-ray image; wherein, the image information comprises the relative position and the motion parameter relation;

and converting the coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the coordinate system of the platform into the position coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the mechanical coordinate system according to the conversion relation between the coordinate system of the platform of the preset X-image acquisition device and the mechanical coordinate system.

The determining module 273 is further configured to determine, for each X-ray image, xy coordinates of the contour feature point of the ultrasound probe marker in a preset coordinate system of the platform based on the relative position of the contour feature point of the ultrasound probe marker in the X-ray image;

and determining the z coordinate of the contour characteristic point of the ultrasonic probe marker in the coordinate system of the platform based on the xy coordinate of the contour characteristic point of the ultrasonic probe marker in each X-ray image in the coordinate system of the platform and the motion parameter relationship when the X-ray image is acquired.

The determining module 273 is further configured to convert the xyz coordinate of each contour feature point into the position coordinate of the contour feature point in the mechanical coordinate system according to the conversion relationship between the coordinate system of the platform and the mechanical coordinate system;

and in each X-ray image, determining the position of the ultrasonic probe marker in the mechanical coordinate system according to the position coordinates of the contour feature point in the mechanical coordinate system.

The calculating module 272 is further configured to obtain direction vectors of each axis of the ultrasonic probe coordinate system according to the position coordinates of each contour feature point of the ultrasonic probe marker in the mechanical coordinate system;

obtaining an attitude matrix of the ultrasonic probe coordinate system under the mechanical coordinate system according to the coordinates of the origin of the ultrasonic probe coordinate system under the mechanical coordinate system and the direction vectors of all axes of the ultrasonic probe coordinate system;

and obtaining the coordinates of the target in the mechanical coordinate system according to the attitude matrix and a preset coordinate conversion matrix.

The specific process of the modules for implementing their respective functions may refer to the relevant contents in the embodiments, and will not be described herein again.

In this embodiment, an ultrasonic probe device provided with an ultrasonic probe marker is used to obtain an ultrasonic image of a target to be positioned and obtain a position parameter of the target in an ultrasonic probe coordinate system according to the ultrasonic image of the target, the ultrasonic probe coordinate system is established based on the ultrasonic probe device, an X-ray image of the ultrasonic probe marker is obtained by an X-ray image acquisition device, a position coordinate of the ultrasonic probe marker in a pre-established mechanical coordinate system is determined according to the X-ray image, a position coordinate of the target in the mechanical coordinate system is obtained according to the position coordinate of the ultrasonic probe marker in the mechanical coordinate system and the position parameter of the target in the ultrasonic probe coordinate system, and a real-time coordinate of a focus in the mechanical coordinate system is obtained by a combined positioning mode of ultrasound and X-ray, so as to realize accurate positioning of a soft tissue containing gas which cannot be positioned by X-ray or ultrasound alone.

Referring to fig. 28, a hardware structure of an electronic device according to an embodiment of the present application is schematically illustrated. As shown in fig. 28, the electronic apparatus includes: memory 281, and processor 282.

The memory 281 has stored therein an executable computer program 283. The processor 282, coupled to the memory 281, invokes the executable computer program 283 stored in the memory to perform the positioning method provided by the above embodiments.

Illustratively, the computer program 283 may be partitioned into one or more modules/units that are stored in the memory 281 and executed by the processor 282 to implement the present invention. The one or more modules/units may include various modules in the positioning device in the above embodiments, such as: an acquisition module 271, a calculation module 272, and a determination module 273.

Further, the apparatus further comprises:

at least one input device and at least one output device.

The processor 282, memory 281, input devices, and output devices may be connected by a bus.

The input device may be a camera, a touch panel, a physical button, a mouse, or the like. The output device may specifically be a display screen.

Further, the apparatus may include more components than those shown, or some components may be combined, or different components, such as network access devices, sensors, etc.

The Processor 282 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 281 may be, for example, a hard disk drive memory, a non-volatile memory (e.g., a flash memory or other electronically programmable erase limit memory used to form a solid state drive, etc.), a volatile memory (e.g., a static or dynamic random access memory, etc.), etc., and the embodiments of the present application are not limited thereto. Specifically, the memory 281 may be an internal storage unit of the electronic device, such as: a hard disk or a memory of the electronic device. The memory 281 may also be an external storage device of the electronic apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the electronic apparatus. Further, the memory 281 may also include both an internal storage unit and an external storage device of the electronic apparatus. The memory 281 is used for storing computer programs and other programs and data required by the terminal. The memory 281 may also be used to temporarily store data that has been output or is to be output.

Further, the present application also provides a computer-readable storage medium, which may be disposed in the electronic device in the foregoing embodiments, and the computer-readable storage medium may be the memory 281 in the foregoing embodiment shown in fig. 28. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the positioning method described in the foregoing embodiments. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a readable storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned readable storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media capable of storing program codes.

It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently considered to be preferred embodiments and that acts and modules are not required in the present application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first feature or the second feature through intervening media.

Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. "beneath," "below," and "beneath" a first feature may be directly or obliquely below the second feature or may simply mean that the first feature is at a lower level than the second feature.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

In view of the above description of the positioning method, apparatus, system and computer-readable storage medium provided by the present application, those skilled in the art will recognize that the present application is not limited to the embodiments and applications described in the present application.

Claims

1. A method of positioning, comprising:

2. The method according to claim 1, wherein the obtaining the position parameter of the target in an ultrasound probe coordinate system according to the ultrasound image of the target comprises:

and determining the relative position information of the ultrasonic probe marker and the target according to the ultrasonic image of the target, and obtaining the position parameter of the target in an ultrasonic probe coordinate system according to the relative position information of the ultrasonic probe marker and the target.

3. The method of claim 2, wherein the relative position information comprises a linear distance and an included angle, and the position parameters of the target in an ultrasound probe coordinate system comprise a position coordinate and a position matrix of the target in the ultrasound probe coordinate system;

the determining the relative position information of the ultrasonic probe marker and the target according to the ultrasonic image of the target, and obtaining the position parameter of the target in an ultrasonic probe coordinate system according to the relative position information of the ultrasonic probe marker and the target comprises:

and measuring the linear distance and the included angle between the tail end of the ultrasonic probe marker and the target scanned by the ultrasonic image, and obtaining the position coordinate and the position matrix of the target under the ultrasonic probe coordinate system according to the linear distance and the included angle.

4. The method according to claim 3, wherein the ultrasonic probe surface of the ultrasonic probe device for the target is located in an XZ plane of the ultrasonic probe coordinate system, and the end of the ultrasonic probe marker is located on a Z axis of the ultrasonic probe coordinate system, and then the obtaining the position parameter of the target in the ultrasonic probe coordinate system according to the relative position information of the ultrasonic probe marker and the target comprises:

determining the position coordinate S of the target in the coordinate system of the ultrasonic probe by the following expression _t ：

S _t ＝l _c sinθ _c ,0,l _c cosθ _c +l _m ；

Determining a position matrix of the target in the ultrasound probe coordinate system by the following formula

Wherein l _c Is the linear distance between the end of the ultrasonic probe marker on the ultrasonic image of the target and the target; theta _c The included angle between the tail end of the ultrasonic probe marker on the ultrasonic image of the target and the target is obtained; l _m Is the linear distance between the end of the ultrasound probe marker on the ultrasound image of the target and the origin of the ultrasound probe coordinate system.

5. The method of claim 1, wherein said acquiring an X-ray image of the ultrasound probe marker by an X-ray image acquisition device and determining the position coordinates of the ultrasound probe marker in a pre-established mechanical coordinate system from the X-ray image comprises:

respectively shooting X-ray images of the ultrasonic probe markers at a plurality of different positions through the X-ray image acquisition device; the X-ray image acquisition device is arranged on a preset platform, and each X-ray image comprises the relative positions of a plurality of contour characteristic points for marking the ultrasonic probe marker in the X-ray image;

acquiring a motion parameter relation of a platform where the X-ray image acquisition device is located when each X-ray image is acquired;

determining the coordinates of the target under a platform coordinate system based on the image information respectively corresponding to each X-ray image; wherein the image information comprises the relative position and the motion parameter relationship;

and converting the coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the coordinate system of the platform into the position coordinates of the plurality of contour characteristic points of the ultrasonic probe marker in the mechanical coordinate system according to the conversion relation between the coordinate system of the platform of a preset X-ray image acquisition device and the mechanical coordinate system.

6. The method of claim 5, wherein determining the coordinates of the target in the platform coordinate system based on the image information corresponding to each of the X-ray images comprises:

for each X-ray image, determining xy coordinates of the profile feature points of the ultrasonic probe markers in a preset coordinate system of a platform based on the relative positions of the profile feature points of the ultrasonic probe markers in the X-ray images;

determining the z coordinate of the contour characteristic point of the ultrasonic probe marker in the coordinate system of the platform based on the xy coordinate of the contour characteristic point of the ultrasonic probe marker in each X-ray image in the coordinate system of the platform and the motion parameter relationship when the X-ray image is acquired;

the step of converting the coordinates of the plurality of contour feature points of the ultrasonic probe marker in the coordinate system of the platform into the position coordinates of the plurality of contour feature points of the ultrasonic probe marker in the mechanical coordinate system according to the conversion relationship between the coordinate system of the platform of the preset X-ray image acquisition device and the mechanical coordinate system comprises:

converting the xyz coordinates of each contour feature point into the position coordinates of the contour feature point in the mechanical coordinate system according to the conversion relation between the coordinate system of the platform and the mechanical coordinate system;

and in each X-ray image, determining the position of the ultrasonic probe marker in the mechanical coordinate system according to the position coordinates of the contour feature points in the mechanical coordinate system.

7. The method of claim 5, wherein the deriving the position coordinates of the target in the mechanical coordinate system from the position coordinates of the ultrasound probe marker in the mechanical coordinate system and the position parameters of the target in the ultrasound probe coordinate system comprises:

obtaining direction vectors of all axes of the ultrasonic probe coordinate system according to the position coordinates of all the contour characteristic points of the ultrasonic probe marker in the mechanical coordinate system;

and obtaining the coordinates of the target under the mechanical coordinate system according to the attitude matrix and a preset coordinate conversion matrix.

8. A positioning device, comprising:

9. An electronic device, comprising:

a memory and a processor;

the memory stores an executable computer program;

the processor, coupled with the memory, invokes the executable computer program stored in the memory to perform the positioning method of any of claims 1-7.

10. A positioning system, comprising: the system comprises an ultrasonic detection device, an X-ray image acquisition device, an ultrasonic probe marker, a signal conversion device and a processor;

wherein the processor is adapted to perform the steps of the positioning method according to any of claims 1-7.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1-7.