CN115222801A

CN115222801A - Method and device for positioning through X-ray image, X-ray machine and readable storage medium

Info

Publication number: CN115222801A
Application number: CN202111679833.1A
Authority: CN
Inventors: 黄善灯; 柳建飞; 潘鲁锋; 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: CN217219033U; WO2022218388A1; CN115211964A; CN115211961A; CN217723539U; CN115211874A; WO2022218387A1; WO2022218389A1

Abstract

A method, a device and a readable storage medium for positioning by X-ray images are provided, wherein the method comprises the following steps: shooting X-ray images of a target to be positioned at a plurality of different positions through the X-ray machine, wherein each X-ray image comprises a relative position of a marked target in the X-ray image, acquiring a motion parameter relation of a platform where the X-ray machine is positioned when each X-ray image is collected, and determining a coordinate of the target under a platform coordinate system based on image information corresponding to each X-ray image; the image information comprises the relative position and the motion parameter relation, and the coordinates of the target under the platform coordinate system are converted into the position coordinates of the target under the mechanical coordinate system of the robot according to the conversion relation between the platform coordinate system of the preset X-ray machine and the mechanical coordinate system of the robot. According to the method and the device, the real-time coordinate of the target under the mechanical coordinate system is obtained by utilizing the X-ray image, and the positioning accuracy can be improved.

Description

Method and device for positioning through X-ray image, X-ray machine and readable storage medium

Technical Field

The embodiment of the application relates to the technical field of mechanical equipment and communication, in particular to a method and a device for positioning through an X-ray image, an X-ray machine and a readable storage medium.

Background

In medical examination and surgery, the positioning of the object of the examination and surgery is of great importance. X-ray imaging systems are a common method of intraoperative positioning.

The prior X-ray equipment has low definition of the obtained real-time X-ray perspective image, can only judge the approximate position of a target and cannot accurately position the position of the target in space.

Disclosure of Invention

The embodiment of the application provides a method and a device for positioning through an X-ray image, an X-ray machine and a readable storage medium, which can obtain the space coordinate of a target position by utilizing an X-ray image positioning mode and improve the accuracy of positioning through the X-ray image.

An embodiment of the present application provides a method for positioning through an X-ray image, including:

shooting X-ray images of a target to be positioned at a plurality of different positions through the X-ray machine, wherein each X-ray image comprises a relative position of a mark target in the X-ray image;

acquiring a motion parameter relation of a platform where the X-ray machine is located when each X-ray image is collected;

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

and converting the coordinate of the target under the platform coordinate system into the position coordinate of the target under the mechanical coordinate system of the robot according to the conversion relation between the platform coordinate system of the preset X-ray machine and the mechanical coordinate system of the robot.

An aspect of an embodiment of the present application further provides an apparatus for positioning through X-ray images, including:

the system comprises a shooting module, a positioning module and a positioning module, wherein the shooting module is used for shooting X-ray images of a target to be positioned at a plurality of different positions through the X-ray machine, and each X-ray image comprises a relative position of a mark target in the X-ray image;

the acquisition module is used for acquiring the motion parameter relationship of the platform where the X-ray machine is located when each X-ray image is acquired;

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

and the conversion module is used for converting the coordinates of the target under the platform coordinate system into the position coordinates of the target under the mechanical coordinate system of the robot according to the conversion relation between the preset platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot.

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, calling the executable computer program stored in the memory, executes the steps of the method for positioning by X-ray image.

An aspect of the embodiments of the present application further provides an X-ray apparatus, including: the X-ray detector comprises a mechanical arm, a transmitting end platform connected with the mechanical arm, an X-ray emitter connected with the transmitting end platform, an X-ray receiver arranged opposite to the X-ray emitter and used for receiving X-rays from the X-ray emitter, and a receiving end platform connected with the X-ray receiver, wherein the X-ray emitter and the X-ray receiver can keep the axes coincident under the driving of the mechanical arm, the transmitting end platform and the receiving end platform.

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

As can be seen from the foregoing embodiments of the present application, in the present application, the X-ray machine is used to shoot X-ray images of a target to be positioned at a plurality of different positions, where each X-ray image includes a relative position of the target marked in the X-ray image, a motion parameter relationship of a platform where the X-ray machine is located when each X-ray image is collected is obtained, and coordinates of the target in a platform coordinate system are determined based on image information corresponding to each X-ray image; the image information comprises the relative position and the motion parameter relation, and the coordinates of the target under the platform coordinate system are converted into the position coordinates of the target under the mechanical coordinate system of the robot according to the conversion relation between the preset platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot, so that the method can obtain the real-time coordinates of the focus under the mechanical coordinate system, and the positioning accuracy can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings required to be used in the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic overall structure of an X-ray machine according to an embodiment of the present disclosure;

FIG. 2 is an enlarged view of a portion of the X-ray machine of FIG. 1 showing the Stewart platform at the emitting end;

FIG. 3 is another enlarged view of a portion of the X-ray machine shown in FIG. 1, showing the receiving end Stewart platform;

FIG. 4 shows a stationary platform coordinate system S of a Stewart platform at a receiving end _tre -X _stre Y _stre Z _stre And a moving platform coordinate system M _re -X _Mre Y _Mre Z _Mre A schematic diagram of (a);

FIG. 5 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. 6 is a schematic diagram of a transmitting end Stewart platform and a receiving end Stewart platform in opposite transmission;

FIG. 7 is a schematic diagram of the position change of a transmitting end Stewart platform and a receiving end Stewart platform;

FIG. 8 is a schematic control diagram of an X-ray emission end Stewart parallel platform and an X-ray receiving end Stewart parallel platform by a main manipulator;

fig. 9 is a flowchart illustrating an implementation of a positioning method under an X-ray image according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a positioning device under an X-ray image according to an embodiment of the present application;

fig. 11 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, merely for convenience in describing the application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the application.

In this application, unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may include, for example, fixed connections, removable connections, and 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. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The application provides an X-ray machine includes transmitting terminal platform, X-ray emitter, receiving terminal platform and X-ray receiver, and the X-ray emitter is installed at the transmitting terminal platform, and X-ray receiver installs at the receiving terminal platform

The application provides an X-ray machine specifically is two Stewart platform correlation X-ray machines, includes: 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.

That is, the X-ray machine has a transmitting end platform, an X-ray transmitter and receiver, a receiving end platform, 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 multiple degrees of freedom mechanical arms, the receiver is installed below an operating bed board, the receiving end Stewart platform mechanical arm is movably installed on a base or a floor of the operating bed, the receiver is installed on the receiving end Stewart platform mechanical arm, and the receiving end Stewart platform mechanical arm (hereinafter referred to as the receiving end Stewart platform) can be used for adjusting the position and the angle of the receiver. The positions of the X-ray emitter and the receiver may be interchanged.

The positions of the transmitter and the receiver of the X-ray are flexibly adjusted by utilizing two Stewart platform machines at the transmitting end and the receiving end, so that the transmitter and the receiver are always in axial line coincidence, and perspective images of patients in different directions are obtained according to the requirements of doctors.

The control processing device receives signals of the position sensors on the transmitter and the receiver, and controls the transmitter to reach a desired perspective position according to the requirements of a doctor. 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 arrive at 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 the X ray emitted by the emitting end can be received by the receiving end in real time, and the perspective imaging effect can be ensured.

The embodiment of the application provides an X-ray machine, which comprises: the X-ray detector comprises a mechanical arm, a transmitting end platform connected with the mechanical arm, an X-ray emitter connected with the transmitting end platform, an X-ray receiver arranged opposite to the X-ray emitter and used for receiving X-rays from the X-ray emitter, and a receiving end platform connected with the X-ray receiver, wherein the X-ray emitter and the X-ray receiver can keep the axes coincident under the driving of the mechanical arm, the transmitting end platform and the receiving end platform.

Specifically, the transmitting end platform and the receiving end platform both use a Stewart platform as an example, see fig. 1, and fig. 1 is a schematic structural diagram of an X-ray machine provided in an embodiment of the present application, where the X-ray machine can be divided into an X-ray transmitting 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. 2 is an enlarged schematic view of a Stewart platform 20 at the emission end of the X-ray machine shown in fig. 1. As shown in fig. 2, in the present 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 the six transmitting end telescopic elements 23 by a U-shaped hinge or a ball hinge. 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 emitter end telescoping member 23 is deflected from the Z axis through an angular range of + -20 deg.. In this embodiment, the diameter of the movable platform 22 at the launching end is smaller than that of the static platform 21 at 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 the transmitting end Stewart platform 20 is fixedly connected with the mechanical arm 10, and a transmitting end dynamic 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. 1, a 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. 3 is a partial enlarged view of a receiving end Stewart platform 50 of the X-ray machine shown in fig. 1, 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 installed on the ground and is specifically installed 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 electrically connected with the transmitting end position sensor and the receiving end position sensor. The transmitting 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 processor is controlled by controlling the main hand, so that the processor controls the mechanical arm 10 and the transmitting end Stewart platform 20 to move to a planned pose to realize the positioning of 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 application also provides an X-ray machine control method, which is used for controlling the X-ray machine and specifically comprises the following steps:

static platform coordinate system Stre-X for establishing receiving end Stewart platform _stre Y _stre Z _stre And moving platform coordinate system Mre-X _Mre Y _Mre Z _Mre ；

Firstly, as shown in fig. 5, a stationary platform coordinate system S of the receiving end Stewart platform is established _tre -X _stre Y _stre Z _stre And a moving platform coordinate system M _re -X _Mre Y _Mre Z _Mre . Correspondingly, as shown in fig. 6, 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 XYZ axes of a mechanical coordinate system; the origin of the receiving end movable platform is located at the center of the movable 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 origin O of the mechanical coordinate system is located at the center of the robot base, the Z axis is vertically upward, the X axis is vertically directed to the upright post 60 of the robot, the Y axis accords with the right hand rule, and 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 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 as a static platform seat at the receiving end at the initial positionCoordinates of the origin of the standard system under the mechanical coordinate system; x is the number of _re ，y _re The distance of the receiving end static platform moving along the slide rail to the positive direction of the X axis and the displacement of the receiving end static platform moving along the slide rail to the positive direction of the Y axis are respectively.

Further, it is known in the art

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

Can obtain the transmitting endConversion matrix between moving platform coordinate system and mechanical coordinate system and 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 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:

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 is coincident, the X-ray emitted by the X-ray emitter can be received by the X-ray receiver in real time.

According to a correlation principle, the distance between the transmitting end Stewart platform and the receiving end Stewart platform has no influence on focus 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 Stewart platform at a transmitting end according to the following mapping rules: 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 main 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 forward-inverse kinematics and Stewart platform inverse kinematics of the passive arm, a pose matrix of the 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, a pose matrix T of the tail end point of the master hand at the moment T in a user coordinate system is obtained through calculation according to the positive kinematics of the master hand _Mt 。

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

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

And (II) resolving the motion of the Stewart platform at the receiving end 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. According to the condition that the coordinate system of the receiving end movable platform is parallel to and opposite to the coordinate system of the transmitting end movable platform, the attitude matrix of the receiving end movable platform under the mechanical coordinate system is solved

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 dynamic platform can be used for obtaining the motion parameters of each joint of the receiving end Stewart platform through calculation, so that the receiving end dynamic leveling is realizedThe platform corresponds to the attitude of the movable platform of the transmitting terminal.

Thirdly, resolving the motion parameters of the Stewart platform at the receiving end on the slide rail (or the guide rail) according to the mapping relation, wherein 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 through mechanical coordinate system and transmitting end moving platform

Resolving to obtain the Z-axis coordinate of the origin of the receiving end moving platform coordinate system in 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 static platform of the receiving end in the XY direction of the mechanical coordinate system, thereby obtaining the movement x of the Stewart platform of the receiving end on the cross slide rail _re And y _re ：

In the motion control, the main manipulator controls the Stewart parallel platform of the X-ray emission end and the Stewart parallel platform of the X-ray receiving end, the Stewart platform of the emission end 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 Stewart platform of the receiving end 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. 8 and fig. 9.

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 X-ray image is high in real-time performance because the motion is only controlled according to the position of the robot, and on the other hand, the motion based on the active end of the X-ray correlation platform is mapped to the parallel platform and the sliding rail of the passive end, so that the cooperation range is enlarged.

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 under the robot 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 robot 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 puncture is performed through in-vitro needle insertion or through an interventional instrument to reach the position near the focus, so that errors caused by pure manual operation are avoided.

Specifically, the method comprises the following steps:

obtaining the position coordinates of the ultrasonic detection surface under a robot coordinate system according to the image obtained by the X-ray image acquisition device;

obtaining the position coordinates of the focus in an ultrasonic detection plane according to the image obtained by the ultrasonic detection device;

and obtaining the target position of the lesion in the robot coordinate system according to the position coordinate of the ultrasonic detection surface in the robot coordinate system and the position coordinate of the lesion in the ultrasonic detection surface, and navigating according to the target position.

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

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 tail end of a bronchoscope (i.e. an endoscope) is guided to reach a bronchus near a focus.

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

And 3, rotating the ultrasonic catheter of the ultrasonic detection device and acquiring an ultrasonic image, and adjusting the ultrasonic detection surface of the ultrasonic detection device through pushing and withdrawing the sheath and bending the tail end until the focus 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 ultrasonic catheter can be shot by X-ray from two different angles by using an X-ray imaging system arranged on the interventional operation robot, 3 characteristic points A, B and C on the metal marker are selected from the X-ray image, and the coordinates of the A, B and C in a 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 robot 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 ultrasonic image obtained in the step 5, and calculating to obtain the space coordinates of the target point in the robot coordinate system through a preset coordinate conversion relation.

And 7, registering the target spot calculated in the step 6 to the X-ray image acquired in the step 4 through a coordinate transformation relation to serve as a confirmation basis of puncture accuracy.

Further, the focus calculated in the step 6 can be registered to a CT virtual image, then a path is secondarily planned in a CT three-dimensional model according to a new target point, and the 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, the 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.

Specifically, in step 4, after finding a superior lesion section suitable for the doctor to observe, 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 ultrasonic catheter is shot by X-ray from two different shooting angles by using a double Stewart platform correlation X-ray machine shown in figures 1 to 3 and arranged on the robot, so as to obtain X-ray images. Then, 3 contour feature points a, B, and C that can be used to describe the contour of the ultrasound probe marker on the ultrasound probe marker are selected in the X-ray image, and the coordinates of the three points a, B, and 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 position of the point a in the X-ray image with respect to the center point of the X-ray image is marked as (X) ₁ ,y ₁ ) 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 _m ^s T ₁ 。

In practical application, a doctor can use a master hand to control a mechanical arm with an X-ray emission 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 the position of the point A in the X-ray image relative to the central point is marked as (X) ₂ ，y ₂ ) According to the movement of the master hand, using the masterThe motion attitude of the X-ray emission Stewart platform at the moment is calculated from a control algorithm, namely a conversion matrix from the movable platform to the static platform is recorded as

Thirdly, the coordinate (x) of the point A at the first position in the coordinate system of the moving platform ₁ ，y ₁ ，z ₁ ) Expressed as a position vector, noted

Wherein x ₁ ，y ₁ Is a known quantity, z ₁ Is an unknown quantity, according to a transformation matrix

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

then, the coordinates (x) of the point A at the second position in the coordinate system of the moving platform ₂ ，y ₂ ，z ₂ ) Expressed as a position vector, noted

Wherein x ₂ ，y ₂ Is a known quantity, z ₂ Is an unknown quantity, based on a transformation 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:

that is to say that the first and second electrodes,

is the coordinates of a mechanical coordinate system,

a transformation matrix of the mechanical coordinate system and the transmitting end static platform, which can be calculated in advance and stored in the robot system as a preset known quantity,

is a conversion matrix from a movable platform to a static platform at a transmitting end,

and the coordinates of the focus under the static platform of the emitting end are obtained.

Based on the method, the coordinate (x) of the point A under the mechanical coordinate system can be obtained _A ，y _A ，z _A ) In the same way, the coordinates (x) of the points B and C in the mechanical coordinate system can be obtained _B ，y _B ，z _B ) And (x) _C ，y _C ，z _C )。

Because the position of the ultrasonic probe marker is the focus position, the coordinate of the focus under the mechanical coordinate system can be determined according to the coordinates of the contour characteristic points A, B and C of the ultrasonic probe marker under the mechanical coordinate system, and after the coordinate of the focus under the mechanical coordinate system is obtained, the coordinate 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:

wherein the content of the first and second substances,

a transformation matrix between the known mechanical coordinate system and the firing tip and other surgical performance robotic arms is performed.

Then, knowing the coordinates of the target spot under a surgical execution mechanical arm Stewart calculation coordinate system, the joint motion amount of the surgical 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 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 focus positioning and registering process 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.

Similarly, when a target is located by X-ray imaging, the target may be a focus, in the same manner as the location of the a-point. The platform of the X-ray machine for taking X-ray images is exemplified by the Stewart parallel platform. Specifically, referring to fig. 9, the method for positioning by X-ray image includes:

step 901, shooting X-ray images of a target to be positioned at a plurality of different positions through an X-ray machine, wherein each X-ray image comprises a relative position of the target marked in the X-ray image;

in one embodiment, the relative position may be the position of the target relative to the center of the X-ray image, or may be the position relative to other points in the X-ray image, such as the upper left corner point, the lower left corner point, and so on.

Specifically, two X-ray images of the target are taken by the X-ray emitter at two different first and second positions, in which the xy coordinates of the position of the target relative to the center point of the X-ray images are each marked. In one embodiment, the planar coordinate system of the X-ray image is parallel to the xOy plane of the emitter stage, whereby the coordinates of the target in the emitter stage coordinate system can be determined based on the xy coordinates of the target in the X-ray image. That is, see the above method for labeling point a, labeled as (x 1, y 1) and (x 2, y 2).

Step 902, obtaining a motion parameter relationship of a platform where the X-ray machine is located when each X-ray image is collected;

step 903, determining the coordinates of the target in a platform coordinate system based on the image information corresponding to each X-ray image;

wherein, the image information includes the relative position and the motion parameter relationship.

In one embodiment, this step 903 may include: for each X-ray image, determining an xy coordinate of the target under a platform coordinate system based on the relative position of the target in the X-ray image; and determining the z coordinate of the target under the platform coordinate system based on the xy coordinate of the target under the platform coordinate system in each X-ray image and the motion parameter relationship when the X-ray image is collected.

Specifically, the method for determining xy coordinates may include: in the two X-ray images, the center point of the X-ray image may be used as an origin, and the xy coordinates of the position of the target relative to the center point of the X-ray image may be marked respectively, and the xy coordinates may be used as the coordinates of the target in the coordinate system of the transmitting-end platform.

It should be understood that if other positions in the X-ray image are taken as the origin, the translation relationship between the X-ray image and the origin of the coordinate system of the platform at the transmitting end may be correspondingly converted. For the convenience of calculation, the central point of the X-ray image may be used as the origin, and the plane coordinate system of the X-ray image is parallel to the xOy plane of the emitting end platform, and the origin of the X-ray image is on the z-axis of the emitting end platform.

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.

Step 904, converting the coordinates of the target in the platform coordinate system into position coordinates of the target in the mechanical coordinate system of the robot according to a conversion relationship between the platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot.

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 in the moving platform coordinate system can be converted into position coordinates of the target in the mechanical coordinate system of the robot 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 mechanical coordinate system of the robot.

Specifically, based on the motion parameter relationship when the X-ray image is acquired, determining a conversion matrix of the transmitting end movable platform and the transmitting end static platform when the X-ray image is acquired;

and based on the xy coordinates of the target in each X-ray image under the transmitting end moving platform and the xy coordinates of the target under the transmitting end static platform, and based on the xy coordinates of the static platform respectively corresponding to each X-ray image and the conversion matrix when each X-ray image is acquired, determining the z coordinates of the target under the transmitting end static platform.

The conversion matrix comprises a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is the conversion matrix when the X-ray machine is collected at a first position, and the second conversion matrix is the conversion matrix when the X-ray machine is collected at a second position.

Specifically, according to a preset master-slave control algorithm, first conversion matrixes of a transmitting end movable platform and a transmitting end static platform of the X-ray machine at a first position are respectively calculated

And a second conversion matrix of the transmitting terminal movable platform and the transmitting terminal static platform at the second position

For X-ray images to be taken at a first position and a second position, xyz coordinates of the target marked therein are represented as position vectors, respectively, where X and y are known quantities and z is an unknown quantity, i.e. an unknown quantity

And

obtaining a first coordinate of the target under a transmitting end static platform according to the first conversion matrix

And obtaining a second coordinate of the target under the transmitting terminal static platform according to the second conversion matrix

Solving to obtain a z coordinate of the target based on the first coordinate and the second coordinate, specifically obtaining an equation set of the first coordinate and the second coordinate according to the principle that the position of the target under the transmitting terminal static platform is not fixed, and solving the equation set to obtain the z coordinate of the target, wherein the z coordinate of the target is a coordinate under a transmitting terminal static platform coordinate system

The details of the above steps are referred to the contents of calculating the coordinates of the point a.

Specifically, the product of a conversion matrix of a preset mechanical coordinate system and a transmitting end static platform, a first conversion matrix from a movable platform to a static platform of the transmitting end and the coordinates of the target under the transmitting end static platform coordinate system is calculated and used as the position coordinates of the target under the mechanical coordinate system of the robot, so that the position of the focus is positioned under the mechanical coordinate system.

Further, the robot comprises a plurality of mechanical arms, wherein one mechanical arm controls the X-ray machine, and a platform coordinate system of the X-ray machine corresponds to the mechanical arm. Specifically, the platform coordinate system of the X-ray machine may be a coordinate system of a motion platform on the robot arm that controls the X-ray machine, and optionally, the coordinate system of the motion platform may include a moving platform coordinate system and/or a stationary platform coordinate system.

And after the position coordinates of the target in the mechanical coordinate system are obtained, converting the position coordinates of the target in the mechanical coordinate system into the platform calculation coordinate systems of other mechanical arms according to joint information of other mechanical arms, and obtaining the position coordinates of the other mechanical arms in the platform calculation coordinate systems. The other mechanical arms are other mechanical arms besides the control of the X-ray machine, for example, other surgery executing mechanical arms can be used.

Further, according to the position coordinates of the platforms of other mechanical arms in the coordinate system and a preset inverse kinematics algorithm of the platform, the joint movement amount of the platforms of other mechanical arms is calculated, so that the tail ends of the instruments of other mechanical arms reach the target position.

That is, 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,

the coordinates of the known target spot under the Stewart calculation coordinate system of the surgical execution mechanical arm can be solved through inverse kinematics of a Stewart parallel platformThe joint movement amount of the Stewart platform of the executing mechanical arm enables the tail end of the operation executing mechanical arm to accurately reach the focus position.

In the embodiment of the application, the X-ray machine is used for shooting X-ray images of a target to be positioned at a plurality of different positions, wherein each X-ray image comprises a relative position of a mark target in the X-ray image, the motion parameter relation of a platform where the X-ray machine is located when each X-ray image is collected is obtained, and the coordinate of the target under a platform coordinate system is determined based on image information corresponding to each X-ray image; the image information comprises the relative position and the motion parameter relation, and the coordinates of the target under the platform coordinate system are converted into the position coordinates of the target under the mechanical coordinate system of the robot according to the conversion relation between the preset platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot, so that the method can obtain the real-time coordinates of the focus under the mechanical coordinate system, and the positioning accuracy can be improved.

Referring to fig. 10, a schematic structural diagram of an apparatus for positioning through X-ray images according to an embodiment of the present application is shown. For ease of illustration, only portions relevant to the embodiments of the present application are shown. The device can be separately configured in a computer device with a data processing function, or can be integrated in an X-ray machine.

The device includes:

a shooting module 101, configured to shoot X-ray images of a target to be positioned at a plurality of different positions through the X-ray machine, where each X-ray image includes a relative position of the target marked in the X-ray image;

an obtaining module 102, configured to obtain a motion parameter relationship of a platform where the X-ray apparatus is located when each X-ray image is acquired;

a determining module 103, configured to determine coordinates of the target in a platform coordinate system based on image information corresponding to each X-ray image; wherein, the image information comprises the relative position and the motion parameter relation;

the conversion module 104 is configured to convert coordinates of the target in the platform coordinate system into position coordinates of the target in the mechanical coordinate system of the robot according to a conversion relationship between the platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot.

Further, the determining module 103 is further configured to determine, for each X-ray image, xy coordinates of the target in a platform coordinate system based on the relative position of the target in the X-ray image;

and determining the z coordinate of the target under the platform coordinate system based on the xy coordinate of the target under the platform coordinate system in each X-ray image and the motion parameter relationship when the X-ray image is acquired.

Furthermore, the X-ray machine comprises a transmitting end platform, wherein the transmitting end platform is provided with an X-ray emitter and comprises a transmitting end moving platform;

the shooting module 101 is further configured to shoot two X-ray images of the target at two different first positions and second positions through the X-ray emitter;

the determining module 103 is further configured to mark xy coordinates of the position of the target relative to the central point of the X-ray image in the two X-ray images, and use the xy coordinates as coordinates of the target in the transmitting end moving platform coordinate system.

Furthermore, the transmitting end platform of the X-ray machine also comprises a transmitting end static platform,

the determining module 103 is further configured to determine a transformation matrix between the transmitting end moving platform and the transmitting end static platform when the X-ray image is acquired based on the motion parameter relationship when the X-ray image is acquired;

and based on the conversion matrix when each X-ray image is collected, converting the xy coordinates of the target in each X-ray image at the movable platform of the transmitting end into the xy coordinates under the static platform of the transmitting end, and determining the z coordinates of the target under the static platform of the transmitting end based on the xy coordinates under the static platform respectively corresponding to each X-ray image and the conversion matrix when each X-ray image is collected.

The X-ray machine respectively collects two X-ray images of the target at a first position and a second position; the conversion matrix comprises a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is the conversion matrix when the X-ray machine is collected at a first position, and the second conversion matrix is the conversion matrix when the X-ray machine is collected at a second position.

A conversion module 104, further configured to represent xyz coordinates of the target marked therein as position vectors for the X-ray images taken at the first position and the second position, respectively, where X and y are known quantities and z is an unknown quantity;

obtaining a first coordinate of the target under the transmitting end static platform according to the first conversion matrix, and obtaining a second coordinate of the target under the transmitting end static platform according to the second conversion matrix;

and solving to obtain a z coordinate of the target based on the first coordinate and the second coordinate, wherein the z coordinate of the target is a coordinate under the transmitting terminal static platform coordinate system.

The conversion module 104 is further configured to calculate a product of a preset conversion matrix between the mechanical coordinate system and the transmitting end static platform, a first conversion matrix between the moving platform and the static platform of the transmitting end, and a coordinate of the target in the transmitting end static platform coordinate system, as a position coordinate of the target in the mechanical coordinate system of the robot.

Furthermore, the robot comprises a plurality of mechanical arms, wherein one mechanical arm controls the X-ray machine, and a platform coordinate system of the X-ray machine corresponds to the mechanical arm;

the conversion module 104 is further configured to, after obtaining the position coordinate of the target in the mechanical coordinate system, convert the position coordinate of the target in the mechanical coordinate system into the platform calculation coordinate system of the other mechanical arm according to the joint information of the other mechanical arm, so as to obtain the position coordinate of the platform calculation coordinate system of the other mechanical arm; wherein, the other mechanical arms are other mechanical arms except for controlling the X-ray machine.

The apparatus still further comprises: and the computing module (not marked in the figure) is used for solving the joint motion amount of the platform of the other mechanical arm according to the position coordinates of the platform of the other mechanical arm in the calculated coordinate system and a preset inverse kinematics algorithm of the platform after the position coordinates of the platform of the other mechanical arm in the calculated coordinate system are obtained, so that the tail end of the instrument of the other mechanical arm reaches the target position.

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

In the embodiment of the application, the X-ray machine shoots the X-ray images of the target to be positioned at a plurality of different positions, wherein each X-ray image comprises the relative position of the marked target in the X-ray image, the motion parameter relation of the platform where the X-ray machine is located when each X-ray image is collected is obtained, and the coordinate of the target under a platform coordinate system is determined based on the image information corresponding to each X-ray image; the image information comprises the relative position and the motion parameter relation, the coordinate of the target under a platform coordinate system is converted into the position coordinate of the target under the mechanical coordinate system of the robot according to the conversion relation between the platform coordinate system of a preset X-ray machine and the mechanical coordinate system of the robot, the target can be a focus, and therefore the device can obtain the real-time coordinate of the focus under the robot coordinate system, and the positioning accuracy can be improved

Referring to fig. 11, a hardware structure of an electronic device according to an embodiment of the present application is schematically illustrated. As shown in fig. 11, the electronic apparatus includes: memory 281, and processor 282.

The memory 281 stores executable computer programs 283. The processor 282, coupled to the memory 281, invokes the executable computer program 283 stored therein to perform the method for locating by X-ray image provided by the above embodiments.

Illustratively, the computer program 283 can 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 the modules in the positioning device by X-ray image in the above embodiments, such as: a photographing module 101, an acquisition module 102, a determination module 103, and a conversion module 104.

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 to store 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, this application embodiment 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. 11. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of positioning by X-ray image 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 ways. 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 separate 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: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

It should be noted that for simplicity and convenience of description, the above-described method embodiments are described as a series of combinations of acts, but those skilled in the art will appreciate that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders and/or concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this 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 of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like 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 present 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 for illustrating the technical solutions of the present application, and not for limiting 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 method, apparatus, X-ray device and computer readable storage medium for positioning through X-ray image provided by the present application, those skilled in the art will be able to change the embodiments and applications of the method, apparatus, X-ray device and computer readable storage medium according to the ideas of the embodiments of the present application.

Claims

1. A method for positioning by X-ray imaging, comprising:

shooting X-ray images of a target to be positioned at a plurality of different positions through the X-ray machine, wherein each X-ray image comprises a mark of the relative position of the target in the X-ray image;

2. The method of claim 1, wherein determining coordinates of the target in a platform coordinate system based on image information corresponding to each X-ray image comprises:

for each X-ray image, determining xy coordinates of the target under a platform coordinate system based on the relative position of the target in the X-ray image;

and determining the z coordinate of the target under the platform coordinate system based on the xy coordinate of the target under the platform coordinate system in each X-ray image and the motion parameter relationship when the X-ray image is collected.

3. The method of claim 2, wherein the X-ray machine comprises a transmitting end platform, the transmitting end platform is provided with an X-ray emitter, and the transmitting end platform of the X-ray machine comprises a transmitting end moving platform;

the X-ray image through the target that the X-ray machine was undetermined in a plurality of different positions shoots includes:

shooting two X-ray images of the target at two different first positions and second positions through the X-ray emitter;

the determining, for each X-ray image, xy coordinates of the target in a platform coordinate system based on the relative position of the target in the X-ray image includes:

in the two X-ray images, the xy coordinates of the position of the target relative to the central point of the X-ray image are respectively marked, and the xy coordinates are used as the coordinates of the target in a transmitting end moving platform coordinate system.

4. The method of claim 3, wherein the emitter stage of the X-ray machine further comprises an emitter stationary stage,

the determining the z coordinate of the target under the platform coordinate system based on the xy coordinate of the target under the platform coordinate system in each X-ray image and the motion parameter relationship when the X-ray image is collected comprises:

determining a conversion matrix of the transmitting terminal movable platform and the transmitting terminal static platform when the X-ray image is acquired based on the motion parameter relation when the X-ray image is acquired;

and on the basis of a conversion matrix when each X-ray image is collected, converting the xy coordinates of the target in each X-ray image in the transmitting end movable platform to the xy coordinates under the transmitting end static platform, and determining the z coordinates of the target under the transmitting end static platform on the basis of the xy coordinates under the static platform respectively corresponding to each X-ray image and the conversion matrix when each X-ray image is collected.

5. The method of claim 4, wherein the X-ray machine acquires two X-ray images of the target at a first position and a second position, respectively; the conversion matrix comprises a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is the conversion matrix when the X-ray machine is collected at a first position, and the second conversion matrix is the conversion matrix when the X-ray machine is collected at a second position;

converting the xy coordinates of the target in each X-ray image in the transmitting end movable platform to the xy coordinates under the transmitting end static platform based on the conversion matrix when each X-ray image is collected; and determining the z coordinate of the target under the transmitting terminal static platform based on the xy coordinate under the static platform corresponding to each X-ray image and the conversion matrix when each X-ray image is collected, comprising:

representing xyz coordinates of the target marked therein as position vectors for the X-ray images taken at the first position and the second position, respectively, where X and y are known quantities and z is an unknown quantity;

obtaining a first coordinate of the target under the transmitting terminal static platform according to the first conversion matrix, and obtaining a second coordinate of the target under the transmitting terminal static platform according to the second conversion matrix;

6. The method of claim 5, wherein the converting the coordinates of the target in the platform coordinate system into the position coordinates of the target in the mechanical coordinate system of the robot according to a predetermined conversion relationship between the platform coordinate system of the X-ray machine and the mechanical coordinate system of the robot comprises:

and calculating the product of a preset conversion matrix of the mechanical coordinate system and the transmitting end static platform, a first conversion matrix from the movable platform to the static platform of the transmitting end and the coordinate of the target under the transmitting end static platform coordinate system, and taking the product as the position coordinate of the target under the mechanical coordinate system of the robot.

7. The method of claim 1, wherein the robot comprises a plurality of robotic arms, wherein one robotic arm controls an X-ray machine, wherein a platform coordinate system of the X-ray machine corresponds to the robotic arm; the method further comprises the following steps:

after the position coordinates of the target under the mechanical coordinate system are obtained, converting the position coordinates of the target under the mechanical coordinate system into platform calculation coordinate systems of other mechanical arms according to joint information of the other mechanical arms, and obtaining the position coordinates of the other mechanical arms under the platform calculation coordinate systems; wherein, the other mechanical arms are other mechanical arms except for controlling the X-ray machine.

8. The method of claim 7, wherein after obtaining the position coordinates in the other robotic arm's platform calculated coordinate system, the method comprises:

and according to the position coordinates of the platforms of the other mechanical arms in the coordinate system and a preset inverse kinematics algorithm of the platform, calculating the joint motion amount of the platforms of the other mechanical arms, so that the tail ends of the instruments of the other mechanical arms reach the target position.

9. An apparatus for positioning by X-ray imaging, comprising:

10. An electronic device, comprising:

a memory and a processor;

the memory stores an executable computer program;

the processor coupled to the memory, invoking the executable computer program stored in the memory, performing the method of localization by X-ray image of any of claims 1-8.

11. An X-ray machine, comprising: the X-ray detector comprises a mechanical arm, a transmitting end platform connected with the mechanical arm, an X-ray emitter connected with the transmitting end platform, an X-ray receiver arranged opposite to the X-ray emitter and used for receiving X-rays from the X-ray emitter, and a receiving end platform connected with the X-ray receiver, wherein the X-ray emitter and the X-ray receiver can keep the axes coincident under the driving of the mechanical arm, the transmitting end platform and the receiving end platform.

12. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of localization by X-ray images of any one of claims 1 to 8.