CN115227397B - Registration plate automatic alignment method and device - Google Patents
Registration plate automatic alignment method and device Download PDFInfo
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- CN115227397B CN115227397B CN202211134141.3A CN202211134141A CN115227397B CN 115227397 B CN115227397 B CN 115227397B CN 202211134141 A CN202211134141 A CN 202211134141A CN 115227397 B CN115227397 B CN 115227397B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Abstract
The embodiment of the application provides an automatic registration plate alignment method and device, and relates to the technical field of intelligent medical treatment, and the embodiment of the application comprises the following steps: a first transformation matrix between a flange coordinate system and an image coordinate system of the robotic arm is determined, wherein a registration plate is mounted to a flange end of the robotic arm. And acquiring a second transformation matrix between the flange coordinate system and the base coordinate system of the mechanical arm, and acquiring a third transformation matrix, wherein the third transformation matrix represents a transformation relation between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture. And then multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system. And then adjusting the posture of the flange end of the mechanical arm to a posture represented by a fourth transformation matrix. Therefore, the placing posture of the registration plate can be more accurately adjusted.
Description
Technical Field
The application relates to the technical field of intelligent medical treatment, in particular to an automatic registration plate alignment method and device.
Background
In recent years, with the rapid development of surgical navigation robots, surgical navigation robots having various functions and various principles have been produced. The tail end of a mechanical arm of a part of surgical navigation robots is provided with a registration plate, the registration plate is moved between a focus and imaging equipment by moving the mechanical arm in the surgical process, so that the registration plate is positioned in the imaging range of the imaging equipment, the focus is shot by the imaging equipment, and the position of the focus is positioned by utilizing the position of the registration plate in the shot image.
At present, a mechanical arm is generally manually dragged manually, so that the registration plate is located near a focus, but the posture of the registration plate is difficult to accurately control through manual dragging.
Disclosure of Invention
The embodiment of the application aims to provide an automatic registration plate alignment method and device so as to more accurately adjust the placing posture of the registration plate. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present application provides an automatic alignment method for a registration plate, where the method includes:
determining a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image obtained by shooting of imaging equipment, wherein a registration plate is installed at a flange end of the mechanical arm;
acquiring a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm;
acquiring a third transformation matrix, wherein the third transformation matrix represents a transformation relation between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system;
and adjusting the posture of the flange end of the mechanical arm to the posture represented by the fourth transformation matrix.
Optionally, the obtaining a third transformation matrix includes:
receiving a position offset input by a user, wherein the position offset represents a translation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
determining a rotation matrix, wherein the rotation matrix represents a rotation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
and constructing the third transformation matrix according to the position offset and the rotation matrix.
Optionally, the determining a rotation matrix includes:
receiving a rotation angle, a rotation vector or a quaternion input by a user;
converting the rotation angle, the rotation vector, or the quaternion into the rotation matrix.
Optionally, the third transformation matrix is:
wherein, the first and the second end of the pipe are connected with each other,
-
representing the rotation matrix, and x, y, and z represent the position offsets.
Optionally, the determining a first transformation matrix between a flange coordinate system of the robot arm and an image coordinate system of an image captured by the imaging device includes:
acquiring a first coordinate of a preset calibration point in the registration plate under the flange coordinate system;
acquiring a second coordinate of the preset calibration point in the image coordinate system;
and determining the first transformation matrix according to the first coordinate and the second coordinate.
In a second aspect, an embodiment of the present application provides an automatic registration plate alignment apparatus, where the method includes:
the system comprises a determining module, a registering plate and a processing module, wherein the determining module is used for determining a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image obtained by shooting of imaging equipment, and the registering plate is installed at the flange end of the mechanical arm;
the acquisition module is used for acquiring a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm;
the obtaining module is further configured to obtain a third transformation matrix, where the third transformation matrix represents a transformation relationship between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to the target posture;
the calculation module is used for multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system;
and the adjusting module is used for adjusting the posture of the flange end of the mechanical arm to the posture represented by the fourth transformation matrix obtained by the calculating module.
Optionally, the obtaining module is specifically configured to:
receiving a position offset input by a user, wherein the position offset represents a translation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
determining a rotation matrix, wherein the rotation matrix represents a rotation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
and constructing the third transformation matrix according to the position offset and the rotation matrix.
Optionally, the obtaining module is specifically configured to:
receiving a rotation angle, a rotation vector or a quaternion input by a user;
converting the rotation angle, the rotation vector, or the quaternion into the rotation matrix.
Optionally, the third transformation matrix is:
wherein the content of the first and second substances,
-
representing the rotation matrix, and x, y, and z represent the position offsets.
Optionally, the determining module is specifically configured to:
acquiring a first coordinate of a preset calibration point in the registration plate under the flange coordinate system;
acquiring a second coordinate of the preset calibration point in the image coordinate system;
and determining the first transformation matrix according to the first coordinate and the second coordinate.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
a processor, configured to implement the steps of the method for automatically aligning a registration plate according to any one of the first aspect when executing a program stored in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements the registration plate automatic alignment method steps of any one of the first aspect.
In a fifth aspect, embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the registration plate automatic alignment method according to any one of the above first aspects.
The embodiment of the application has the following beneficial effects:
the registration plate automatic alignment method and device provided by the embodiment of the application can determine a first transformation matrix between a flange coordinate system of a mechanical arm and an image coordinate system, obtain a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm, and obtain a third transformation matrix, wherein the third transformation matrix represents a transformation relation between an adjusted flange coordinate system and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be a target posture. And then multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix. And then adjusting the posture of the flange end of the mechanical arm to a posture represented by a fourth transformation matrix, thereby adjusting the registration plate mounted at the flange end of the mechanical arm to a target posture. Therefore, the posture of the registration plate can be automatically adjusted, the problems of inaccurate posture arrangement and low efficiency caused by manual dragging can be avoided, an operator can conveniently and efficiently carry out positioning before registration, and the radiation dose of a patient is reduced.
Of course, not all advantages described above need to be achieved at the same time in the practice of any one product or method of the present application.
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 described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.
Fig. 1 is an exemplary schematic view of a registration plate provided in an embodiment of the present application;
fig. 2 is a flowchart of an automatic alignment method for a registration plate according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another automatic alignment method for a registration plate according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an automatic alignment device for a registration plate according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
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 only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the description herein are intended to be within the scope of the present disclosure.
The surgical robot that this application embodiment relates to includes: host computer, arm, control box and registration plate. The host computer is connected with the control box, the control box is further connected with the mechanical arm, and the flange end of the mechanical arm is connected with the registration plate. The end of the robot arm is flanged to the registration plate, and is therefore also referred to as the flanged end.
And the host is used for sending commands to the control box.
And the control box is used for responding to a command sent by the host computer and controlling the mechanical arm to move. The relative position between the mechanical arm and the registration plate is fixed, so that the registration plate connected to the flange end of the mechanical arm can be jointly moved by controlling the movement of the mechanical arm.
Optionally, a positioner may be further provided between the flange end of the robot arm and the registration plate, that is, the registration plate is mounted to the positioner, and the positioner is mounted to the flange end of the robot arm. The positioner is used to position the surgical site, for example, bone screws may be pinned to the surgical site by the positioner.
The registration plate is provided with a plurality of marker balls, and the marker balls do not belong to the same plane. For example, as shown in fig. 1, the registration plate is composed of two sub-plates that are not coplanar, each sub-plate having 6 marker balls embedded therein, and each circle on the sub-plate in fig. 1 represents one marker ball.
The marker balls are made of a high-density material, for example, the marker balls are steel balls or ceramic balls, and the marker balls can be developed in an image obtained by X-ray or Computed Tomography (CT). And other parts of the registration plate are not developed in the image obtained by X-ray or CT, for example, two sub-plates of the registration plate are carbon fiber plates.
In the operation process, the registration plate needs to be moved between the focus and the imaging device, the registration plate is located in the imaging range of the imaging device, the image of the focus is shot through the imaging device, and then the operation position is located through the position of the marking ball in the image. At present, a doctor is generally required to manually drag a mechanical arm to adjust the posture of the registration plate, but the posture of the registration plate cannot be accurately controlled through manual dragging, the manual dragging is limited by the free dragging performance of the mechanical arm, the dragging process can be very laborious, and an ideal posture is difficult to obtain.
In order to solve the above problem, the embodiments of the present disclosure provide an automatic registration plate alignment method, which is applied to an electronic device, for example, the electronic device may be a host of a surgical robot, or a computer connected to the surgical robot, and the embodiments of the present disclosure are not limited in this respect. As shown in fig. 2, the method comprises the steps of:
s201, determining a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image obtained by shooting of the imaging equipment. Wherein the registration plate is mounted to a flange end of the robotic arm.
The imaging device may be a C-arm machine, an O-arm machine, an intraoperative CT, or intraoperative Magnetic Resonance (MR), etc., which is not particularly limited by the embodiments of the present disclosure. The C-arm camera is an imaging device with a similar overall shape to the "C" shape, and the O-arm camera is an imaging device with a similar overall shape to the "O" shape.
The image photographed by the imaging device may be a two-dimensional image or a three-dimensional image, and when the image is a two-dimensional image, the two-dimensional image may be converted into a three-dimensional image such that the established image coordinate system is a three-dimensional coordinate system. Or a three-dimensional coordinate system is established directly based on the two-dimensional image.
S202, acquiring a second transformation matrix between a flange coordinate system and a base coordinate system of the mechanical arm.
Because the flange and the base of the mechanical arm belong to the mechanical arm, a second transformation matrix between a flange coordinate system and a base coordinate system can be obtained through monitoring of the host.
And S203, acquiring a third transformation matrix. And the third transformation matrix represents the transformation relation between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture.
The target pose of the registration plate may be set according to actual requirements, for example, the pose of the registration plate is set to be parallel to a plane where the mechanical arm base is located, or perpendicular to the plane where the mechanical arm base is located, or at a specified angle with respect to the plane where the mechanical arm base is located, or located in the center of an image, and the like, which is not specifically limited in this embodiment of the application.
The registering plate is arranged at the flange end of the mechanical arm, the relative position of the registering plate and the flange end is fixed, and the posture of the registering plate is driven to be adjusted to be the target posture by adjusting the posture of the flange end.
And S204, multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system.
A fourth transformation matrix between the flange coordinate system and the base coordinate system can be calculated by equation (1):
new_P = P*inv(T)*Pose*T （1）
wherein new _ P is the fourth transformation matrix, P is the second transformation matrix, T is the first transformation matrix, pose is the third transformation matrix, inv () represents the inversion matrix.
And S205, adjusting the posture of the flange end of the mechanical arm to a posture represented by a fourth transformation matrix.
Since the fourth transformation matrix represents a transformation relation of the flange coordinate system with respect to the base coordinate system, that is, a position and each coordinate axis direction of the flange coordinate system when the flange coordinate system is projected to the base coordinate system. Therefore, the posture of the flange end of the mechanical arm can be adjusted according to the fourth transformation matrix, so that the position and the coordinate axis direction of the flange coordinate system at the flange end can be adjusted to the position and the direction represented by the fourth transformation matrix.
The registration plate automatic alignment method provided by the embodiment of the application can determine a first transformation matrix between a flange coordinate system of a mechanical arm and an image coordinate system, obtain a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm, and obtain a third transformation matrix, wherein the third transformation matrix represents a transformation relation between an adjusted flange coordinate system and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be a target posture. And then multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix. And then adjusting the posture of the flange end of the mechanical arm to a posture represented by a fourth transformation matrix, thereby adjusting the registration plate mounted at the flange end of the mechanical arm to a target posture. Therefore, the posture of the registration plate can be automatically adjusted, the problems of inaccurate posture arrangement and low efficiency caused by manual dragging can be avoided, an operator can conveniently and efficiently carry out positioning before registration, and the radiation dose of a patient is reduced.
In an embodiment of the present application, the manner of determining the first transformation matrix between the flange coordinate system and the image coordinate system in S201 may be implemented as: and acquiring a first coordinate of a preset calibration point in the registration plate under a flange coordinate system, and acquiring a second coordinate of the preset calibration point under an image coordinate system. A first transformation matrix is then determined based on the first and second coordinates.
In this embodiment, the preset calibration point may be a center point of a designated marker ball in the registration plate. In order to improve the calibration accuracy, the number of the calibration points may be multiple.
The first coordinate of the preset calibration point under the flange coordinate system can be determined through the design parameters of the basis when the registration plate is manufactured and the installation position of the registration plate. For example, the design parameters include the size of the registration plate, the location of the center of each marker ball on the registration plate, etc., which is mounted 5 cm from the origin of the flange coordinate system. Alternatively, a measuring instrument, such as a three-coordinate measuring instrument, may be obtained to measure the first coordinates of the preset calibration point in the flange coordinate system.
The registration plate can be placed within the imaging field of the imaging device and the image captured, for example, by manually dragging a robotic arm to move the registration plate between the surgical site and the imaging device so that the registration plate is within the imaging field of the imaging device, and the surgical site and the registration plate can be intraoperatively imaged with the imaging device. And then, identifying the marker ball in the image by carrying out image identification on the image shot by the imaging equipment, and further determining the center position of the specified marker ball to obtain a second coordinate of the preset calibration point.
Wherein, the first coordinate and the second coordinate are three-dimensional coordinates.
And under the condition that a plurality of calibration points exist, calibrating the first coordinate and the second coordinate obtained on the basis of each calibration point as a group to obtain a first transformation matrix through a plurality of groups of coordinates.
By the method, the first transformation matrix between the flange coordinate system and the image coordinate system can be obtained through calibration, the transformation relation of the flange coordinate system relative to the image coordinate system is obtained, and the fourth transformation matrix can be conveniently obtained based on the first transformation matrix.
In this embodiment of the application, referring to fig. 3, the manner of obtaining the third transformation matrix in S203 includes the following steps:
and S2031, receiving the position offset input by the user. The position offset represents a translation relationship between the flange coordinate system after adjustment and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to the target posture.
The amount of positional offset input by the user may be written as: (
,
,
)。
S2032, determining a rotation matrix. The rotation matrix represents a rotation relationship between the flange coordinate system after adjustment and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to the target posture.
In the embodiment of the application, a rotation angle, a rotation vector or a quaternion input by a user can be received, and then the rotation angle, the rotation vector or the quaternion is converted into a rotation matrix.
Wherein the angle of rotation
Indicating the angle of rotation about the x, y, z coordinate axes of the base coordinate system, respectively. The rotation matrix obtained by the rotation angle conversion is formula (2):
the direction of the rotation vector represents the axis of rotation, i.e. the unit rotation vector of the rotation vector
Representing the axis of rotation, the modulo length of the rotation vector representing the angle of rotation about the axis of rotation
. The rotation matrix obtained by the rotation vector conversion is formula (3):
wherein the content of the first and second substances,
which represents a unit matrix of the third order,
representing a transpose operation.
Quaternion
Around the axis
Angle of rotation
，
Representing a transpose operation. For convenience of explanation, will
By using
Show that
By using
Show that
By using
Show that
By using
It is shown that the rotation matrix obtained by quaternion conversion thereafter is formula (4):
s2033, a third transformation matrix is constructed according to the position offset and the rotation matrix.
The third transformation matrix in the embodiment of the present application may be formula (5):
wherein, the first and the second end of the pipe are connected with each other,
-
representing a rotation matrix and x, y and z representing positional offsets.
The rotation matrix of the formula (2), (3) or (4) and the target position offset amount: (
,
,
) Substituting equation (5) results in a first transformation matrix.
To shift the rotation matrix and the position offset of equation (4) ((
,
,
) Substituting equation (5) as an example, the obtained third transformation matrix is equation (6):
by the method, the third transformation matrix can be automatically determined according to the angle offset and the position offset input by the user, and the posture of the mechanical arm is further automatically adjusted, so that the posture of the registration plate is driven to be adjusted to the target posture. The whole process can be automatically executed, so that the operation is simple, one-key automatic positioning can be realized, the efficiency is high, and the accuracy is high.
In the embodiment of the present disclosure, the first transformation matrix may also be represented in the form of formula (5), where the rotation matrix included in the first transformation matrix represents a rotation relationship between the flange coordinate system and the image coordinate system, and the position offset included in the first transformation matrix represents a translation relationship between the flange coordinate system and the image coordinate system.
Similarly, the second transformation matrix may also be represented by the form of equation (5), where the second transformation matrix includes a rotation matrix representing a rotation relationship between the flange coordinate system and the base coordinate system, and a position offset representing a translation relationship between the flange coordinate system and the base coordinate system.
In the related art, each time the posture of the registration plate is adjusted, the registration plate is placed in the imaging range, then a program device is used for shooting an image, and the posture of the registration plate is manually adjusted according to the position of the image until the registration plate is adjusted to be located at the specified position in the image. So that multiple images need to be taken during the procedure.
In the embodiment of the application, after the user sets the angle offset and the position offset, a third transformation matrix of the flange coordinate system relative to the image coordinate system is obtained, that is, a relative position relationship between the registration plate and the imaging plane is obtained. Shooting an image by using imaging equipment once to obtain a first transformation matrix between a flange coordinate system and the image coordinate system, then obtaining a fourth transformation matrix based on the first transformation matrix, the second transformation matrix and the third transformation matrix, and adjusting the posture of the mechanical arm to the posture represented by the fourth transformation matrix. Therefore, the posture of the mechanical arm can be adjusted to the posture represented by the fourth transformation matrix through one-time shooting, and the registration plate is driven to be adjusted to the target posture. Namely, the embodiment of the application reduces the times of shooting images in the operation and reduces the radiation of the shot images to the patient.
Based on the same inventive concept, corresponding to the above method embodiment, the present application provides an automatic registration plate alignment apparatus, as shown in fig. 4, the apparatus including: a determining module 401, an obtaining module 402, a calculating module 403 and an adjusting module 404;
the determining module 401 is configured to determine a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image captured by the imaging device, and the registration plate is mounted at a flange end of the mechanical arm;
an obtaining module 402, configured to obtain a second transformation matrix between a flange coordinate system and a base coordinate system of the robot arm;
the obtaining module 402 is further configured to obtain a third transformation matrix, where the third transformation matrix represents a transformation relationship between an adjusted flange coordinate system and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to the target posture;
a calculating module 403, configured to multiply the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix, and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system;
and an adjusting module 404, configured to adjust the pose of the flange end of the robot arm to the pose represented by the fourth transformation matrix obtained by the calculating module 403.
Optionally, the obtaining module 402 is specifically configured to:
receiving a position offset input by a user, wherein the position offset represents a translation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in an image coordinate system if the posture of the registration plate is adjusted to be a target posture;
determining a rotation matrix, wherein the rotation matrix represents a rotation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in an image coordinate system if the posture of the registration plate is adjusted to be a target posture;
and constructing a third transformation matrix according to the position offset and the rotation matrix.
Optionally, the obtaining module 402 is specifically configured to:
receiving a rotation angle, a rotation vector or a quaternion input by a user;
the rotation angle, the rotation vector, or the quaternion is converted into a rotation matrix.
Optionally, the third transformation matrix is:
wherein the content of the first and second substances,
-
representing a rotation matrix and x, y and z representing positional offsets.
Optionally, the determining module 401 is specifically configured to:
acquiring a first coordinate of a preset calibration point in a registration plate under a flange coordinate system;
acquiring a second coordinate of the preset calibration point in an image coordinate system;
a first transformation matrix is determined based on the first and second coordinates.
The embodiment of the present application further provides an electronic device, as shown in fig. 5, which includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501 is configured to implement the method steps in the above-described method embodiments when executing the program stored in the memory 503.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided by the present application, there is further provided a computer-readable storage medium having a computer program stored therein, the computer program, when executed by a processor, implementing the steps of any of the above registration plate automatic alignment methods.
In yet another embodiment provided by the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the registration plate auto-alignment methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (10)
1. A method of registration plate auto-alignment, the method comprising:
determining a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image obtained by shooting of imaging equipment, wherein a registration plate is installed at a flange end of the mechanical arm;
acquiring a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm;
acquiring a third transformation matrix, wherein the third transformation matrix represents a transformation relation between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system;
and adjusting the posture of the flange end of the mechanical arm to the posture represented by the fourth transformation matrix.
2. The method of claim 1, wherein obtaining the third transformation matrix comprises:
receiving a position offset input by a user, wherein the position offset represents a translation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
determining a rotation matrix, wherein the rotation matrix represents a rotation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
and constructing the third transformation matrix according to the position offset and the rotation matrix.
3. The method of claim 2, wherein determining the rotation matrix comprises:
receiving a rotation angle, a rotation vector or a quaternion input by a user;
converting the rotation angle, the rotation vector, or the quaternion into the rotation matrix.
4. The method of claim 3, wherein the third transformation matrix is:
wherein, the first and the second end of the pipe are connected with each other,
-
representing the rotation matrix, and x, y, and z represent the position offsets.
5. The method according to any one of claims 1-4, wherein determining a first transformation matrix between a flange coordinate system of the robotic arm and an image coordinate system of an image captured by the imaging device comprises:
acquiring a first coordinate of a preset calibration point in the registration plate under the flange coordinate system;
acquiring a second coordinate of the preset calibration point in the image coordinate system;
and determining the first transformation matrix according to the first coordinate and the second coordinate.
6. An apparatus for automatically aligning registration plates, the apparatus comprising:
the system comprises a determining module, a registering plate and a processing module, wherein the determining module is used for determining a first transformation matrix between a flange coordinate system of the mechanical arm and an image coordinate system of an image obtained by shooting of imaging equipment, and the registering plate is installed at a flange end of the mechanical arm;
the acquisition module is used for acquiring a second transformation matrix between the flange coordinate system and a base coordinate system of the mechanical arm;
the obtaining module is further configured to obtain a third transformation matrix, where the third transformation matrix represents a transformation relationship between the adjusted flange coordinate system and the flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to the target posture;
the calculation module is used for multiplying the second transformation matrix, the inverse matrix of the first transformation matrix, the third transformation matrix and the first transformation matrix to obtain a fourth transformation matrix between the flange coordinate system and the base coordinate system;
and the adjusting module is used for adjusting the posture of the flange end of the mechanical arm to the posture represented by the fourth transformation matrix obtained by the calculating module.
7. The apparatus of claim 6, wherein the obtaining module is specifically configured to:
receiving a position offset input by a user, wherein the position offset represents a translation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
determining a rotation matrix, wherein the rotation matrix represents a rotation relation between a flange coordinate system after adjustment and a flange coordinate system before adjustment in the image coordinate system if the posture of the registration plate is adjusted to be the target posture;
and constructing the third transformation matrix according to the position offset and the rotation matrix.
8. The apparatus of claim 7, wherein the obtaining module is specifically configured to:
receiving a rotation angle, a rotation vector or a quaternion input by a user;
converting the rotation angle, the rotation vector, or the quaternion into the rotation matrix.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1 to 5 when executing a program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-5.
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