CN117598787A - Medical instrument navigation method, device, equipment and medium based on medical image - Google Patents
Medical instrument navigation method, device, equipment and medium based on medical image Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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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Abstract
The invention provides a medical instrument navigation method, a device, equipment and a medium based on medical images, wherein the method comprises the following steps: acquiring image coordinates of a transmission part, and generating a first transformation matrix; defining a conversion relation between the first transformation matrix and the sub-motion coordinate system; acquiring a first medical image, and calculating a second transformation matrix according to the medical image; calculating the conversion relation of the sub-motion coordinate system relative to the base coordinate system, and obtaining a first target pose at an access point under the base coordinate system; reading the current angles of the N sub-motion coordinate systems relative to the base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; according to the first medical image, calculating a third transformation matrix to obtain a second target pose of the medical instrument at the in-vivo target point under the basic coordinate system; and controlling the medical instrument to move to the access point according to the first target pose and the second target pose, and recording the current access point as a fixed point. The method is used to determine a stationary point for flexible surgical procedures.
Description
Technical Field
The invention relates to the field of medical instrument navigation, in particular to a medical instrument navigation method, device, equipment and medium based on medical images.
Background
Percutaneous puncture surgery requires that the needle be able to accurately reach the target site within the patient's body and reduce damage to the patient's skin and tissue within the body. In performing a puncture operation, additional damage to the patient's body tissue may be caused if the needle is improperly performed, such as a pull on the skin surface at the needle insertion site or damage to other tissue within the patient's body during the needle pose adjustment. It is therefore desirable to create a virtual stationary point on the skin surface to limit the adjustment of the needle insertion movement while minimizing trauma to the patient's body.
In the prior art, the parallelogram joint is adopted to rotate around a virtual rotation center or the needle feeding mechanism is driven to move along an arc through the arc movement driving mechanism, so that the needle feeding point of the puncture needle is fixed. The auxiliary puncture devices in the prior art schemes are realized by means of specific mechanical structures (such as parallelogram joints and arc-shaped guide rails) so as to determine the position of the virtual stationary point. And in order to be immobilized by the mechanical structure, additional constraints are added to the design of the mechanical structure, which results in large mass and volume of the mechanical structure and inconvenience in flexible operation.
Accordingly, there is a need for a new medical device navigation method, apparatus, device and medium based on medical images to improve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a medical instrument navigation method, a medical instrument navigation device, medical instrument navigation equipment and a medical instrument navigation medium based on medical images, wherein the medical instrument navigation method is used for determining a fixed point so as to perform flexible operation.
In a first aspect, the present invention provides a medical instrument navigation method based on medical images, including: s1, initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in a corresponding motion mechanism; s2, controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix; s3, defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism; s4, acquiring a first medical image, and calculating a second transformation matrix according to the medical image; s5, calculating and obtaining a conversion relation of the sub-motion coordinate system relative to the base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at an access point under the base coordinate system; s6, reading the current angles of the N sub-motion coordinate systems relative to the base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; s7, calculating a third transformation matrix according to the first medical image to obtain a second target pose of the medical instrument at a target point in the object body under the basic coordinate system; s8, controlling the medical instrument to move to an access point and aim at an internal target point by adopting a reverse kinematics algorithm according to the first target pose and the second target pose, and recording the current access point as a fixed point for adjusting the pose of the medical instrument; s9, calculating the distance from the fixed point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point.
Optionally, after S9 is executed, the method further includes: s10, acquiring a second medical image, calculating pose deviation between the tail end of the medical instrument and the target point, and executing the following adjustment steps when the pose deviation exceeds a pose threshold range: s101, controlling a transmission part to adjust the posture of the medical instrument around the fixed point so as to enable the medical instrument to be aligned to the target point; s102, maintaining the posture of the alignment target, and controlling the transmission part to drive the medical instrument to move towards the target.
Optionally, the S101 includes: based on the position of the stationary point, the transmission component is adjusted, and a homogeneous transformation matrix between the second target pose and the third target pose of the medical instrument is converted into an axial angle representation, so that the medical instrument is adjusted to the target pose after single rotation along with the transmission component.
Optionally, the S101 further includes: taking the position of the fixed point as a constraint condition, and performing double-S-shaped speed planning between the second target pose and the target pose to obtain a series of intermediate shaft angles; converting the series of intermediate shaft angles back to the base coordinate system to obtain a corresponding homogeneous transformation matrix; according to the homogeneous transformation matrix, an inverse kinematics algorithm is adopted, and a series of joint values are obtained through solving; and taking the series of joint values as a track of posture adjustment of the movement mechanism.
Optionally, after the step S102 is performed, the method further includes: s103, reading sub-motion coordinate values corresponding to each transmission part, and calculating a final homogeneous transformation matrix of the medical instrument by a forward kinematics algorithm; comparing the final homogeneous transformation matrix with a transformation matrix at a target point, and confirming that the operation is finished when the error of the final homogeneous transformation matrix and the transformation matrix is within a matrix threshold range; and when the error of the two is beyond the matrix threshold range, repeating S101-S102.
The method has the beneficial effects that: the method and the device define the conversion relation between the first transformation matrix and the sub-motion coordinate system according to the structural information of the motion mechanism, and are suitable for the motion mechanisms with different sizes and shapes. According to the method, according to the first target pose and the second target pose, the medical instrument is controlled to move to the access point by adopting a reverse kinematics algorithm, the current access point is recorded as the fixed point, the distance from the fixed point to the target point is calculated, and the transmission part is controlled to drive the medical instrument to approach the target point. The fixed point can be determined without a specific mechanical structure or additional constraint, the moving mechanism is convenient to miniaturize, the quality and the volume of each transmission part are reduced, and flexible operation is convenient to perform. And (3) establishing a fixed point on the surface of the skin, and performing needle insertion motion planning and pose correction meeting the constraint of the fixed point through image navigation, so that high-precision, flexible and efficient puncture action is completed.
Optionally, the first transformation matrix, the second transformation matrix and the third transformation matrix are homogeneous transformation matrices; the homogeneous transformation matrix consists of a rotation matrix and a relative displacement vector of a coordinate origin.
In a second aspect, the present invention provides a medical device navigation device based on medical images, for use in the method according to any one of the first aspects, comprising: the image acquisition unit is used for acquiring a first medical image and a second medical image; the processing unit is used for initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in the corresponding motion mechanism; controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix; defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism; after a first medical image is acquired, calculating a second transformation matrix according to the medical image; calculating and obtaining a conversion relation of a sub-motion coordinate system relative to a base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at an access point under the base coordinate system; reading the current angles of the N sub-motion coordinate systems relative to a base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; after the second medical image is acquired, calculating a third transformation matrix to obtain a second target pose of the medical instrument at a target point in the object under the basic coordinate system; according to the first target pose and the second target pose, a reverse kinematics algorithm is adopted to control the medical instrument to move to an access point; calculating the distance from the access point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point; and the storage unit is used for recording that the current access point is a fixed point when the medical instrument is controlled to move to the access point.
Optionally, the image acquisition unit is further configured to acquire a third medical image; the processing unit is also used for controlling the transmission part to adjust the posture of the medical instrument around the fixed point so as to lead the medical instrument to be aligned to the target point; and maintaining the posture of the target point, and controlling the transmission part to drive the medical instrument to move towards the target point.
In a third aspect, the invention provides a medical device comprising a memory and a processor, the memory having stored thereon a program executable on the processor, which when executed by the processor causes the electronic device to implement the method of any of the first aspects.
In a fourth aspect, the present invention provides a readable storage medium having a program stored therein, wherein the program, when executed, implements the method of any one of the first aspects.
Drawings
FIG. 1 is a schematic flow chart of a medical device navigation method based on medical images provided by the invention;
FIG. 2 is a schematic diagram of a movement mechanism according to the present invention;
fig. 3 is a schematic structural diagram of a medical device navigation device based on medical images according to the present invention;
fig. 4 is a schematic structural diagram of a medical device based on medical imaging according to the present invention.
Reference numerals in the drawings:
1. an image acquisition unit; 2. a processing unit; 3. a storage unit;
40. a medical device; 41. a processor; 42. a memory; 43. an output interface; 44. a communication interface; 45. an antenna.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
In order to solve the problems in the prior art, as shown in fig. 1, the present invention provides a medical instrument navigation method based on medical images, including: s1, initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in a corresponding motion mechanism; s2, controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix; s3, defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism; s4, acquiring a first medical image, and calculating a second transformation matrix according to the medical image; s5, calculating and obtaining a conversion relation of the sub-motion coordinate system relative to the base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at an access point under the base coordinate system; s6, reading the current angles of the N sub-motion coordinate systems relative to the base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; s7, calculating a third transformation matrix according to the first medical image to obtain a second target pose of the medical instrument at a target point in the object body under the basic coordinate system; s8, controlling the medical instrument to move to an access point by adopting a reverse kinematics algorithm according to the first target pose and the second target pose, and recording the current access point as a fixed point; s9, calculating the distance from the fixed point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point.
It should be noted that, in this embodiment, the conversion relationship between the first transformation matrix and the sub-motion coordinate system is defined according to the structural information of the motion mechanism, so that the method is applicable to motion mechanisms with different sizes and shapes. According to the method, according to the first target pose and the second target pose, the medical instrument is controlled to move to the access point by adopting a reverse kinematics algorithm, the current access point is recorded as the fixed point, the distance from the fixed point to the target point is calculated, and the transmission part is controlled to drive the medical instrument to approach the target point. The fixed point can be determined without a specific mechanical structure or additional constraint, the moving mechanism is convenient to miniaturize, the quality and the volume of each transmission part are reduced, and flexible operation is convenient to perform.
As shown in fig. 2, in particular, in S1, N is 5, and the motion mechanism includes 5 transmission members, which are a lateral motion joint J1, a longitudinal motion joint J2, a yaw motion joint J3, a pitch motion joint J4, and a needle insertion motion joint J5, respectively. The medical device is configured as a puncture needle. In other specific embodiments, the medical device arrangement may be a sampling needle, catheter, stent or endoscope. N may be any integer greater than 1.
More specifically, the transverse motion joint J1 is used for driving the longitudinal motion joint J2, the deflection motion joint J3, the pitching motion joint J4, the needle inserting motion joint J5 and the puncture needle to translate in the x direction. The longitudinal movement joint J2 is used for driving the deflection movement joint J3, the pitching movement joint J4, the needle inserting movement joint J5 and the puncture needle to translate in the y direction. The yaw movement joint J3 is used for driving the pitch movement joint J4, the needle insertion movement joint J5 and the puncture needle to rotate along the first rotation axis a 1. The pitching joint J4 is used for driving the needle inserting joint J5 and the puncture needle to rotate along the second rotation axis a 2. The needle-inserting movement joint J5 is used for driving the puncture needle to move along the central axis of the puncture needle.
The base coordinate system in S1 is a fixed absolute coordinate system, and corresponds to a fixed portion of the motion mechanism. The medical instrument end coordinate system is a movable relative coordinate system, and can move or rotate along with the medical instrument, such as the needle tip of a puncture needle. The image coordinate system is a fixed or movable relative coordinate system, and before S2 is executed, the position of the image coordinate system relative to the base coordinate system can be adjusted according to the actual requirement, that is, the relationship between the image coordinate system and the base coordinate system can be recalculated.
In some embodiments, in S2, the needle insertion motion joint J5 is provided with a cantilever provided with a number of steel balls. And when the motion joint J5 is reset to the initial position, the first transformation matrix is generated by acquiring the image coordinates of the steel balls.
In some embodiments, the first transformation matrix, the second transformation matrix, and the third transformation matrix are homogeneous transformation matrices; the homogeneous transformation matrix consists of a rotation matrix and a relative displacement vector of a coordinate origin.
Specifically, the homogeneous transformation matrix T satisfies:
wherein R is a rotation matrix, and P is a relative displacement vector of the origin of coordinates.
The first transformation matrix is exemplified by homogeneous transformation of steel balls (sb) relative to camerasMatrix changing
In other embodiments, in S3, the conversion relationship between the first transformation matrix and the first sub-motion coordinate system is defined according to the structural information of the lateral motion joint J1Defining the conversion relation between the first transformation matrix and the second sub-motion coordinate system according to the structural information of the longitudinal motion joint J2>Defining the conversion relation between the first transformation matrix and the third sub-motion coordinate system according to the structural information of the yaw motion joint J3>Defining the conversion relation between the first transformation matrix and the fourth sub-motion coordinate system according to the structural information of the pitching joint J4>Defining the conversion relation between the first transformation matrix and the fifth sub-motion coordinate system according to the structural information of the needle-inserting motion joint J5>The above-described structure information includes size information and angle information.
Exemplary, in S3, the conversion relation between the first transformation matrix and the third sub-motion coordinate system is taken
In still other embodiments, in S4, the second transformation matrix is a homogeneous transformation matrix of the camera with respect to the entry point (rcm)In S5, the conversion relation of the third sub-motion coordinate system relative to the base coordinate system (base) is calculated and obtained by adopting a forward kinematics algorithm>The first target pose +.>The method meets the following conditions:
in S6, the current angles of N sub-motion coordinate systems relative to the base coordinate system are readObtaining the conversion relation of the needle tip of the puncture needle relative to the basic coordinate system>In S7, the third transformation matrix is a homogeneous transformation matrix of coordinates at the target pointSecond target pose->The method meets the following conditions:
in still other embodiments, at S5 or S6 further comprises: the control movement mechanism drives the medical instrument to move along a preset path. This step allows the medical instrument and the target area to be viewed from different perspectives or fields of view. The second medical image of S7 is thus at a different viewing angle or field of view than the first medical image of S4.
In S8, the needle tip coordinates of the puncture needleCoordinates with the entry point->And (5) overlapping. Conversion relation of needle tip of puncture needle with respect to base coordinate system +.>By->Become->
At this time, the tip of the puncture needle contacts the skin surface of the subject to prepare for the first needle insertion movement. The needle-inserting movement joint J5 is controlled to drive the puncture needle to pass through the skin movement distance h by calculating the distance h from the access point to the target point, so that the needle point reaches the target point.
In some embodiments, after S9 is performed, further comprising: s10, acquiring a second medical image, calculating pose deviation between the tail end of the medical instrument and the target point, and executing the following adjustment steps when the pose deviation exceeds a pose threshold range: s101, controlling a transmission part to adjust the posture of the medical instrument around the fixed point so as to enable the medical instrument to be aligned to the target point; s102, maintaining the posture of the alignment target, and controlling the transmission part to drive the medical instrument to move towards the target.
In some embodiments, the S101 includes: based on the position of the stationary point, the transmission component is adjusted, and a homogeneous transformation matrix between the second target pose and the third target pose of the medical instrument is converted into an axial angle representation, so that the medical instrument is adjusted to the target pose after single rotation along with the transmission component.
Specifically, S101 includes: hold stationary point positionUnchanged, from the first target pose +.>Adjust to the second target pose +.>In order to realize gesture adjustment through one rotation, a Rodrigas formula is applied to convert a homogeneous transformation matrix between a first target gesture and a second target gesture into an axial angle representation, so that the following conditions are satisfied:
wherein x is r 、y r 、z r And θ is an angle of rotation around the rotation axis.
In some embodiments, the S101 further includes: taking the position of the fixed point as a constraint condition, and performing double-S-shaped speed planning between the second target pose and the target pose to obtain a series of intermediate shaft angles; converting the series of intermediate shaft angles back to the base coordinate system to obtain a corresponding homogeneous transformation matrix; according to the homogeneous transformation matrix, an inverse kinematics algorithm is adopted, and a series of joint values are obtained through solving; and taking the series of joint values as a track of posture adjustment of the movement mechanism.
Specifically, to satisfy the fixed point constraint, the following command is needed In order to achieve a smooth movement of the device, from (0, 0) to (0, x r *θ，y r *θ，z r * θ) to obtain a series of intermediate shaft angles. After the series of intermediate shaft angles are converted back into homogeneous transformation matrixes expressed under a base coordinate system, the inverse kinematics are solved by using an algebraic method according to the homogeneous transformation matrixes, and a series of joint values at different moments are obtained. The joint values are the realization of the gestureAnd (5) a track of state adjustment.
In solving, the puncture needle is advanced by a depth h, and the depth h needs to be subtracted, so that the puncture needle coordinate system is moved from the needle point position to the stationary point.
In some embodiments, after the step S102 is performed, the method further includes: s103, reading sub-motion coordinate values corresponding to each transmission part, and calculating a final homogeneous transformation matrix of the medical instrument by a forward kinematics algorithm; comparing the final homogeneous transformation matrix with a transformation matrix at a target point, and confirming that the operation is finished when the error of the final homogeneous transformation matrix and the transformation matrix is within a matrix threshold range; and when the error of the two is beyond the matrix threshold range, repeating S101-S102. According to the embodiment, the fixed point is established on the skin surface, and the needle insertion movement planning and the pose correction meeting the constraint of the fixed point are performed through image navigation, so that the high-precision, flexible and efficient puncture action is completed.
As shown in fig. 3, a second embodiment provides a medical device navigation apparatus based on medical images, for use in the method according to any one of the first aspects, comprising: an image acquisition unit 1 for acquiring a first medical image and a second medical image; the processing unit 2 is used for initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in the corresponding motion mechanism; controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix; defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism; after a first medical image is acquired, calculating a second transformation matrix according to the medical image; calculating and obtaining a conversion relation of a sub-motion coordinate system relative to a base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at a target point in an object body under the base coordinate system; reading the current angles of the N sub-motion coordinate systems relative to a base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; according to the first medical image, calculating a third transformation matrix to obtain a second target pose of the medical instrument at a target point in the body of the subject under the basic coordinate system; according to the first target pose and the second target pose, a reverse kinematics algorithm is adopted to control the medical instrument to move to an access point; calculating the distance from the access point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point; and the storage unit 3 is used for recording that the current access point is a fixed point when the medical instrument is controlled to move to the access point.
Specifically, the image acquisition unit 1 is configured as a camera, and the processing unit 2 is configured as a processor 41; the storage unit 3 is provided as a memory 42.
In some embodiments, the image acquisition unit 1 is further configured to acquire a second medical image; the processing unit 2 is further used for controlling the transmission component to adjust the posture of the medical instrument around the fixed point so as to enable the medical instrument to be aligned to the target point; and maintaining the posture of the target point, and controlling the transmission part to drive the medical instrument to move towards the target point.
As shown in fig. 4, a third embodiment provides a medical device 40, which is characterized by comprising a memory 42 and a processor 41, wherein the memory 42 has stored thereon a program executable on the processor 41, which when executed by the processor 41 causes the medical device 40 to implement the method according to any of the first aspects. In one possible embodiment, the medical device 40 further comprises: an output interface 43 for outputting a result; a communication interface 44 for communicating the transmission signal; an antenna 45 for transmitting or receiving signals.
It should be noted that the processor 41 in the present embodiment may be an image processing chip or an integrated circuit chip having processing capability for image signals. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA), or other programmable logic device. The methods, steps and logic blocks disclosed in the present embodiment may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the present embodiment may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
It will be appreciated that the memory 42 in this embodiment may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
A fourth embodiment provides a readable storage medium having a program stored therein, characterized in that the program, when executed, implements the method of any one of the first aspects.
It is noted that the method may be stored in a readable storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several instructions for causing an electronic device to perform all or part of the steps of the method described in the various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (10)
1. A medical instrument navigation method based on medical images, comprising:
s1, initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in a corresponding motion mechanism;
s2, controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix;
s3, defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism;
s4, acquiring a first medical image, and calculating a second transformation matrix according to the medical image;
s5, calculating and obtaining a conversion relation of the sub-motion coordinate system relative to the base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at an access point under the base coordinate system;
s6, reading the current angles of the N sub-motion coordinate systems relative to the base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system;
s7, calculating a third transformation matrix according to the first medical image to obtain a second target pose of the medical instrument at a target point in the object body under the basic coordinate system;
s8, controlling the medical instrument to move to an access point by adopting a reverse kinematics algorithm according to the first target pose and the second target pose, and recording the current access point as a fixed point;
s9, calculating the distance from the fixed point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point.
2. The method of claim 1, wherein the first transformation matrix, the second transformation matrix, and the third transformation matrix are homogeneous transformation matrices; the homogeneous transformation matrix consists of a rotation matrix and a relative displacement vector of a coordinate origin.
3. The method of claim 1, wherein S9 after performing further comprises: s10, acquiring a second medical image, calculating pose deviation between the tail end of the medical instrument and the target point, and executing the following adjustment steps when the pose deviation exceeds a pose threshold range:
s101, controlling a transmission part to adjust the posture of the medical instrument around the fixed point so as to enable the medical instrument to be aligned to the target point;
s102, maintaining the posture of the alignment target, and controlling the transmission part to drive the medical instrument to move towards the target.
4. A method according to claim 3, wherein said S101 comprises:
based on the position of the stationary point, the transmission component is adjusted, and a homogeneous transformation matrix between the second target pose and the third target pose of the medical instrument is converted into an axial angle representation, so that the medical instrument is adjusted to the target pose after single rotation along with the transmission component.
5. The method according to claim 3 or 4, wherein S101 further comprises:
taking the position of the fixed point as a constraint condition, and performing double-S-shaped speed planning between the second target pose and the target pose to obtain a series of intermediate shaft angles;
converting the series of intermediate shaft angles back to the base coordinate system to obtain a corresponding homogeneous transformation matrix;
according to the homogeneous transformation matrix, an inverse kinematics algorithm is adopted, and a series of joint values are obtained through solving;
and taking the series of joint values as a track of posture adjustment of the movement mechanism.
6. The method according to claim 3 or 4, wherein after the step S102 is performed, further comprising:
s103, reading sub-motion coordinate values corresponding to each transmission part, and calculating a final homogeneous transformation matrix of the medical instrument by a forward kinematics algorithm;
comparing the final homogeneous transformation matrix with a transformation matrix at a target point, and confirming that the operation is finished when the error of the final homogeneous transformation matrix and the transformation matrix is within a matrix threshold range;
and when the error of the two is beyond the matrix threshold range, repeating S101-S102.
7. A medical instrument navigation device based on medical images for the method of any one of claims 1 to 6, comprising:
the image acquisition unit is used for acquiring a first medical image and a second medical image;
the processing unit is used for initializing a base coordinate system, an image coordinate system, a medical instrument tail end coordinate system and N sub-motion coordinate systems of N transmission parts in the corresponding motion mechanism; controlling the motion mechanism to reset to an initial position, acquiring image coordinates of the transmission part, and generating a first transformation matrix; defining a conversion relation between the first transformation matrix and a sub-motion coordinate system according to the structural information of the motion mechanism; after a first medical image is acquired, calculating a second transformation matrix according to the medical image; calculating and obtaining a conversion relation of a sub-motion coordinate system relative to a base coordinate system by adopting a forward kinematics algorithm, and obtaining a first target pose at an access point under the base coordinate system; reading the current angles of the N sub-motion coordinate systems relative to a base coordinate system, and obtaining the conversion relation of the medical instrument terminal coordinate system relative to the base coordinate system; according to the first medical image, calculating a third transformation matrix to obtain a second target pose of the medical instrument at a target point in the body of the subject under the basic coordinate system; according to the first target pose and the second target pose, a reverse kinematics algorithm is adopted to control the medical instrument to move to an access point; calculating the distance from the access point to the target point, and controlling the transmission part to drive the medical instrument to approach the target point;
and the storage unit is used for recording that the current access point is a fixed point when the medical instrument is controlled to move to the access point.
8. The apparatus of claim 7, wherein the image acquisition unit is further configured to acquire a second medical image;
the processing unit is also used for controlling the transmission part to adjust the posture of the medical instrument around the fixed point so as to lead the medical instrument to be aligned to the target point; and maintaining the posture of the target point, and controlling the transmission part to drive the medical instrument to move towards the target point.
9. A medical device comprising a memory and a processor, the memory having stored thereon a program executable on the processor, which when executed by the processor causes the electronic device to implement the method of any of claims 1 to 6.
10. A readable storage medium having a program stored therein, characterized in that the program, when executed, implements the method of any one of claims 1 to 6.
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