WO2022199296A1 - Error elimination method and apparatus for surgical navigation robot, and electronic device - Google Patents

Error elimination method and apparatus for surgical navigation robot, and electronic device Download PDF

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Publication number
WO2022199296A1
WO2022199296A1 PCT/CN2022/076848 CN2022076848W WO2022199296A1 WO 2022199296 A1 WO2022199296 A1 WO 2022199296A1 CN 2022076848 W CN2022076848 W CN 2022076848W WO 2022199296 A1 WO2022199296 A1 WO 2022199296A1
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registration
registration point
matrix
error
tracking frame
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PCT/CN2022/076848
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French (fr)
Chinese (zh)
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张逸凌
刘星宇
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北京长木谷医疗科技有限公司
张逸凌
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Publication of WO2022199296A1 publication Critical patent/WO2022199296A1/en

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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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

Definitions

  • the present application relates to the field of robotics, and in particular to a method, device and electronic device for eliminating errors of a surgical navigation robot.
  • Surgical navigation robots have been widely used in clinical operations due to their advantages of high positioning accuracy and strong movement stability.
  • the surgical navigation robot tracks the surgical instruments during the operation, and updates and displays the position of the surgical instrument on the patient image in real time in the form of a virtual probe, so that the doctor can see the position of the patient's anatomy at a glance, and the surgical process is faster, more accurate, and more accurate. safer.
  • the spatial positioning of the surgical navigation robot is the key to ensuring the safety of surgery.
  • the spatial positioning of the surgical navigation robot mainly relies on preoperative images, and fails to utilize real-time information that reflects the real situation of the surgical area. In the actual operation process, there will be errors caused by various reasons such as breathing, displacement of body surface markers, body position changes, and the contact between surgical instruments and patient body parts, which makes the positioning effect unsatisfactory.
  • the present application provides an error elimination method, device and electronic device for a surgical navigation robot.
  • the present application provides an error elimination method for a surgical navigation robot, including:
  • the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point are calculated.
  • the method before collecting the information of multiple registration points, the method further includes:
  • the position matrix of the first tracking frame is acquired.
  • the calculation is performed according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state.
  • the calculation formula of the error matrix of the first registration point is:
  • M p is the position matrix of the first tracking frame in the registration preparation state
  • M I is the position matrix of the first tracking frame when collecting the first registration point
  • M diff is the error matrix of the first registration point.
  • an error elimination method for a surgical navigation robot provided by the present application, according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the calculation is performed after the error of the target instrument at the first registration point is eliminated.
  • the formula for calculating the position coordinates is:
  • P i_o is the position coordinate of the target instrument after the error of the first registration point is eliminated;
  • P i is the position coordinate of the target instrument at the first registration point;
  • M diff is the error matrix of the first registration point.
  • the number of the multiple registration points is greater than or equal to three.
  • recording the position matrix of the first tracking frame includes:
  • the position matrix of the first tracking frame is measured and recorded by the optical positioning tracking system.
  • the application also provides an error elimination device for a surgical navigation robot, including:
  • a registration point information collection module configured to collect information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected;
  • the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the error matrix calculation module is configured to calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
  • the error elimination module is configured to calculate the position coordinates of the target instrument at the first registration point after the error has been eliminated according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the program, the surgical navigation robot as described above can be implemented The steps of the error elimination method.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the above-mentioned methods for eliminating errors of a surgical navigation robot.
  • the error elimination method, device and electronic device for a surgical navigation robot collect information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the pre-determined first tracking frame at the time of registration. According to the position matrix in the preparation state, the error matrix of the first registration point is calculated; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, the error matrix of the target device after the error of the first registration point is eliminated is calculated.
  • the position coordinates can eliminate the error of the target device in the position coordinates of the registration point, and ensure the accuracy of subsequent registration operations.
  • Fig. 1 is the schematic diagram of the equipment involved in the error elimination method of the surgical navigation robot of the present application
  • FIG. 3 is a schematic diagram of a surgical navigation robot error elimination device provided by the application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by the present application.
  • 101 Optical positioning and tracking system
  • 102 The first tracking frame
  • 103 The second tracking frame
  • the doctor Before using the surgical navigation robot to perform surgery, the doctor will pre-plan the theoretical motion trajectory of the surgical instrument according to the needs of the operation, and the theoretical motion trajectory can guide the movement of the surgical instrument during the operation.
  • the error elimination method for a surgical navigation robot of the present application is not only applicable to the field of surgical navigation robots, but also to other fields, such as the field of industrial robots, and even application fields other than robots.
  • a surgical navigation robot is taken as an example to further describe the specific implementation process of the error elimination method of the present application.
  • FIG. 1 is a schematic diagram of the equipment involved in the error elimination method of the surgical navigation robot of the present application.
  • the involved equipment includes an optical positioning and tracking system 101 , a first tracking frame 102 and a second tracking frame 103 .
  • the optical positioning and tracking system 101 is used to track the position of the first tracking frame 102 and the second tracking frame 103 , and record the position coordinates of the first tracking frame 102 and the second tracking frame 103 .
  • the first tracking frame 102 is installed on a rigid organ 104 near the patient's surgical site; the rigid organ refers to an organ that is less deformed when the human body moves.
  • the first tracking frame 102 can be installed on the patient's pelvis; when the surgical navigation robot needs to perform surgery on the patient's head, the first tracking frame 102 can be installed on the patient's head. on the patient's skull.
  • the second tracking frame 103 is mounted on the surgical instrument 105 .
  • a surgical instrument is installed at the end of the robotic arm of the surgical navigation robot, and the movement of the robotic arm drives the action of the surgical instrument during the operation.
  • the position of the surgical instrument can be tracked by tracking the position of the second tracking frame 103 .
  • the first tracking frame 102 and the second tracking frame 103 are respectively provided with at least three tracking balls.
  • the position information of the first tracking frame 102 or the second tracking frame 103 can be obtained according to the position information of the tracking ball.
  • Fig. 2 is a flowchart of a surgical navigation robot error elimination method provided by the application. As shown in Fig. 2, the surgical navigation robot error elimination method of the present application includes:
  • Step 201 Collect information of a plurality of registration points, where the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected.
  • Registration refers to the alignment of two or more images of the same object in space.
  • a registration point is a point used to implement a registration operation.
  • the registration point can be selected according to the actual situation.
  • the point where the tip of the surgical instrument contacts the body part of the patient eg, the acetabular fossa of the pelvis
  • the registration point can be used as the registration point.
  • the target instrument is an instrument related to the registration process, as in the embodiment of the surgical navigation robot, the target instrument is a surgical instrument.
  • the first tracking frame is installed on a rigid object adjacent to the target instrument, for example, when the surgical navigation robot needs to perform surgery near the patient's pelvis, the first tracking frame can be installed on the patient's pelvis; The first tracking frame may be mounted on the patient's skull during surgery on the patient's head.
  • the first registration point is any one of the plurality of registration points.
  • the registration point information When collecting the registration point information, mainly two types of information are collected, one of which is the position coordinates of the target instrument at the first registration point, and the other is the position matrix of the first tracking frame when the first registration point is collected.
  • the second tracking frame is installed on the target instrument (surgical instrument), so when the information of the registration point is collected, track the second tracking frame to obtain the position coordinates of the second tracking frame, and use it as the target
  • the position coordinates of the instrument at the first registration point can be represented by P I.
  • the first tracking frame is also tracked at the same time to obtain the position matrix of the first tracking frame when the first registration point is collected.
  • M I can be used to represent the position matrix of the first tracking frame when the first registration point is collected.
  • the position matrix of the first tracking frame when collecting the first registration point includes not only the position coordinates of the first tracking frame when collecting the first registration point, but also the position coordinates of the first tracking frame when collecting the first registration point. Rotation information.
  • the registration operation is implemented in three-dimensional space, the information of at least three registration points is required during registration.
  • a redundant number of registration point information may be collected. For example, information may be collected for 20-30 registration points. Those skilled in the art can easily understand that the positions of different registration points are different.
  • Step 202 Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state.
  • the registration preparation state is a preparation state before the registration operation.
  • the robotic arm of the robot suspends work, and the user can manually adjust the position of the robotic arm so that the tracking ball on the first tracking frame 102 is within the visible range of the optical positioning and tracking system 101 .
  • the robotic arm In the registration preparation state, the robotic arm is not working, and there is no error caused by the contact between the target instrument mounted on the robotic arm and the target object; and the first tracking frame is mounted on a rigid object, which can also reduce external deformation (such as The error caused by the deformation of the patient due to changes in breathing and posture). Therefore, the error matrix of the first registration point can be calculated by using the position matrix of the first tracking frame in the registration preparation state and the position matrix of the first tracking frame when collecting the first registration point.
  • M p is the position matrix of the first tracking frame in the registration preparation state
  • M I is the position matrix of the first tracking frame when collecting the first registration point
  • M diff is the error matrix of the first registration point.
  • the first registration point is any one of the multiple registration points. Therefore, the error matrix corresponding to each registration point can be calculated by referring to the error matrix calculation method of the first registration point.
  • the information of 25 registration points is obtained, then in this step, the error matrix corresponding to each of the 25 registration points can be calculated.
  • Step 203 according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target instrument after the error of the first registration point is eliminated.
  • the error matrix can be applied to the position coordinates of the target instrument at the first registration point to eliminate errors, and the position coordinates of the target instrument at the first registration point after the error has been eliminated are obtained. .
  • P i_o is the position coordinate of the target instrument after the error of the first registration point is eliminated;
  • P i is the position coordinate of the target instrument at the first registration point;
  • M diff is the error matrix of the first registration point.
  • each registration point has its own corresponding error matrix, errors can be eliminated for the position coordinates of the target instrument on each registration point based on these error matrices.
  • the position coordinates of the target instrument after the errors of each registration point are eliminated can be used for subsequent registration operations.
  • the error elimination method for a surgical navigation robot collects the information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position of the first tracking frame in the registration preparation state matrix, and calculate the error matrix of the first registration point; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target device after the error of the first registration point is eliminated, and realize the matching The error in the position coordinates of the target device at the registration point is eliminated, which ensures the accuracy of subsequent registration operations.
  • the method before collecting the information of the multiple registration points, the method further includes:
  • the position matrix of the first tracking frame is acquired.
  • the position matrix of the first tracking gantry in the registration ready state is predetermined. In this embodiment, the determination process of the position matrix will be described.
  • the position matrix of the first tracking frame can be obtained by measuring the optical positioning and tracking system 101 .
  • the position matrix can be represented by M p .
  • the position matrix of the first tracking frame includes not only the three-dimensional position coordinate information of the first tracking frame, but also the rotation information of the first tracking frame.
  • the method for eliminating the error of a surgical navigation robot provided by the present application provides a precondition for the subsequent calculation of the error matrix of each registration point by acquiring the position matrix of the first tracking frame in the registration preparation state, and ensures the accuracy of the subsequent registration operation.
  • the following describes the device for eliminating errors of a surgical navigation robot provided by the present application.
  • the device for eliminating errors for a surgical navigation robot described below and the method for eliminating errors for a surgical navigation robot described above may refer to each other correspondingly.
  • FIG 3 is a schematic diagram of a surgical navigation robot error elimination device provided by the application.
  • the surgical navigation robot error elimination device provided by the application includes:
  • the registration point information collection module 301 is configured to collect information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected ; wherein, the first tracking frame is mounted on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the error matrix calculation module 302 is configured to calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state ;
  • the error elimination module 303 is configured to calculate the position coordinates of the target instrument at the first registration point after the error has been eliminated according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point.
  • the surgical navigation robot error elimination device collects the information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position of the first tracking frame in the registration preparation state matrix, and calculate the error matrix of the first registration point; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target device after the error of the first registration point is eliminated, and realize the matching The error in the position coordinates of the target device at the registration point is eliminated, which ensures the accuracy of subsequent registration operations.
  • the error elimination device for a surgical navigation robot further includes:
  • the first tracking frame position matrix acquisition module is configured to obtain the position matrix of the first tracking frame in the registration preparation state.
  • the error elimination device of the surgical navigation robot provided by the present application provides preconditions for the subsequent calculation of the error matrix of each registration point, and ensures the accuracy of the subsequent registration operation.
  • FIG. 4 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440,
  • the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 .
  • the processor 410 may invoke logic instructions in the memory 430 to execute a surgical navigation robot error elimination method, the method comprising:
  • the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point are calculated.
  • the above-mentioned logic instructions in the memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer When executed, the computer can execute the error elimination method for a surgical navigation robot provided by the above methods, the method comprising:
  • the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point are calculated.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is implemented when executed by a processor to execute the above-mentioned methods for eliminating errors of a surgical navigation robot, the method include:
  • the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
  • the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point are calculated.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

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Abstract

The present application provides an error elimination method and apparatus for a surgical navigation robot, and an electronic device. The method comprises: collecting information of a plurality of registration points, the information of the registration points comprising position coordinates of a target instrument at a first registration point and a position matrix of a first tracking frame when collecting the first registration point, wherein the first tracking frame is mounted on a rigid object adjacent to the target instrument, and the first registration point is any one of the plurality of registration points; calculating an error matrix of the first registration point according to the position matrix of the first tracking frame when collecting the first registration point and a predetermined position matrix of the first tracking frame in a registration preparation state; and according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, calculating the position coordinates of the target instrument after an error of the first registration point is eliminated.

Description

手术导航机器人误差消除方法、装置及电子设备Surgical navigation robot error elimination method, device and electronic equipment
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请要求于2021年03月26日提交的申请号为202110328512.0，名称为“误差消除方法、装置、电子设备及存储介质”的中国专利申请的优先权，其通过引用方式全部并入本文。This application claims the priority of the Chinese patent application with the application number 202110328512.0 filed on March 26, 2021 and entitled "Error Elimination Method, Device, Electronic Device and Storage Medium", which is fully incorporated herein by reference.
技术领域technical field
本申请涉及机器人技术领域，具体涉及一种手术导航机器人误差消除方法、装置及电子设备。The present application relates to the field of robotics, and in particular to a method, device and electronic device for eliminating errors of a surgical navigation robot.
背景技术Background technique
手术导航机器人因为定位精准度高，运动稳定性强等方面的优点，已经在临床手术中被普遍使用。Surgical navigation robots have been widely used in clinical operations due to their advantages of high positioning accuracy and strong movement stability.
手术导航机器人在手术过程中跟踪手术器械，并将手术器械的位置在患者影像上以虚拟探针的形式实时更新显示，使医生对患者的解剖结构的位置一目了然，手术过程更快速、更精确、更安全。The surgical navigation robot tracks the surgical instruments during the operation, and updates and displays the position of the surgical instrument on the patient image in real time in the form of a virtual probe, so that the doctor can see the position of the patient's anatomy at a glance, and the surgical process is faster, more accurate, and more accurate. safer.
手术导航机器人的空间定位是保证手术安全的关键。在现有技术中，手术导航机器人的空间定位主要依赖术前影像，未能利用反映手术区域真实情况的实时信息。在实际的手术过程中，会存在因为呼吸、体表标记点位移、体位变化、手术器械与患者身体部位接触等多种原因造成的误差，使得定位效果不理想。The spatial positioning of the surgical navigation robot is the key to ensuring the safety of surgery. In the prior art, the spatial positioning of the surgical navigation robot mainly relies on preoperative images, and fails to utilize real-time information that reflects the real situation of the surgical area. In the actual operation process, there will be errors caused by various reasons such as breathing, displacement of body surface markers, body position changes, and the contact between surgical instruments and patient body parts, which makes the positioning effect unsatisfactory.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的问题，本申请提供一种手术导航机器人误差消除方法、装置及电子设备。In view of the problems existing in the prior art, the present application provides an error elimination method, device and electronic device for a surgical navigation robot.
本申请提供一种手术导航机器人误差消除方法，包括：The present application provides an error elimination method for a surgical navigation robot, including:
采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；Collecting information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。According to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the position coordinates of the target instrument after the errors of the first registration point are eliminated are calculated.
根据本申请提供的一种手术导航机器人误差消除方法，在采集多个配准点的信息之前，方法还包括：According to an error elimination method for a surgical navigation robot provided by the present application, before collecting the information of multiple registration points, the method further includes:
在配准准备状态下，获取第一追踪架的位置矩阵。In the registration preparation state, the position matrix of the first tracking frame is acquired.
根据本申请提供的一种手术导航机器人误差消除方法，所述根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵的计算公式为：According to an error elimination method for a surgical navigation robot provided by the present application, the calculation is performed according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state. The calculation formula of the error matrix of the first registration point is:
M p*M diff＝M I； M p *M diff =M I ;
其中，M p为第一追踪架在配准准备状态下的位置矩阵；M I为第一追踪架在采集第一配准点时的位置矩阵；M diff为第一配准点的误差矩阵。 Wherein, M p is the position matrix of the first tracking frame in the registration preparation state; M I is the position matrix of the first tracking frame when collecting the first registration point; M diff is the error matrix of the first registration point.
根据本申请提供的一种手术导航机器人误差消除方法，所述根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标的计算公式为：According to an error elimination method for a surgical navigation robot provided by the present application, according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the calculation is performed after the error of the target instrument at the first registration point is eliminated. The formula for calculating the position coordinates is:
P i_o*M diff＝P I； P i_o *M diff =P i ;
其中，P i_o为目标器械在第一配准点的误差消除后的位置坐标；P I为目标器械在第一配准点的位置坐标；M diff为第一配准点的误差矩阵。 Wherein, P i_o is the position coordinate of the target instrument after the error of the first registration point is eliminated; P i is the position coordinate of the target instrument at the first registration point; M diff is the error matrix of the first registration point.
根据本申请提供的一种手术导航机器人误差消除方法，所述多个配准点的数量为大于或等于3。According to an error elimination method for a surgical navigation robot provided by the present application, the number of the multiple registration points is greater than or equal to three.
根据本申请提供的一种手术导航机器人误差消除方法，所述在配准准备状态下，记录第一追踪架的位置矩阵，包括：According to an error elimination method for a surgical navigation robot provided by the present application, in the registration preparation state, recording the position matrix of the first tracking frame includes:
在配准准备状态下，通过光学定位跟踪系统测量并记录第一追踪架的位置矩阵。In the registration ready state, the position matrix of the first tracking frame is measured and recorded by the optical positioning tracking system.
本申请还提供了一种手术导航机器人误差消除装置，包括：The application also provides an error elimination device for a surgical navigation robot, including:
配准点信息采集模块，被配置为采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；a registration point information collection module, configured to collect information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; Wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
误差矩阵计算模块，被配置为根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；The error matrix calculation module is configured to calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
误差消除模块，被配置为根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。The error elimination module is configured to calculate the position coordinates of the target instrument at the first registration point after the error has been eliminated according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point.
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述手术导航机器人误差消除方法的步骤。The present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the program, the surgical navigation robot as described above can be implemented The steps of the error elimination method.
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述手术导航机器人误差消除方法的步骤。The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the above-mentioned methods for eliminating errors of a surgical navigation robot.
本申请提供的手术导航机器人误差消除方法、装置及电子设备，通过采集多个配准点的信息，根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；根据目标器械在第一配准点的位置坐标以及第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标，实现了对目标器械在配准点位置坐标的误差消除，保证了后续配准操作的准确性。The error elimination method, device and electronic device for a surgical navigation robot provided by the present application collect information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the pre-determined first tracking frame at the time of registration. According to the position matrix in the preparation state, the error matrix of the first registration point is calculated; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, the error matrix of the target device after the error of the first registration point is eliminated is calculated. The position coordinates can eliminate the error of the target device in the position coordinates of the registration point, and ensure the accuracy of subsequent registration operations.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1为本申请的手术导航机器人误差消除方法中所涉及设备的示意图；Fig. 1 is the schematic diagram of the equipment involved in the error elimination method of the surgical navigation robot of the present application;
图2为本申请提供的手术导航机器人误差消除方法的流程图；2 is a flowchart of a surgical navigation robot error elimination method provided by the application;
图3为本申请提供的手术导航机器人误差消除装置的示意图；3 is a schematic diagram of a surgical navigation robot error elimination device provided by the application;
图4是本申请提供的电子设备的结构示意图；4 is a schematic structural diagram of an electronic device provided by the present application;
附图标记：Reference number:
101：光学定位跟踪系统； 102：第一追踪架；    103：第二追踪架；101: Optical positioning and tracking system; 102: The first tracking frame; 103: The second tracking frame;
104：刚性器官；         105：手术器械。104: rigid organs; 105: surgical instruments.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application. , not all examples. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.
下面结合图1-图4描述本申请的手术导航机器人误差消除方法、装置及电子设备。The following describes the method, device and electronic device for eliminating errors of a surgical navigation robot of the present application with reference to FIGS. 1 to 4 .
在利用手术导航机器人实施手术前，医生会根据手术的需要预先规划手术器械的理论运动轨迹，该理论运动轨迹在手术过程中能够指导手术器械的移动。Before using the surgical navigation robot to perform surgery, the doctor will pre-plan the theoretical motion trajectory of the surgical instrument according to the needs of the operation, and the theoretical motion trajectory can guide the movement of the surgical instrument during the operation.
但在实际的手术过程中，由于呼吸、体表标记点位移、体位变化、手术器械与患者身体部位接触等多方面因素的影响，手术器械的实际运动轨迹与预先规划的理论运动轨迹之间存在误差。为了消除误差，需要采用本申请的手术导航机器人误差消除方法。However, in the actual operation process, due to the influence of various factors such as breathing, displacement of body surface markers, body position changes, and contact between surgical instruments and patient body parts, there is a difference between the actual motion trajectory of surgical instruments and the pre-planned theoretical motion trajectory. error. In order to eliminate the error, the error elimination method of the surgical navigation robot of the present application needs to be adopted.
本申请的手术导航机器人误差消除方法不仅适用于手术导航机器人领域，也适用于其他领域，如工业机器人领域，乃至机器人之外的应用领域。在本实施例中，为了便于理解，以手术导航机器人为例，对本申请的误差消除方法的具体实现过程做进一步的说明。The error elimination method for a surgical navigation robot of the present application is not only applicable to the field of surgical navigation robots, but also to other fields, such as the field of industrial robots, and even application fields other than robots. In this embodiment, in order to facilitate understanding, a surgical navigation robot is taken as an example to further describe the specific implementation process of the error elimination method of the present application.
在对本申请的手术导航机器人误差消除方法进行说明之前，首先对误差消除过程中所涉及的设备进行说明。Before explaining the error elimination method of the surgical navigation robot of the present application, the equipment involved in the error elimination process is explained first.
图1为本申请的手术导航机器人误差消除方法中所涉及设备的示意图，如图1所示，所涉及的设备有光学定位跟踪系统101、第一追踪架102以及第二追踪架103。FIG. 1 is a schematic diagram of the equipment involved in the error elimination method of the surgical navigation robot of the present application. As shown in FIG. 1 , the involved equipment includes an optical positioning and tracking system 101 , a first tracking frame 102 and a second tracking frame 103 .
光学定位跟踪系统101用于对第一追踪架102以及第二追踪架103进行位置跟踪，并记录第一追踪架102以及第二追踪架103的位置坐标。The optical positioning and tracking system 101 is used to track the position of the first tracking frame 102 and the second tracking frame 103 , and record the position coordinates of the first tracking frame 102 and the second tracking frame 103 .
第一追踪架102安装在患者手术部位附近的刚性器官104上；其中的刚性器官是指人体运动时形变较小的器官。例如，当手术导航机器人需要在患者骨盆附近进行手术时，可将第一追踪架102安装在患者骨盆上；当手术导航机器人需要对患者头部进行手术时，可将第一追踪架102安装在患者的颅骨上。The first tracking frame 102 is installed on a rigid organ 104 near the patient's surgical site; the rigid organ refers to an organ that is less deformed when the human body moves. For example, when the surgical navigation robot needs to perform surgery near the patient's pelvis, the first tracking frame 102 can be installed on the patient's pelvis; when the surgical navigation robot needs to perform surgery on the patient's head, the first tracking frame 102 can be installed on the patient's head. on the patient's skull.
第二追踪架103安装在手术器械105上。本领域技术人员都知道，手术导航机器人的机器臂末端安装有手术器械，在手术过程中通过机器臂的移动带动手术器械的动作。将第二追踪架103安装在手术器械上，可通过跟踪第二追踪架103的位置，实现对手术器械的位置跟踪。The second tracking frame 103 is mounted on the surgical instrument 105 . Those skilled in the art all know that a surgical instrument is installed at the end of the robotic arm of the surgical navigation robot, and the movement of the robotic arm drives the action of the surgical instrument during the operation. By installing the second tracking frame 103 on the surgical instrument, the position of the surgical instrument can be tracked by tracking the position of the second tracking frame 103 .
上述第一追踪架102和第二追踪架103上各自设置有至少三个追踪球。在本申请中，可根据追踪球的位置信息，得到第一追踪架102或第二追踪架103的位置信息。The first tracking frame 102 and the second tracking frame 103 are respectively provided with at least three tracking balls. In the present application, the position information of the first tracking frame 102 or the second tracking frame 103 can be obtained according to the position information of the tracking ball.
在上述设备的基础上，可实现本申请的手术导航机器人误差消除方法。On the basis of the above-mentioned equipment, the error elimination method of the surgical navigation robot of the present application can be realized.
图2为本申请提供的手术导航机器人误差消除方法的流程图，如图2所示，本申请的手术导航机器人误差消除方法，包括：Fig. 2 is a flowchart of a surgical navigation robot error elimination method provided by the application. As shown in Fig. 2, the surgical navigation robot error elimination method of the present application includes:
步骤201、采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵。Step 201: Collect information of a plurality of registration points, where the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected.
配准是指同一目标的两幅或者两幅以上的图像在空间位置的对准。配准点是用于实现配准操作的点。Registration refers to the alignment of two or more images of the same object in space. A registration point is a point used to implement a registration operation.
配准点可根据实际情况选定，在手术导航机器人的实施例中，可将手术器械的尖部与患者的身体部位(如骨盆的髋臼窝)相接触的点作为配准点。The registration point can be selected according to the actual situation. In the embodiment of the surgical navigation robot, the point where the tip of the surgical instrument contacts the body part of the patient (eg, the acetabular fossa of the pelvis) can be used as the registration point.
目标器械是与配准过程相关的器械，如在手术导航机器人的实施例中，目标器械为手术器械。The target instrument is an instrument related to the registration process, as in the embodiment of the surgical navigation robot, the target instrument is a surgical instrument.
第一追踪架安装在与所述目标器械邻近的刚性物体上，例如，当手术导航机器人需要在患者骨盆附近进行手术时，可将第一追踪架安装在患者骨盆上；当手术导航机器人需要对患者头部进行手术时，可将第一追踪架安装在患者的颅骨上。The first tracking frame is installed on a rigid object adjacent to the target instrument, for example, when the surgical navigation robot needs to perform surgery near the patient's pelvis, the first tracking frame can be installed on the patient's pelvis; The first tracking frame may be mounted on the patient's skull during surgery on the patient's head.
在本实施例中，所述第一配准点为所述多个配准点中的任意一个。In this embodiment, the first registration point is any one of the plurality of registration points.
采集配准点的信息时，主要采集两类信息，其中一类是目标器械在第 一配准点的位置坐标，另一类是第一追踪架在采集第一配准点时的位置矩阵。When collecting the registration point information, mainly two types of information are collected, one of which is the position coordinates of the target instrument at the first registration point, and the other is the position matrix of the first tracking frame when the first registration point is collected.
在之前的描述中已经提到，第二追踪架安装在目标器械(手术器械)上，因此在采集配准点的信息时，跟踪第二追踪架得到第二追踪架的位置坐标，将其作为目标器械在第一配准点的位置坐标。在本实施例中，可用P I表示目标器械在第一配准点的位置坐标。 As mentioned in the previous description, the second tracking frame is installed on the target instrument (surgical instrument), so when the information of the registration point is collected, track the second tracking frame to obtain the position coordinates of the second tracking frame, and use it as the target The position coordinates of the instrument at the first registration point. In this embodiment, the position coordinates of the target instrument at the first registration point can be represented by P I.
在采集配准点的信息时，还同时对第一追踪架进行跟踪，得到第一追踪架在采集第一配准点时的位置矩阵。在本实施例中，可用M I表示第一追踪架在采集第一配准点时的位置矩阵。可选地，第一追踪架在采集第一配准点时的位置矩阵不仅包括第一追踪架在采集第一配准点时的位置坐标，还包括了第一追踪架在采集第一配准点时的旋转信息。 When the information of the registration point is collected, the first tracking frame is also tracked at the same time to obtain the position matrix of the first tracking frame when the first registration point is collected. In this embodiment, M I can be used to represent the position matrix of the first tracking frame when the first registration point is collected. Optionally, the position matrix of the first tracking frame when collecting the first registration point includes not only the position coordinates of the first tracking frame when collecting the first registration point, but also the position coordinates of the first tracking frame when collecting the first registration point. Rotation information.
由于配准操作是在三维空间内实现的，因此在配准时需要至少三个配准点的信息。在本实施例中，为了减少误差，提高配准精度，可采集冗余数量的配准点信息。例如，可采集20-30个配准点的信息。本领域技术人员很容易理解，不同配准点的位置是不一样的。Since the registration operation is implemented in three-dimensional space, the information of at least three registration points is required during registration. In this embodiment, in order to reduce errors and improve registration accuracy, a redundant number of registration point information may be collected. For example, information may be collected for 20-30 registration points. Those skilled in the art can easily understand that the positions of different registration points are different.
步骤202、根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵。Step 202: Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state.
在本实施例中，配准准备状态是配准操作前的一个预备状态。在该状态下，机器人的机械臂暂停工作，用户可通过人工的方式调整机械臂的位置，使得第一追踪架102上的追踪球处于光学定位跟踪系统101的可见范围内。In this embodiment, the registration preparation state is a preparation state before the registration operation. In this state, the robotic arm of the robot suspends work, and the user can manually adjust the position of the robotic arm so that the tracking ball on the first tracking frame 102 is within the visible range of the optical positioning and tracking system 101 .
在配准准备状态下，机械臂并未工作，不存在安装在机械臂上的目标器械与目标物体接触所产生的误差；而第一追踪架安装在刚性物体上，也能降低外界形变(如患者因为呼吸、体位变化所带来的形变)带来的误差。因此，利用第一追踪架在配准准备状态下的位置矩阵，结合第一追踪架在采集第一配准点时的位置矩阵，可以计算出第一配准点的误差矩阵。In the registration preparation state, the robotic arm is not working, and there is no error caused by the contact between the target instrument mounted on the robotic arm and the target object; and the first tracking frame is mounted on a rigid object, which can also reduce external deformation (such as The error caused by the deformation of the patient due to changes in breathing and posture). Therefore, the error matrix of the first registration point can be calculated by using the position matrix of the first tracking frame in the registration preparation state and the position matrix of the first tracking frame when collecting the first registration point.
具体的说，可采用如下公式计算第一配准点的误差矩阵：Specifically, the following formula can be used to calculate the error matrix of the first registration point:
M p*M diff＝M I； M p *M diff =M I ;
其中，M p为第一追踪架在配准准备状态下的位置矩阵；M I为第一追 踪架在采集第一配准点时的位置矩阵；M diff为第一配准点的误差矩阵。 Wherein, M p is the position matrix of the first tracking frame in the registration preparation state; M I is the position matrix of the first tracking frame when collecting the first registration point; M diff is the error matrix of the first registration point.
在之前的描述中已经提到，第一配准点是多个配准点中的任意一个配准点，因此参照第一配准点的误差矩阵计算方法可以计算出各个配准点各自对应的误差矩阵。As mentioned in the previous description, the first registration point is any one of the multiple registration points. Therefore, the error matrix corresponding to each registration point can be calculated by referring to the error matrix calculation method of the first registration point.
例如，在之前的步骤中得到了25个配准点的信息，那么在本步骤中可计算出这25个配准点各自对应的误差矩阵。For example, in the previous step, the information of 25 registration points is obtained, then in this step, the error matrix corresponding to each of the 25 registration points can be calculated.
步骤203、根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。 Step 203 , according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target instrument after the error of the first registration point is eliminated.
在已经计算出第一配准点的误差矩阵后，可将该误差矩阵应用到目标器械在第一配准点的位置坐标，以消除误差，得到目标器械在第一配准点的误差消除后的位置坐标。After the error matrix of the first registration point has been calculated, the error matrix can be applied to the position coordinates of the target instrument at the first registration point to eliminate errors, and the position coordinates of the target instrument at the first registration point after the error has been eliminated are obtained. .
具体的说，对应的计算公式为：Specifically, the corresponding calculation formula is:
P i_o*M diff＝P I； P i_o *M diff =P i ;
其中，P i_o为目标器械在第一配准点的误差消除后的位置坐标；P I为目标器械在第一配准点的位置坐标；M diff为第一配准点的误差矩阵。 Wherein, P i_o is the position coordinate of the target instrument after the error of the first registration point is eliminated; P i is the position coordinate of the target instrument at the first registration point; M diff is the error matrix of the first registration point.
由于各个配准点都有各自对应的误差矩阵，因此可基于这些误差矩阵，为目标器械在各个配准点上的位置坐标消除误差。Since each registration point has its own corresponding error matrix, errors can be eliminated for the position coordinates of the target instrument on each registration point based on these error matrices.
目标器械在各个配准点的误差消除后的位置坐标可用于后续的配准操作。The position coordinates of the target instrument after the errors of each registration point are eliminated can be used for subsequent registration operations.
本申请提供的手术导航机器人误差消除方法通过采集多个配准点的信息，根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；根据目标器械在第一配准点的位置坐标以及第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标，实现了对目标器械在配准点位置坐标的误差消除，保证了后续配准操作的准确性。The error elimination method for a surgical navigation robot provided by the present application collects the information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position of the first tracking frame in the registration preparation state matrix, and calculate the error matrix of the first registration point; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target device after the error of the first registration point is eliminated, and realize the matching The error in the position coordinates of the target device at the registration point is eliminated, which ensures the accuracy of subsequent registration operations.
基于上述任一实施例，在本实施例中，在采集多个配准点的信息之前，方法还包括：Based on any of the foregoing embodiments, in this embodiment, before collecting the information of the multiple registration points, the method further includes:
在配准准备状态下，获取第一追踪架的位置矩阵。In the registration preparation state, the position matrix of the first tracking frame is acquired.
在之前的实施例中，第一追踪架在配准准备状态下的位置矩阵是预先确定的。在本实施例中，对该位置矩阵的确定过程进行说明。In the previous embodiment, the position matrix of the first tracking gantry in the registration ready state is predetermined. In this embodiment, the determination process of the position matrix will be described.
在本实施例中，第一追踪架的位置矩阵可通过光学定位跟踪系统101测量得到。该位置矩阵可采用M p表示。可选地，第一追踪架的位置矩阵中不仅包括第一追踪架的三维位置坐标信息，还包括第一追踪架的旋转信息。 In this embodiment, the position matrix of the first tracking frame can be obtained by measuring the optical positioning and tracking system 101 . The position matrix can be represented by M p . Optionally, the position matrix of the first tracking frame includes not only the three-dimensional position coordinate information of the first tracking frame, but also the rotation information of the first tracking frame.
本申请提供的手术导航机器人误差消除方法通过获取第一追踪架在配准准备状态下的位置矩阵，为后续计算各个配准点的误差矩阵提供了前提条件，保证了后续配准操作的准确性。The method for eliminating the error of a surgical navigation robot provided by the present application provides a precondition for the subsequent calculation of the error matrix of each registration point by acquiring the position matrix of the first tracking frame in the registration preparation state, and ensures the accuracy of the subsequent registration operation.
下面对本申请提供的手术导航机器人误差消除装置进行描述，下文描述的手术导航机器人误差消除装置与上文描述的手术导航机器人误差消除方法可相互对应参照。The following describes the device for eliminating errors of a surgical navigation robot provided by the present application. The device for eliminating errors for a surgical navigation robot described below and the method for eliminating errors for a surgical navigation robot described above may refer to each other correspondingly.
图3为本申请提供的手术导航机器人误差消除装置的示意图，如图3所示，本申请提供的手术导航机器人误差消除装置包括：Figure 3 is a schematic diagram of a surgical navigation robot error elimination device provided by the application. As shown in Figure 3, the surgical navigation robot error elimination device provided by the application includes:
配准点信息采集模块301，被配置为采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；The registration point information collection module 301 is configured to collect information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected ; wherein, the first tracking frame is mounted on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
误差矩阵计算模块302，被配置为根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；The error matrix calculation module 302 is configured to calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state ;
误差消除模块303，被配置为根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。The error elimination module 303 is configured to calculate the position coordinates of the target instrument at the first registration point after the error has been eliminated according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point.
本申请提供的手术导航机器人误差消除装置通过采集多个配准点的信息，根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；根据目标器械在第一配准点的位置坐标以及第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标，实现了对目标器械在配准点位置坐标的误差消除，保证了后续配准操作的准确性。The surgical navigation robot error elimination device provided by the present application collects the information of multiple registration points, according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position of the first tracking frame in the registration preparation state matrix, and calculate the error matrix of the first registration point; according to the position coordinates of the target device at the first registration point and the error matrix of the first registration point, calculate the position coordinates of the target device after the error of the first registration point is eliminated, and realize the matching The error in the position coordinates of the target device at the registration point is eliminated, which ensures the accuracy of subsequent registration operations.
基于上述任一实施例，在本实施例中，手术导航机器人误差消除装置还包括：Based on any of the above embodiments, in this embodiment, the error elimination device for a surgical navigation robot further includes:
第一追踪架位置矩阵获取模块，被配置为在配准准备状态下，获取第一追踪架的位置矩阵。The first tracking frame position matrix acquisition module is configured to obtain the position matrix of the first tracking frame in the registration preparation state.
本申请提供的手术导航机器人误差消除装置通过获取第一追踪架在配准准备状态下的位置矩阵，为后续计算各个配准点的误差矩阵提供了前提条件，保证了后续配准操作的准确性。By obtaining the position matrix of the first tracking frame in the registration preparation state, the error elimination device of the surgical navigation robot provided by the present application provides preconditions for the subsequent calculation of the error matrix of each registration point, and ensures the accuracy of the subsequent registration operation.
图4示例了一种电子设备的实体结构示意图，如图4所示，该电子设备可以包括：处理器(processor)410、通信接口(Communications Interface)420、存储器(memory)430和通信总线440，其中，处理器410，通信接口420，存储器430通过通信总线440完成相互间的通信。处理器410可以调用存储器430中的逻辑指令，以执行手术导航机器人误差消除方法，该方法包括：FIG. 4 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 4 , the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, The processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 may invoke logic instructions in the memory 430 to execute a surgical navigation robot error elimination method, the method comprising:
采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；Collecting information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。According to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the position coordinates of the target instrument after the errors of the first registration point are eliminated are calculated.
此外，上述的存储器430中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above-mentioned logic instructions in the memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序 包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的手术导航机器人误差消除方法，该方法包括：In another aspect, the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer When executed, the computer can execute the error elimination method for a surgical navigation robot provided by the above methods, the method comprising:
采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；Collecting information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。According to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the position coordinates of the target instrument after the errors of the first registration point are eliminated are calculated.
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的手术导航机器人误差消除方法，该方法包括：In yet another aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is implemented when executed by a processor to execute the above-mentioned methods for eliminating errors of a surgical navigation robot, the method include:
采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；Collecting information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。According to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the position coordinates of the target instrument after the errors of the first registration point are eliminated are calculated.
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡 献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (9)

  1. 一种手术导航机器人误差消除方法，包括：An error elimination method for a surgical navigation robot, comprising:
    采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；Collecting information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
    根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；Calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
    根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。According to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point, the position coordinates of the target instrument after the errors of the first registration point are eliminated are calculated.
  2. 根据权利要求1所述的手术导航机器人误差消除方法，在采集多个配准点的信息之前，方法还包括：The method for eliminating errors of a surgical navigation robot according to claim 1, before collecting the information of a plurality of registration points, the method further comprises:
    在配准准备状态下，获取第一追踪架的位置矩阵。In the registration preparation state, the position matrix of the first tracking frame is acquired.
  3. 根据权利要求1或2所述的手术导航机器人误差消除方法，其中，所述根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵的计算公式为：The method for eliminating errors of a surgical navigation robot according to claim 1 or 2, wherein the method is based on the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state. Position matrix, the calculation formula for calculating the error matrix of the first registration point is:
    M p*M diff＝M I； M p *M diff =M I ;
    其中，M p为第一追踪架在配准准备状态下的位置矩阵；M I为第一追踪架在采集第一配准点时的位置矩阵；M diff为第一配准点的误差矩阵。 Wherein, M p is the position matrix of the first tracking frame in the registration preparation state; M I is the position matrix of the first tracking frame when collecting the first registration point; M diff is the error matrix of the first registration point.
  4. 根据权利要求1或2所述的手术导航机器人误差消除方法，其中，所述根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标的计算公式为：The method for eliminating errors of a surgical navigation robot according to claim 1 or 2, wherein the calculating the target instrument at the first registration point according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point The calculation formula of the position coordinates after the error is eliminated is:
    P i_o*M diff＝P I； P i_o *M diff =P i ;
    其中，P i_o为目标器械在第一配准点的误差消除后的位置坐标；P I为目标器械在第一配准点的位置坐标；M diff为第一配准点的误差矩阵。 Wherein, P i_o is the position coordinate of the target instrument after the error of the first registration point is eliminated; P i is the position coordinate of the target instrument at the first registration point; M diff is the error matrix of the first registration point.
  5. 根据权利要求1或2所述的手术导航机器人误差消除方法，其中，所述多个配准点的数量为大于或等于3。The method for eliminating errors of a surgical navigation robot according to claim 1 or 2, wherein the number of the plurality of registration points is greater than or equal to three.
  6. 根据权利要求2所述的手术导航机器人误差消除方法，其中，所述在配准准备状态下，记录第一追踪架的位置矩阵，包括：The method for eliminating errors of a surgical navigation robot according to claim 2, wherein, in the registration preparation state, recording the position matrix of the first tracking frame, comprising:
    在配准准备状态下，通过光学定位跟踪系统测量并记录第一追踪架的位置矩阵。In the registration ready state, the position matrix of the first tracking frame is measured and recorded by the optical positioning tracking system.
  7. 一种手术导航机器人误差消除装置，包括：A surgical navigation robot error elimination device, comprising:
    配准点信息采集模块，被配置为采集多个配准点的信息，所述配准点的信息包括目标器械在第一配准点的位置坐标与第一追踪架在采集第一配准点时的位置矩阵；其中，所述第一追踪架安装在与所述目标器械邻近的刚性物体上；所述第一配准点为所述多个配准点中的任意一个；a registration point information collection module, configured to collect information of a plurality of registration points, the information of the registration points includes the position coordinates of the target instrument at the first registration point and the position matrix of the first tracking frame when the first registration point is collected; Wherein, the first tracking frame is installed on a rigid object adjacent to the target instrument; the first registration point is any one of the plurality of registration points;
    误差矩阵计算模块，被配置为根据第一追踪架在采集第一配准点时的位置矩阵以及预先确定的第一追踪架在配准准备状态下的位置矩阵，计算第一配准点的误差矩阵；The error matrix calculation module is configured to calculate the error matrix of the first registration point according to the position matrix of the first tracking frame when the first registration point is collected and the predetermined position matrix of the first tracking frame in the registration preparation state;
    误差消除模块，被配置为根据目标器械在第一配准点的位置坐标以及所述第一配准点的误差矩阵，计算目标器械在第一配准点的误差消除后的位置坐标。The error elimination module is configured to calculate the position coordinates of the target instrument at the first registration point after the error has been eliminated according to the position coordinates of the target instrument at the first registration point and the error matrix of the first registration point.
  8. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1至6任一项所述手术导航机器人误差消除方法的步骤。An electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the program as claimed in any one of claims 1 to 6 when the processor executes the program Describe the steps of a surgical navigation robot error elimination method.
  9. 一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述手术导航机器人误差消除方法的步骤。A non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the error elimination method for a surgical navigation robot according to any one of claims 1 to 6.
PCT/CN2022/076848 2021-03-26 2022-02-18 Error elimination method and apparatus for surgical navigation robot, and electronic device WO2022199296A1 (en)

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