Space registration method and device for robot and image equipment and electronic equipment

Abstract

The invention discloses a space registration method and device for a robot and image equipment, and electronic equipment. The method comprises the steps: building an intermediate coordinate system based on a marker group, processing a perspective image to generate a perspective image coordinate system, and determining the relative pose relation between the perspective image coordinate system and the intermediate coordinate system; determining the relative pose relationship between a robot coordinate system and the intermediate coordinate system, and further determining the relative pose relationship between the robot coordinate system and the perspective image coordinate system; establishing an image equipment coordinate system based on the circle center of a perspective scanning area, anddetermining the relative pose relationship between the perspective image coordinate system and the image equipment coordinate system; and determining the relative pose relationship between the robotcoordinate system and the image equipment coordinate system to realize space registration of the robot and the image equipment. According to the space registration method provided by the invention, registration errors are reduced, and a doctor can realize rapid and high-precision space registration of the surgical robot and the medical imaging equipment by performing basic medical imaging equipment operations and image analysis.

Description

technical field [0001] The invention relates to the field of robots, in particular to a space registration method, device and electronic equipment for a robot and an imaging device. Background technique [0002] Surgical robots have the advantages of precise positioning, high repeatability, and can effectively improve doctors' surgical operation capabilities. They have been more and more widely used in clinical operations. The premise of using a surgical robot to perform surgery on a patient is to determine the relative positional relationship between the patient space and the robot operating space. The patient space is usually determined by medical imaging equipment such as CT scan CT images. In order to avoid the surgical robot from colliding with medical images while determining the patient space For equipment, it is necessary to determine the relative positional relationship between the robot operation space and the medical imaging equipment space, that is, to realize th...

AI Technical Summary

Problems solved by technology

[0009] The main purpose of the present invention is to provide a space registration method, device and electronic equipment for robots and imaging equipment, so as to solve the problem that the existing space registration of robots and imaging equipment easily leads to registration errors, long registration time, complicated and cumbersome operations, and high requirements for doctors and high cost

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