Spatial registration method, device and electronic device for robot and imaging device

Abstract

The invention discloses a space registration method, device and electronic equipment for a robot and an imaging device, wherein the method includes: establishing an intermediate coordinate system based on a marker group, processing a perspective image to generate a perspective image coordinate system, determining the perspective image coordinate system and The relative pose relationship of the intermediate coordinate system; determine the relative pose relationship between the robot coordinate system and the intermediate coordinate system, and then determine the relative pose relationship between the robot coordinate system and the perspective image coordinate system; establish the image equipment coordinate system based on the center of the perspective scanning area , and determine the relative pose relationship between the perspective image coordinate system and the image equipment coordinate system; determine the relative pose relationship between the robot coordinate system and the image equipment coordinate system, and realize the space registration between the robot and the image equipment; the space registration method provided by the present invention reduces The registration error is small, and the doctor can realize the rapid and high-precision spatial 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

Images