Image registration method and device, surgical robot and surgical robot system

Abstract

The invention provides an image registration method and device, a surgical robot and a surgical robot system. According to the specific implementation scheme, the method comprises the steps of obtaining a first transformation matrix used for representing an initial mapping relation between a space coordinate system of a physical space and an image coordinate system of a focus image through coarse registration; through a fine registration process, eliminating distance deviation and angle deviation existing in a coarse registration result, and obtaining a second transformation matrix, a third transformation matrix and a fourth transformation matrix; and generating a target transformation matrix between the space coordinate system and the image coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix and the fourth transformation matrix. Therefore, the image registration precision is improved, and the safety of subsequent operation by using the image registration result is improved. For a computer processor, the operation precision and efficiency of the computer processor are also improved.

Description

technical field [0001] The present disclosure relates to the field of intelligent surgery, in particular to an image registration method, device, surgical robot and surgical robot system. Background technique [0002] Robotic surgery system is a complex integrating multiple modern high-tech means, which has a wide range of uses and has a large number of clinical applications in surgery. The robotic surgery system is completely different from the traditional surgical concept. It allows surgeons to operate the machine away from the operating table. It is a well-deserved revolutionary surgical tool in the field of minimally invasive surgery in the world. However, when a robotic surgery system is used for orthopedic surgery, it is necessary to perform image registration on the three-dimensional images of the surgical site. [0003] Image registration methods in related technologies usually use the Iterative Closest Point (ICP) algorithm to directly optimize the coarse registrat...

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Problems solved by technology

[0003] Image registration methods in related technologies usually use the Iterative Closest Point (ICP) algorithm to directly optimize the coarse registration results. When the stickiness is not strong, resulting in inaccurate rough registration results, if the ICP algorithm is directly used to optimize the rough registration results, even after multiple iterations, accurate registration results cannot be obtained, and the registration efficiency is low. For computer processors, the calculation efficiency is low and the registration effect is poor

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