Spatial registration methods and apparatus, robot-assisted systems, equipment and media

Abstract

This application relates to a spatial registration method and apparatus, a robot-assisted system, equipment, and medium. It is applied to a robot-assisted system comprising a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of both the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. The method includes: controlling the medical imaging scanning device to scan the registration component to obtain first coordinate information of the multiple positioning elements on the registration component; controlling the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of the multiple positioning elements on the registration component; and registering the first and second coordinate information to obtain a target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot. Using this method, the registration rate between the surgical robot and the medical imaging scanning device can be improved.

Description

Technical Field

[0001] This application relates to the field of surgical robot and imaging equipment registration technology, and in particular to a spatial registration method and apparatus, robot-assisted system, equipment and medium. Background Technology

[0002] In the medical field, for image-guided surgical robots, it is usually necessary to register the surgical robot with medical imaging scanning equipment (such as CT equipment), that is, to establish the transformation relationship between the base coordinate system of the surgical robot and the corresponding image system coordinate system of the medical imaging scanning equipment.

[0003] When registering the base coordinate system of a surgical robot with the coordinate system of the medical imaging scanning equipment, the traditional method, while ensuring that the position of the surgical robot's base does not change, first controls the surgical robot to N different poses, and then scans the registration object set on the end effector of the surgical robot's robotic arm using a CT scanner to obtain the set of coordinate points A{P1,P2,……P} of the registration object in the CT imaging system coordinate system. N}; and the set of coordinate points B{P1',P2',……P_0} of the configuration objects under N different poses in the base coordinate system of the surgical robot. N Given that coordinate point set A and coordinate point set B are registered, the transformation matrix between the CT imaging system coordinate system and the surgical robot base coordinate system can be obtained.

[0004] However, traditional methods require multiple changes to the pose of the surgical robot and multiple scans of the registration target at the end of the surgical robot in different poses using CT equipment, resulting in a low registration rate. Summary of the Invention

[0005] Therefore, it is necessary to provide a spatial registration method and apparatus, a robot-assisted system, a computer device, a computer-readable storage medium, and a computer program product that can improve the registration rate between surgical robots and medical imaging scanning equipment, in order to address the above-mentioned technical problems.

[0006] Firstly, this application provides a spatial registration method. Applied to a robot-assisted system, the robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component; the scanning component is mounted on the end effector of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and the registration component includes multiple positioning elements; the method includes:

[0007] The medical imaging scanning equipment is controlled to scan the registration component to obtain the first coordinate information of multiple positioning elements on the registration component;

[0008] The scanning component on the surgical robot is controlled to scan the registration component, thereby obtaining the second coordinate information of multiple positioning elements on the registration component;

[0009] The first coordinate information and the second coordinate information are registered to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning equipment.

[0010] In one embodiment, a scanning component on a surgical robot is controlled to scan a registration component to obtain second coordinate information of multiple positioning elements on the registration component, including:

[0011] The scanning component on the surgical robot is controlled to scan the registration component to obtain the initial coordinate information of multiple positioning elements on the registration component;

[0012] Obtain the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot;

[0013] Based on the first transformation relationship, the initial coordinate information is transformed to obtain the second coordinate information of multiple positioning components.

[0014] In one embodiment, obtaining a first transformation relationship from the coordinate system of the scanning component to the base coordinate system of the surgical robot includes:

[0015] Obtain the initial transformation relationship between the coordinate system of the scanning component in its initial pose and the base coordinate system of the surgical robot;

[0016] The scanning component is controlled to switch from the initial pose to the first measurement pose, and a second transformation relationship is obtained between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose; the first measurement pose is the pose of the scanning component when scanning the registration component.

[0017] Based on the initial transformation relationship and the second transformation relationship, the first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot is determined.

[0018] In one embodiment, the surgical robot includes a first base and a robotic arm, with a scanning component disposed at the end of the robotic arm; the method further includes:

[0019] The scanning component is controlled to switch from the first measurement pose to the second measurement pose. The scanning component is controlled to scan the medical imaging scanning device in the second measurement pose to obtain the first point cloud data corresponding to the medical imaging scanning device.

[0020] If the first base of the surgical robot moves from the initial position to the target position, the target relative pose between the control scanning component and the base is kept consistent with the initial relative pose between the control scanning component and the base, and the control scanning component scans the medical imaging scanning device to obtain the second point cloud data corresponding to the medical imaging scanning device; the initial relative pose is the relative pose between the scanning component and the base under the second measurement pose;

[0021] Based on the first and second point cloud data, the target transformation relationship is updated to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0022] In one embodiment, the target transformation relationship is updated based on the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot, including:

[0023] The first point cloud data and the second point cloud data are registered to obtain the third transformation relationship;

[0024] Based on the third transformation relationship and the target transformation relationship, a new target transformation relationship is obtained between the medical image coordinate system and the base coordinate system of the surgical robot.

[0025] In one embodiment, the registration assembly further includes a second base and a plurality of connectors disposed on the second base; the plurality of positioning members are respectively disposed at the end of each connector away from the second base;

[0026] The pixel value obtained by the positioning component after being scanned by the medical imaging scanning device is greater than or equal to the first preset pixel threshold; the pixel value obtained by the connector and the base after being scanned by the medical imaging scanning device is less than or equal to the second preset pixel threshold; the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than the preset difference threshold.

[0027] Secondly, this application also provides a spatial registration device. Applied to a robot-assisted system, the robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component; the scanning component is mounted on the end effector of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements; the device includes:

[0028] The first control module is used to control the medical imaging scanning equipment to scan the registration component and obtain the first coordinate information of multiple positioning elements on the registration component;

[0029] The second control module is used to control the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of multiple positioning elements on the registration component;

[0030] The registration module is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning equipment.

[0031] Thirdly, this application also provides a robot-assisted system. The robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, a registration component, and a controller; the scanning component is mounted on the end effector of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements on the registration component;

[0032] Medical imaging scanning equipment is used to scan the registration component to obtain the first coordinate information of multiple positioning elements on the registration component;

[0033] The surgical robot is used to control the scanning component to scan the registration component and obtain the second coordinate information of multiple positioning elements on the registration component;

[0034] The controller is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning equipment.

[0035] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the spatial registration method described in the first aspect.

[0036] Fifthly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the spatial registration method described in the first aspect.

[0037] In a sixth aspect, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the spatial registration method described in the first aspect above.

[0038] The aforementioned spatial registration method and apparatus, robot-assisted system, computer equipment, storage medium, and computer program products are applied to a robot-assisted system. The robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of both the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. During registration between the medical imaging scanning device and the surgical robot, the medical imaging scanning device is controlled to scan the registration component to obtain first coordinate information of the multiple positioning elements on the registration component. The scanning component on the surgical robot is then controlled to scan the registration component to obtain second coordinate information of the multiple positioning elements on the registration component. Next, the first and second coordinate information are registered to obtain the target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot. The medical imaging coordinate system is the coordinate system corresponding to the medical imaging scanning device. In other words, the spatial registration method of this application separately sets up a registration component that includes multiple positioning elements, i.e., multiple registration objects, and places this registration component within the scanning field of view of the medical imaging scanning device and the surgical robot. This allows the medical imaging scanning device and the surgical robot to scan the multiple registration objects on the registration component, thereby obtaining the first coordinate information of the multiple registration objects in the medical image coordinate system and the second coordinate information in the base coordinate system of the surgical robot. Then, a point cloud registration algorithm can be used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot. Since the registration component includes multiple positioning elements, the method is more efficient. With each positioning component and registration assembly set independently, the entire registration process eliminates the need for multiple pose changes at the surgical robot's end effector, and also eliminates the need for the medical imaging scanning equipment to perform multiple scans on the robot's end effector, sometimes requiring only a single scan. This significantly reduces the number of scans by the medical imaging scanning equipment, improving the scanning efficiency for the registration object and thus increasing the registration rate between the medical imaging scanning system and the surgical robot. Furthermore, when the medical imaging scanning equipment assists the surgical robot in image guidance, it not only reduces the number of scans but also extends the lifespan of the medical imaging scanning equipment, especially the X-ray tube within it. Attached Figure Description

[0039] Figure 1 This is a diagram illustrating the application environment of the spatial registration method in one embodiment.

[0040] Figure 2 This is a schematic diagram of the registration component in one embodiment;

[0041] Figure 3 This is a flowchart illustrating a spatial registration method in one embodiment;

[0042] Figure 4 This is a flowchart illustrating the spatial registration method in another embodiment;

[0043] Figure 5 This is a schematic diagram of the scanning component in one embodiment;

[0044] Figure 6 This is a schematic diagram illustrating the determination of the coordinate system of the scanning component in one embodiment;

[0045] Figure 7 This is a flowchart illustrating the spatial registration method in another embodiment;

[0046] Figure 8 This is a schematic diagram of the surgical robot in its initial pose in one embodiment.

[0047] Figure 9 This is a schematic diagram of a surgical robot in a first measurement pose in one embodiment.

[0048] Figure 10 This is a flowchart illustrating the spatial registration method in another embodiment;

[0049] Figure 11 This is a schematic diagram of a scanning component scanning a medical imaging scanning device in one embodiment;

[0050] Figure 12 This is a schematic diagram illustrating the relationship between the current registration and the initial registration in one embodiment;

[0051] Figure 13 This is a structural block diagram of a spatial registration device in one embodiment;

[0052] Figure 14 This is a structural block diagram of a robot-assisted system in one embodiment;

[0053] Figure 15 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. Detailed Implementation

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] In the medical field, with the development of surgical robots, robot-assisted surgical procedures have gradually become a highly efficient surgical method. For image-guided surgical robots, the surgical environment needs to be combined with medical imaging scanning equipment and the surgical robot to work together; for example, in CT image-guided robot-assisted interventional surgery, the patient is placed on the scanning table of the CT imaging equipment, the CT imaging equipment scans the patient to obtain the scanned image, and the surgical robot uses the scanned image to perform the surgical procedure.

[0056] For image-guided surgical robots, during the operation, it is necessary to register the surgical robot with the medical imaging scanning equipment, that is, to establish the transformation relationship between the robot's base coordinate system and the corresponding medical imaging coordinate system of the medical imaging scanning equipment. Based on this transformation relationship, the intervention puncture needle insertion point and target point planned in the imaging system can be converted into Cartesian coordinates in the robot's base coordinate system, and then into the angles that each joint needs to rotate.

[0057] A common registration method between robots and medical imaging systems is as follows: A registration object, or registration feature (such as registration points), is set at the end effector of the robot's arm. The robot is controlled to assume N different end effector poses. For each end effector pose, the medical imaging scanning device is controlled to scan the registration feature on the end effector, obtaining a series of coordinate points {P1, P2, ..., PN} of the registration feature in the medical imaging coordinate system. The coordinate points {P1', P2', ..., PN'} of the registration feature in the N different end effector poses in the robot's base coordinate system are known. Then, a point cloud registration algorithm (such as the Kabsch algorithm) is used to register the coordinate points {P1, P2, ..., PN} and {P1', P2', ..., PN'}, thus obtaining the transformation matrix from the medical imaging coordinate system to the robot's base coordinate system.

[0058] However, the above registration method has the following limitations:

[0059] 1. The material of the registration feature at the robot's end effector must be free of artifacts in medical imaging. Artifacts will affect the quality of the scanned image, causing inaccurate position coordinates of the robotic arm's end effector in the medical image coordinate system, thus impacting registration accuracy or causing registration failure. To avoid artifact problems, robot end effectors generally only use registration features made of aluminum alloy or engineering plastics.

[0060] 2. Slow registration speed. To ensure registration accuracy, the robot needs to change multiple poses, and the spatial positions of the registration features in different poses need to be as far apart as possible. Completing a registration process often takes several minutes or more, resulting in a long registration time.

[0061] 3. The X-ray tube of medical imaging scanning equipment has a relatively short exposure lifespan. During registration, medical scans need to be performed sequentially on the end effector of the robotic arm in multiple poses. Each registration process consumes at least 10 seconds of the X-ray tube's lifespan, which is equivalent to scanning 4 to 5 or even more preoperative images, thus significantly impacting the lifespan of the X-ray tube.

[0062] Based on this, this application proposes a spatial registration method that can quickly and accurately complete the registration operation between a surgical robot and a medical imaging scanning device.

[0063] The spatial registration method provided in this application can be applied to, for example, Figure 1 In the application environment shown, the robot-assisted system 10 includes a medical imaging scanning device 11, a surgical robot 12, a scanning component 13, and a registration component 14; the scanning component 13 is mounted on the end of the surgical robot 12; the registration component 14 is located within the scanning field of view of the medical imaging scanning device 11 and the surgical robot 12, and includes multiple positioning elements 141.

[0064] Optionally, the positioning element 141 is used as a registration feature and may include, but is not limited to, a registration body (or registration point) of any structure such as a registration ball or registration block. A registration component 14 may include multiple positioning elements 141 at different spatial locations, and the multiple positioning elements 141 can serve as registration features at multiple different spatial locations.

[0065] refer to Figure 2 The diagram illustrates a structural schematic of a registration assembly 14. This registration assembly 14 may include multiple spherical positioning elements 141, a second base 142, and multiple connecting elements 143 disposed on the second base 142. The positioning elements 141 are respectively disposed at the ends of each connecting element 143 away from the second base 142. Each connecting element 143 is disposed at a different position on the second base 142, and the length of each connecting element 143 may be different; thus, multiple positioning elements 141 located at different spatial positions can be obtained. It should be noted that the shape of the registration assembly, the shape of the positioning elements on the registration assembly, and the number of elements are not specifically limited in this embodiment.

[0066] In one implementation, the pixel value obtained by the positioning element 141 after scanning by the medical imaging scanning device 11 can be greater than or equal to a first preset pixel threshold; the pixel value obtained by the connecting element 143 and the second base 142 after scanning by the medical imaging scanning device 11 can be less than or equal to a second preset pixel threshold; wherein, the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than a preset difference threshold. That is to say, for the registration component 14, the positioning element 141 (i.e., the registration feature) should be made of a material with a high pixel value that does not produce artifacts, such as silicon nitride, as a spherical registration feature; while the connecting element 143 and the second base 142 of the registration component 14 should be made of a material with a low pixel value, such as acrylic (PMMA); in this way, each positioning element 141 can be accurately located from the scanned image, thereby accurately extracting the registration feature to obtain more accurate coordinate information of each positioning element 141.

[0067] In addition, the medical imaging scanning equipment 11 includes, but is not limited to, computed tomography (CT) equipment, magnetic resonance imaging (MRI) equipment, computed radiography (CR) equipment, direct digital radiography (DR) equipment, and digital subtraction angiography (DSA) equipment.

[0068] The scanning component 13 may include, but is not limited to, a 3D scanner, a depth scanner, a depth camera, a photosensitive camera, etc. It should be noted that the type of scanning component 13 is not specifically limited in this embodiment of the application, and the configuration of the surgical robot 12 is also not specifically limited.

[0069] In one embodiment, such as Figure 3 As shown, a spatial registration method is provided, which can be applied to... Figure 1 Taking a robot-assisted system as an example, the following steps are included:

[0070] Step 301: Control the medical imaging scanning device to scan the registration component and obtain the first coordinate information of multiple positioning elements on the registration component.

[0071] For example, the registration component can be positioned within the scanning field of view of the medical imaging scanning device, enabling the device to scan the component and obtain a scanned image of it. Next, image analysis can be performed on the scanned image to identify each positioning element on the registration component and determine its first coordinate information. This first coordinate information represents the element's position coordinates in the medical imaging coordinate system, which is the coordinate system corresponding to the medical imaging scanning device.

[0072] In one implementation, when the robot-assisted system identifies each positioning component in the scanned image, it can first determine the position coordinate information of each positioning component on the scanned image. Then, based on the position coordinate information of each positioning component on the scanned image and a first preset coordinate transformation relationship, it can convert the position coordinate information of each positioning component on the scanned image into the first coordinate information of each positioning component in the medical image coordinate system. The first preset coordinate transformation relationship is used to characterize the transformation relationship between the coordinate system corresponding to the scanned image and the medical image coordinate system.

[0073] In another implementation, the coordinate system corresponding to the scanned image can also be the medical image coordinate system. Based on this, the robot-assisted system can use the position coordinate information of each positioning component obtained from the scanned image as the first coordinate information of each positioning component.

[0074] Optionally, for the registration component, if the number of positioning elements on the registration component is sufficient, such as reaching the required number of registration features, the medical imaging scanning device only needs to scan the registration component once to obtain the first coordinate information of the registration features at multiple different spatial positions required for registration. Of course, if the number of positioning elements on the registration component is not large, the medical imaging scanning device can also be controlled to perform multiple scans on the registration component, such as two scans, three scans, etc. During each scan, the registration component only needs to be moved to different spatial positions within the scanning field of view of the medical imaging scanning device. In this case, although it is necessary to... Medical imaging scanning equipment needs to perform multiple scanning processes. However, since the registration component itself includes multiple positioning elements, this solution can reduce the number of scans to some extent compared to the traditional method of setting a registration feature at the end of the robotic arm and controlling the change of the end-effector's pose. Furthermore, for the traditional solution, even if the number of registration features at the end of the robotic arm is increased, controlling the movement of the robotic arm to change the pose of the end-effector is not as convenient as directly controlling the movement of the registration component. Moreover, increasing the number of registration features at the end of the robotic arm also requires ensuring that each registration feature is located in a different spatial position, which is less feasible.

[0075] Step 302: Control the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of multiple positioning elements on the registration component.

[0076] For example, the robot-assisted system can control the scanning component on the surgical robot to scan the registration component, thereby obtaining the scanning data of the registration component; then, it can obtain the second coordinate information of each positioning element on the registration component from the scanning data of the registration component; the second coordinate information of the positioning element is the position coordinate information of the positioning element in the base coordinate system of the surgical robot.

[0077] In one implementation, the robot-assisted system can first determine the position coordinate information of each positioning component from the scanning data of the registration component. The position coordinate information of the positioning component is the position coordinate information of the positioning component in the coordinate system corresponding to the scanning component. Then, according to the position coordinate information of each positioning component in the coordinate system corresponding to the scanning component and a second preset coordinate transformation relationship, the position coordinate information of each positioning component in the coordinate system corresponding to the scanning component is converted into the second coordinate information of each positioning component in the base coordinate system of the surgical robot. The second preset coordinate transformation relationship is used to characterize the transformation relationship between the coordinate system corresponding to the scanning component and the base coordinate system of the surgical robot.

[0078] Furthermore, when scanning the registration component using the scanning component, since the scanning component is located at the end effector of the surgical robot, it can scan the registration component regardless of the robot's end effector's pose. Accordingly, the second preset coordinate transformation relationship will differ depending on the position of the scanning component at the robot's end effector. Moreover, this second preset coordinate transformation relationship can be obtained by calibrating the end effector of the surgical robot.

[0079] Furthermore, it should be noted that when the registration component is scanned by the scanning component, the position of the registration component is the same as the position when the registration component is scanned by the medical imaging scanning device. In other words, the registration component at the same location in space is scanned by the medical imaging scanning device and the scanning component on the surgical robot, respectively, thereby obtaining the coordinate information of each positioning element on the registration component at the same location in the medical image coordinate system and the base coordinate system of the surgical robot.

[0080] For example, when a medical imaging scanning device needs to scan the registration component multiple times, the registration component should be scanned by the scanning components on the medical imaging scanning device and the surgical robot respectively during each scan to obtain the first coordinate information and the second coordinate information of the registration component at the same location; then, the registration component is moved to another spatial location under the scanning field of view and the next scan is performed.

[0081] Step 303: Register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0082] For example, a traditional point cloud registration algorithm can be used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the surgical robot base coordinate system.

[0083] The aforementioned spatial registration method is applied to a robot-assisted system, which includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of both the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. During registration between the medical imaging scanning device and the surgical robot, the medical imaging scanning device is controlled to scan the registration component to obtain first coordinate information of the multiple positioning elements on the registration component. The scanning component on the surgical robot is then controlled to scan the registration component to obtain second coordinate information of the multiple positioning elements on the registration component. Next, the first and second coordinate information are registered to obtain the target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot. The medical imaging coordinate system is the coordinate system corresponding to the medical imaging scanning device. In other words, the spatial registration method of this application separately sets up a registration component that includes multiple positioning elements, i.e., multiple registration objects, and places this registration component within the scanning field of view of the medical imaging scanning device and the surgical robot. This allows the medical imaging scanning device and the surgical robot to scan the multiple registration objects on the registration component, thereby obtaining the first coordinate information of the multiple registration objects in the medical image coordinate system and the second coordinate information in the base coordinate system of the surgical robot. Then, a point cloud registration algorithm can be used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot. Since the registration component includes multiple positioning elements, the method is more efficient. With each positioning component and registration assembly set independently, the entire registration process eliminates the need for multiple pose changes at the surgical robot's end effector, and also eliminates the need for the medical imaging scanning equipment to perform multiple scans on the robot's end effector, sometimes requiring only a single scan. This significantly reduces the number of scans by the medical imaging scanning equipment, improving the scanning efficiency for the registration object and thus increasing the registration rate between the medical imaging scanning system and the surgical robot. Furthermore, when the medical imaging scanning equipment assists the surgical robot in image guidance, it not only reduces the number of scans but also extends the lifespan of the medical imaging scanning equipment, especially the X-ray tube within it.

[0084] Figure 4This is a flowchart illustrating a spatial registration method in another embodiment. This embodiment relates to an optional implementation process whereby a scanning component on a surgical robot scans a registration component to obtain the second coordinate information of multiple positioning elements on the registration component. Based on the above embodiment, as... Figure 4 As shown, step 302 above includes:

[0085] Step 401: Control the scanning component on the surgical robot to scan the registration component and obtain the initial coordinate information of multiple positioning components on the registration component.

[0086] The initial coordinate information of the positioning component is the position coordinate information of the positioning component in the coordinate system of the scanning component.

[0087] Step 402: Obtain the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot.

[0088] The base coordinate system of the surgical robot can be the coordinate system corresponding to the base of the surgical robot; the surgical robot may include a first base and a robotic arm.

[0089] In one implementation, the scanning component can be mounted on the end effector of the surgical robot's robotic arm. When the coordinate system of the scanning component is consistent with the coordinate system corresponding to the end effector of the surgical robot's robotic arm, the transformation relationship between the end effector and the surgical robot's base can be obtained by calibrating the end effector. This transformation relationship is then used as the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot. In this embodiment, the calibration of the end effector can be implemented using relevant calibration methods and algorithms, which will not be described in detail here.

[0090] In another implementation, the scanning component is placed at the end of the surgical robot's robotic arm, but the coordinate system of the scanning component is inconsistent with the coordinate system corresponding to the end of the surgical robot's robotic arm. In other words, the origin of the scanning component's coordinate system is not at the end of the robotic arm.

[0091] refer to Figure 5 As shown, the scanning component 13 may include a flange 131 and a scanner body 132. The scanning component 13 is connected to the end of the robotic arm of the surgical robot through the flange 131. In this case, the coordinate system of the scanning component 13 is actually the coordinate system corresponding to the scanner body 132, while the coordinate system corresponding to the flange 131 can be considered to be consistent with the coordinate system corresponding to the end of the robotic arm.

[0092] At this point, the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot is established. The transformation relationship between the scanner body 132 and the flange 131 can be observed. The transformation relationship between flange 131 and surgical robot base To determine, as shown in formula (1).

[0093]

[0094] The transformation relationship between flange 131 and surgical robot base This can be obtained by calibrating the end effector of the surgical robot's robotic arm.

[0095] Regarding the transformation relationship between the scanner body 132 and the flange 131 For example, it can be determined in the following manner. (See reference) Figure 6 The diagram illustrates the structural relationship between the scanner body coordinate system, the flange coordinate system, and the calibration sphere. During the calibration of the scanner body and the flange, the calibration process may include:

[0096] 1. Fix the calibration ball and scanning components on the platform, such as... Figure 6 As shown;

[0097] 2. Measure the calibration sphere using external measuring equipment to obtain the first coordinates (x1, y1, z1) of the calibration sphere's center in the coordinate system of the measuring equipment; the external measuring equipment may include, but is not limited to, a measuring arm, a laser tracker, etc.

[0098] 3. Use the measuring device to measure the center point of the flange face of the scanning component, and obtain the second coordinate (x2, y2, z2) of the center point of the flange face in the coordinate system of the measuring device;

[0099] 4. Use the scanner on the scanning component to measure the calibration sphere and obtain the third coordinate (x3, y3, z3) of the center of the calibration sphere in the scanner's body coordinate system;

[0100] 5. Assuming that the coordinate axes of the scanner body coordinate system and the flange surface coordinate system are parallel, the transformation relationship between the scanner body coordinate system and the flange coordinate system can be calculated based on the first coordinate (x1, y1, z1), the second coordinate (x2, y2, z2), and the third coordinate (x3, y3, z3) obtained from steps 2, 3, and 4. Right now

[0101]

[0102] Based on this, the transformation relationship between the scanner body coordinate system and the flange coordinate system is determined through steps 1-5 above. Furthermore, the transformation relationship between the flange coordinate system and the surgical robot base coordinate system was determined through calibration. In this case, the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot can be calculated using the above formula (1).

[0103] Step 403: Based on the first transformation relationship, perform coordinate transformation on the initial coordinate information to obtain the second coordinate information of multiple positioning components.

[0104] For example, after obtaining the initial coordinate information of each positioning component in the coordinate system of the scanning component through step 401 above, and obtaining the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot through step 402 above, the initial coordinate information of each positioning component can be transformed based on the first transformation relationship to obtain the second coordinate information of each positioning component in the base coordinate system of the surgical robot.

[0105] In this embodiment, the scanning component on the surgical robot scans the registration component to obtain the initial coordinate information of multiple positioning elements on the registration component; a first transformation relationship is obtained between the coordinate system of the scanning component and the base coordinate system of the surgical robot; based on the first transformation relationship, the initial coordinate information is transformed to obtain the second coordinate information of the multiple positioning elements. Using the method proposed in this embodiment, the position coordinate information of the positioning elements in the robot's base coordinate system can be obtained, improving the accuracy of the coordinate information of the registration component in the robot's base coordinate system.

[0106] In one embodiment, for the two cases mentioned above where the transformation relationship is obtained through calibration, the specific calibration process can be implemented using the following steps.

[0107] Firstly, regarding the first scenario, where the coordinate system of the scanning component is consistent with the coordinate system corresponding to the end effector of the surgical robot's arm, the first transformation relationship between the scanning component and the surgical robot's base is obtained by calibrating the end effector of the surgical robot's arm. For example... Figure 7 As shown, step 402 above may include:

[0108] Step 701: Obtain the initial transformation relationship between the coordinate system of the scanning component in its initial pose and the base coordinate system of the surgical robot.

[0109] The initial pose can represent the surgical robot's robotic arm in a zero-position state, such as... Figure 8 As shown, this means that the robotic arm of the surgical robot has no extension at all in the zero-position posture.

[0110] For example, a robot calibration algorithm can be used to calibrate the robot in its zero-position posture to obtain the transformation relationship between the robot end effector and the surgical robot base in the zero-position posture, which serves as the initial transformation relationship between the coordinate system of the scanning component in its initial posture and the base coordinate system of the surgical robot.

[0111] Step 702: Control the scanning component to switch from the initial pose to the first measurement pose, and obtain the second transformation relationship between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose.

[0112] The first measurement pose is the pose of the scanning component when it scans the registration component.

[0113] For example, when scanning the registration component using the scanning component, since the registration component is typically positioned within the scanning field of view of the medical imaging scanning device, i.e., at the center of the circular scanning gantry of the medical imaging scanning device; at this time, in order to facilitate convenient and accurate scanning of the registration component by the scanning component at the end effector of the surgical robot, thereby obtaining the second coordinate information of each positioning element on the registration component, the end effector of the surgical robot can be extended to adjust the end effector of the surgical robot to a first measurement pose, such as... Figure 9 As shown.

[0114] Since the coordinate system of the scanning component changes during the first measurement pose compared to the coordinate system of the scanning component during the initial pose, it is necessary to determine a second transformation relationship between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose.

[0115] For example, when the scanning component is switched from an initial pose to a first measurement pose by controlling the movement of the end effector of the robotic arm, a second transformation relationship can be obtained between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose. Optionally, the second transformation relationship can be determined based on the joint angles of each joint of the robotic arm of the surgical robot, or it can be determined based on the position coordinates of the scanning component in the initial pose and the position coordinates of the scanning component in the first measurement pose, etc.

[0116] Step 703: Determine the first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship.

[0117] For example, the first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot can be calculated based on the product of the initial transformation relationship and the second transformation relationship.

[0118] Next, regarding the second scenario, where the scanning assembly includes a flange and the scanner body, the coordinate system of the scanning assembly corresponds to the coordinate system of the scanner body, which is inconsistent with the coordinate system corresponding to the end effector (or flange) of the surgical robot; in this case, refer to the above... Figure 6 The corresponding relevant information can be obtained based on the transformation relationship between the flange coordinate system and the surgical robot base coordinate system. Transformation relationship between scanner body coordinate system and flange coordinate system The first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot is calculated.

[0119] This involves obtaining the transformation relationship between the flange coordinate system and the surgical robot base coordinate system through calibration. The calibration process can also be referenced above. Figure 7 The corresponding content involves obtaining the initial transformation relationship between the coordinate system of the flange (i.e., the end effector of the robotic arm) in its initial pose and the base coordinate system of the surgical robot, and obtaining the second transformation relationship between the coordinate system of the flange (i.e., the end effector of the robotic arm) in its initial pose and the coordinate system of the flange (i.e., the end effector of the robotic arm) in its first measurement pose. This second transformation relationship is then used to calculate the transformation relationship between the coordinate system of the flange (i.e., the end effector of the robotic arm) in its first measurement pose and the base coordinate system of the surgical robot. The specific implementation process can be referred to the above. Figure 7 The corresponding implementation details will not be repeated here.

[0120] In this embodiment, by determining the initial transformation relationship between the coordinate system of the robotic arm end effector in its initial pose and the base coordinate system of the surgical robot, and the second transformation relationship between the coordinate system of the robotic arm end effector in its initial pose and the coordinate system of the robotic arm end effector in its first measurement pose after switching from the initial pose to the first measurement pose, and based on the initial and second transformation relationships, determining the transformation relationship between the coordinate system of the robotic arm end effector in its first measurement pose and the base coordinate system of the surgical robot, the calibration of the robotic arm end effector is achieved. Using this method, accurate calibration of the robotic arm end effector can be achieved, thereby improving the accuracy of the transformation relationship between the robotic arm end effector and the base. Based on this, regardless of whether the coordinate system of the scanning component and the coordinate system of the robotic arm end effector are consistent, a more accurate first transformation relationship from the coordinate system of the scanning component to the base coordinate system of the surgical robot can be obtained.

[0121] In one embodiment, after registering the surgical robot with the medical imaging scanning equipment using the above embodiments to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot, the planned interventional puncture needle insertion point, target point, etc. in the medical scan image can be converted into Cartesian coordinates in the robot's base coordinate system according to the target transformation relationship. This is then converted into the angles that each joint of the surgical robot needs to rotate, and the rotation of each joint of the surgical robot is controlled so that the end effector of the surgical robot can be accurately positioned at the needle insertion point or target point to begin the surgical operation.

[0122] During surgical procedures, the surgical robot should remain stationary so that it can accurately position its end effector based on the target transformation relationship between the pre-registered medical image coordinate system and the surgical robot's base coordinate system, according to the markers in the medical scan image. However, in actual surgical procedures, or in subsequent surgical operations, the actual position of the surgical robot may deviate from its registered position. When the surgical robot's position changes, its base coordinate system also changes, which in turn alters the target transformation relationship between the surgical robot's base coordinate system and the medical image coordinate system.

[0123] At this point, it is necessary to re-register the surgical robot with the medical imaging scanning equipment to obtain a new target transformation relationship between the base coordinate system of the surgical robot and the medical imaging coordinate system.

[0124] In one embodiment, a method is proposed to update the previously registered target transformation relationship when the position of the surgical robot changes, thereby obtaining a new target transformation relationship. Using this method, it is not necessary to re-execute the steps of the spatial registration methods in the above embodiments. Instead, the target transformation relationship is updated by registering the point cloud data of the medical imaging scanning device. This can improve the registration efficiency of determining the new target transformation relationship between the base coordinate system of the surgical robot and the medical image coordinate system when the position of the surgical robot changes.

[0125] Exemplarily, based on the above embodiments, such as Figure 10 As shown, the above method may further include:

[0126] Step 1001: Control the scanning component to switch from the first measurement pose to the second measurement pose, and control the scanning component to scan the medical imaging scanning device in the second measurement pose to obtain the first point cloud data corresponding to the medical imaging scanning device.

[0127] The second measurement pose is the pose when the medical imaging scanning device is scanned by the scanning component, as referenced. Figure 11 As shown; for example, scanning a medical imaging scanning device can be performed on the entire medical imaging scanning device or on a part of the medical imaging scanning device; for example, the scanning gantry of the medical imaging scanning device can be scanned, or the scanning bed of the medical imaging scanning device can be scanned, or the entire medical imaging scanning device can be scanned, etc.

[0128] For example, when scanning the gantry of a medical imaging scanning device, the second measurement pose can be a pose that enables the scanning component to perform a complete scan of the gantry. Based on this, after controlling the scanning component to switch from the first measurement pose to the second measurement pose, the scanning component can be controlled to scan the gantry of the medical imaging scanning device, thereby obtaining the first point cloud data corresponding to the gantry of the medical imaging scanning device. Optionally, the first point cloud data may include the point cloud data corresponding to the outer contour of the gantry. Of course, the first point cloud data may also include the point cloud data of other parts on the gantry, such as the point cloud data of the inner contour of the gantry. This application embodiment does not specifically limit this.

[0129] Step 1002: When the first base of the surgical robot moves from the initial position to the target position, the target relative pose between the scanning component and the base is kept consistent with the initial relative pose between the scanning component and the base, and the scanning component is controlled to scan the medical imaging scanning device to obtain the second point cloud data corresponding to the medical imaging scanning device.

[0130] The initial relative pose is the relative pose between the scanning component and the base in the second measurement pose.

[0131] In other words, when the position of the surgical robot changes, the end effector pose of the surgical robot is adjusted to the second measured pose mentioned above. This ensures that the relative pose between the end effector and the first base of the surgical robot after the position change remains consistent with the relative pose between the end effector and the first base before the position change, when the medical imaging scanning equipment was being used for scanning. (Reference) Figure 12 As shown, this ensures that the end-effector pose of the surgical robot remains consistent when acquiring point cloud data from the medical imaging scanning equipment twice; even when ensuring consistent end-effector pose, it also ensures that the poses of each joint of the robotic arm are completely consistent, thereby more accurately ensuring that the end-effector pose remains consistent between the two scans.

[0132] At this point, with the position of the surgical robot changing and the end-effector pose of the surgical robot already adjusted to the aforementioned second measurement pose, the scanning component on the end of the surgical robot can be controlled to scan the medical imaging scanning device, thereby obtaining the second point cloud data corresponding to the medical imaging scanning device.

[0133] Based on the above example, the scanning component can be controlled to scan the scanning gantry of the medical imaging scanning device to obtain the second point cloud data of the scanning gantry; wherein, the second point cloud data may include the outer contour point cloud data of the scanning gantry.

[0134] Step 1003: Based on the first point cloud data and the second point cloud data, update the target transformation relationship to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0135] For example, the first point cloud data and the second point cloud data can be registered first to obtain the third transformation relationship; then, based on the third transformation relationship and the target transformation relationship, a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot can be obtained.

[0136] Optionally, a point cloud registration algorithm can be used to register the first point cloud data and the second point cloud data to obtain the third transformation relationship. This third transformation relationship can be used to characterize the transformation relationship between the coordinate system of the scanning component during the current registration and the coordinate system of the scanning component during the first registration when the position of the surgical robot has changed, after the position of the surgical robot has changed. It can be expressed as T Offset Then the relationship between the first point cloud data, the second point cloud data, and the third transformation can be expressed as: C = T Offset ·C ′ Where C represents the first point cloud data and C' represents the second point cloud data.

[0137] For the first registration, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system can be shown in formula (2).

[0138]

[0139] in, P represents the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot after the initial registration. CT P represents the position coordinates of any spatial point in the medical imaging coordinate system. Robot-first This represents the position coordinates of any spatial point in the surgical robot's base coordinate system during the initial registration.

[0140] After the surgical robot changes position, it is assumed that the medical imaging scanning equipment remains unchanged. This means the position coordinates of the first point cloud data of the medical imaging scanning equipment in the medical imaging coordinate system are considered constant. Furthermore, the robotic arm posture during the initial registration measurement of the medical imaging scanning equipment is consistent with the posture during this measurement. Therefore, it can be assumed that during this registration, if the surgical robot's base coordinate system {Robot-next} is moved by T... OffsetThis allows it to coincide with the robot's base coordinate system {Robot-first} during the initial registration. That is, {Robot-first} = T Offset ·{Robot-next}.

[0141] Therefore, the coordinate transformation relationship between any spatial point in the current surgical robot base coordinate system and the first surgical robot base coordinate system can be shown in formula (3).

[0142] P Robot-first =T Offset ·P Robot-next (3)

[0143] Among them, P Robot-nest This represents the position coordinates of any spatial point in the surgical robot's base coordinate system during this registration.

[0144] From the above formulas (2) and (3), we can obtain:

[0145]

[0146] Based on the definition of the registration matrix, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system after this registration can be expressed as:

[0147]

[0148] in, This represents the new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot after this registration.

[0149] From the above formulas (4) and (5), the new target transformation relationship after this registration can be obtained as follows:

[0150]

[0151] In other words, after the position of the surgical robot changes, the new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot can be expressed as the product of the inverse of the third transformation relationship and the target transformation relationship of the first registration. The third transformation relationship is the transformation relationship between the coordinate system of the scanning component during this registration and the coordinate system of the scanning component during the first registration.

[0152] In this embodiment, after the surgical robot and the medical imaging scanning equipment are initially registered, the surgical robot should not be moved immediately. That is, ensure the surgical robot remains in the position it was in during the initial registration. The registration components and the hospital bed can be moved aside, and the end effector pose of the surgical robot can be switched from the first measurement pose to the second measurement pose. At this time, the scanning components are controlled to scan the outer contour of the scanning gantry of the medical imaging scanning equipment, thereby obtaining the first point cloud data of the outer contour. Then, if it is determined that the position of the surgical robot has changed, the end effector pose of the surgical robot is adjusted to the same second measurement pose as during the initial registration. That is, ensure that the robotic arm pose of the surgical robot in its current position is the same as that of the robotic arm in its initial registration position. The posture remains consistent; then, the scanning component is controlled to scan the outer contour of the scanning gantry of the medical imaging scanning equipment again, thereby obtaining the second point cloud data of the outer contour; at this time, based on the first point cloud data, the second point cloud data, and the target transformation relationship after the first registration, the target transformation relationship after the first registration can be updated, thereby quickly and accurately obtaining the new target transformation relationship from the medical imaging coordinate system to the base coordinate system of the surgical robot after the position change, realizing rapid registration of the surgical robot and the medical imaging scanning equipment when the position of the surgical robot changes; without having to perform the registration process between the surgical robot and the medical imaging scanning equipment through the registration component, thus improving registration efficiency.

[0153] In one embodiment, a complete process for initial registration is provided. This includes the following steps:

[0154] 1. When the robot is in its zero-position posture, the initial transformation matrix from the 3D scanner coordinate system to the robot's base coordinate system is calibrated using external measuring equipment, i.e.

[0155] 2. Adjust the robot from its zero position to the first measurement pose. At this point, use the steps in step 702 above to obtain the robot's screw transformation matrix, i.e., the second transformation relation T. Pose_Reg At this point, the first transformation relationship from the 3D scanner coordinate system to the robot base coordinate system can be expressed as:

[0156]

[0157] 3. Place the registration component in the scanning field of the medical imaging scanning device for scanning. The registration component can be set with 8 registration features. After one scan exposure, the first coordinate point set A = {P1, P2, ..., P8} of the 8 registration features in the medical image coordinate system can be obtained.

[0158] 4. Control the scanning component to scan the registration component in the first measurement pose to obtain the set of coordinate points B = {P1', P2', ..., P8'} of the 8 registration features in the coordinate system of the 3D scanner.

[0159] 5. Based on the first transformation relationship from the 3D scanner coordinate system to the robot base coordinate system, perform coordinate transformation on the coordinate point set B, and calculate the second coordinate point set B' of the 8 registration features in the robot base coordinate system.

[0160]

[0161] 6. Using a point cloud registration algorithm, the first set of coordinate points A and the second set of coordinate points B' are registered to obtain the target transformation relationship from the medical image coordinate system to the base coordinate system of the surgical robot. The initial registration task has been completed.

[0162] According to the definition of the registration matrix, after the initial registration, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system can be shown in formula (2) above, i.e.

[0163]

[0164] Among them, P CT P represents the position coordinates of any spatial point in the medical imaging coordinate system. Robot-first This represents the position coordinates of any spatial point in the surgical robot's base coordinate system during the initial registration.

[0165] The spatial registration method proposed in this embodiment requires only one scan exposure to complete the registration between the medical imaging scanning device and the surgical robot, resulting in fast registration speed. Furthermore, it does not impose limitations on the material of the robotic arm's end effector, minimizing image artifacts. Additionally, once the registration between the surgical robot and the medical imaging scanning device is completed, subsequent changes in the surgical robot's position can be corrected by scanning the medical imaging scanning device with a 3D scanner, eliminating the need for repeated image exposures.

[0166] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0167] Based on the same inventive concept, this application also provides a spatial registration apparatus for implementing the spatial registration method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more spatial registration apparatus embodiments provided below can be found in the limitations of the spatial registration method described above, and will not be repeated here.

[0168] In one embodiment, such as Figure 13 As shown, a spatial registration device is provided for use in a robot-assisted system. The robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. The device includes: a first control module 1301, a second control module 1302, and a registration module 1303, wherein:

[0169] The first control module 1301 is used to control the medical imaging scanning device to scan the registration component and obtain the first coordinate information of multiple positioning elements on the registration component.

[0170] The second control module 1302 is used to control the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of multiple positioning elements on the registration component.

[0171] The registration module 1303 is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning device.

[0172] In one embodiment, the second control module 1302 includes a control submodule, an acquisition submodule, and a coordinate transformation submodule; wherein, the control submodule is used to control the scanning component on the surgical robot to scan the registration component to obtain the initial coordinate information of multiple positioning elements on the registration component; the acquisition submodule is used to acquire the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; the coordinate transformation submodule is used to perform coordinate transformation on the initial coordinate information based on the first transformation relationship to obtain the second coordinate information of the multiple positioning elements.

[0173] In one embodiment, the acquisition submodule includes a first acquisition unit, a second acquisition unit, and a determination unit; wherein, the first acquisition unit is used to acquire an initial transformation relationship between the coordinate system of the scanning component in its initial pose and the base coordinate system of the surgical robot; the second acquisition unit is used to control the scanning component to switch from the initial pose to a first measurement pose, and acquire a second transformation relationship between the coordinate system of the scanning component in its initial pose and the coordinate system of the scanning component in its first measurement pose; the first measurement pose is the pose of the scanning component when scanning the registration component; the determination unit is used to determine a first transformation relationship between the coordinate system of the scanning component in its first measurement pose and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship.

[0174] In one embodiment, the surgical robot includes a first base and a robotic arm, with a scanning component disposed at the end of the robotic arm. The device also includes a third control module, a fourth control module, and an update module. The third control module controls the scanning component to switch from a first measurement pose to a second measurement pose, and controls the scanning component to scan a medical imaging scanning device in the second measurement pose to obtain first point cloud data corresponding to the medical imaging scanning device. The fourth control module controls the target relative pose between the scanning component and the base to remain consistent with the initial relative pose between the scanning component and the base when the first base of the surgical robot moves from an initial position to a target position, and controls the scanning component to scan the medical imaging scanning device to obtain second point cloud data corresponding to the medical imaging scanning device. The initial relative pose is the relative pose between the scanning component and the base in the second measurement pose. The update module updates the target transformation relationship based on the first and second point cloud data to obtain a new target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot.

[0175] In one embodiment, the update module includes a registration submodule and an update submodule; wherein the registration submodule is used to register the first point cloud data and the second point cloud data to obtain a third transformation relationship; the update submodule is used to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot based on the third transformation relationship and the target transformation relationship.

[0176] In one embodiment, the registration component further includes a second base and a plurality of connectors disposed on the second base; a plurality of positioning members are respectively disposed at the ends of each connectors away from the second base; the pixel values ​​obtained by the positioning members after being scanned by the medical imaging scanning device are greater than or equal to a first preset pixel threshold; the pixel values ​​obtained by the connectors and the base after being scanned by the medical imaging scanning device are less than or equal to a second preset pixel threshold; the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than a preset difference threshold.

[0177] Each module in the aforementioned spatial registration device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0178] In one embodiment, such as Figure 14 As shown, a robot-assisted system is provided, which includes a medical imaging scanning device 1401, a surgical robot 1402, a scanning component 1403, a registration component 1404, and a controller 1405; the scanning component 1403 is mounted on the end effector of the surgical robot 1402; the registration component 1404 is located within the scanning field of view of the medical imaging scanning device 1401 and the surgical robot 1402, and includes multiple positioning elements on the registration component 1404.

[0179] The medical imaging scanning device 1401 is used to scan the registration component 1404 to obtain the first coordinate information of multiple positioning elements on the registration component 1404.

[0180] The surgical robot 1402 is used to control the scanning component 1403 to scan the registration component 1404 and obtain the second coordinate information of multiple positioning elements on the registration component 1404.

[0181] For example, the surgical robot 1402 can control the end effector of the robotic arm to be in a first measurement pose so as to control the scanning component 1403 to move to the measurement position; then, under the control of the controller 1405, the scanning component 1403 can scan the registration component 1404 and send the scan data to the controller 1405, so that the controller 1405 can obtain the second coordinate information of multiple positioning elements on the registration component 1404 from the scan data.

[0182] The controller 1405 is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; wherein, the medical image coordinate system is the coordinate system corresponding to the medical image scanning device.

[0183] The robot-assisted system in this embodiment uses a registration component that includes multiple positioning elements, i.e., multiple registration objects. This registration component is positioned within the scanning field of view of both the medical imaging scanning device and the surgical robot. This allows the medical imaging scanning device and the surgical robot to scan the multiple registration objects on the registration component, thereby obtaining first coordinate information of the multiple registration objects in the medical imaging coordinate system and second coordinate information in the base coordinate system of the surgical robot. Then, a point cloud registration algorithm can be used to register the first and second coordinate information to obtain the target coordinates between the medical imaging coordinate system and the base coordinate system of the surgical robot. The registration component includes multiple positioning elements and is independently configured. Therefore, during the entire registration process, there is no need to control the end effector of the surgical robot to undergo multiple pose changes, nor is it necessary for the medical imaging scanning equipment to perform multiple scans on the robot's end effector. In fact, a single scan is sufficient, which greatly reduces the number of scans performed by the medical imaging scanning equipment. This improves the scanning efficiency of the object to be registered, thereby increasing the registration rate of the medical imaging scanning system and the surgical robot. In addition, by reducing the number of scans performed by the medical imaging scanning equipment, damage to the X-ray tube in the medical imaging scanning equipment can also be reduced, increasing the service life of the X-ray tube.

[0184] In one embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 15 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores at least one of the following: first coordinate information, second coordinate information, initial transformation relationship, first transformation relationship, second transformation relationship, target transformation relationship, first point cloud data, and second point cloud data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a spatial registration method.

[0185] For example, when the computer device is a terminal, the computer device may also include a display screen and an input device (not shown in the figure). The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the casing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0186] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0187] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the spatial registration method in any of the above embodiments.

[0188] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the spatial registration method in any of the above embodiments.

[0189] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the spatial registration method in any of the above embodiments.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A spatial registration method, characterized in that, The method is applied to a robot-assisted system, which includes a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. The medical imaging scanning device is controlled to scan the registration component to obtain the first coordinate information of the plurality of positioning elements on the registration component; The scanning component on the surgical robot is controlled to scan the registration component to obtain the second coordinate information of the plurality of positioning elements on the registration component; The first coordinate information and the second coordinate information are registered to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning device. The step of controlling the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of the plurality of positioning elements on the registration component includes: controlling the scanning component on the surgical robot to scan the registration component and obtain the initial coordinate information of the plurality of positioning elements on the registration component; obtaining a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; and performing a coordinate transformation on the initial coordinate information based on the first transformation relationship to obtain the second coordinate information of the plurality of positioning elements. The step of obtaining the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot includes: obtaining an initial transformation relationship between the coordinate system of the scanning component in an initial pose and the base coordinate system of the surgical robot; controlling the scanning component to switch from the initial pose to a first measurement pose, and obtaining a second transformation relationship between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose; the first measurement pose is the pose of the scanning component when scanning the registration component; and determining the first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship.

2. The method according to claim 1, characterized in that, The surgical robot includes a first base and a robotic arm, with the scanning component disposed at the end of the robotic arm; the method further includes: The scanning component is controlled to switch from the first measurement pose to the second measurement pose, and the scanning component is controlled to scan the medical imaging scanning device in the second measurement pose to obtain the first point cloud data corresponding to the medical imaging scanning device. If the first base of the surgical robot moves from the initial position to the target position, the target relative pose between the scanning component and the first base is kept consistent with the initial relative pose between the scanning component and the first base, and the scanning component is controlled to scan the medical imaging scanning device to obtain the second point cloud data corresponding to the medical imaging scanning device; the initial relative pose is the relative pose between the scanning component and the first base under the second measurement pose; Based on the first point cloud data and the second point cloud data, the target transformation relationship is updated to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

3. The method according to claim 2, characterized in that, The step of updating the target transformation relationship based on the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot includes: The first point cloud data and the second point cloud data are registered to obtain the third transformation relationship; Based on the third transformation relationship and the target transformation relationship, a new target transformation relationship is obtained between the medical image coordinate system and the base coordinate system of the surgical robot.

4. The method according to any one of claims 1 to 3, characterized in that, The registration assembly further includes a second base and a plurality of connectors disposed on the second base; the plurality of positioning elements are respectively disposed at the end of each connector away from the second base; The pixel value obtained by the positioning component after being scanned by the medical imaging scanning device is greater than or equal to a first preset pixel threshold; the pixel value obtained by the connecting component and the second base after being scanned by the medical imaging scanning device is less than or equal to a second preset pixel threshold. The second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than a preset difference threshold.

5. A spatial registration device, characterized in that, An application is made in a robot-assisted system, the robot-assisted system including a medical imaging scanning device, a surgical robot, a scanning component, and a registration component; the scanning component is mounted on the end effector of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements; the device includes: The first control module is used to control the medical imaging scanning device to scan the registration component and obtain the first coordinate information of the plurality of positioning elements on the registration component; The second control module is used to control the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of the plurality of positioning elements on the registration component. Controlling the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of the plurality of positioning elements on the registration component includes: controlling the scanning component on the surgical robot to scan the registration component and obtain the initial coordinate information of the plurality of positioning elements on the registration component; obtaining a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; and performing a coordinate transformation on the initial coordinate information based on the first transformation relationship to obtain the second coordinate information of the plurality of positioning elements. The method for obtaining a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot includes: obtaining an initial transformation relationship between the coordinate system of the scanning component in an initial pose and the base coordinate system of the surgical robot; controlling the scanning component to switch from the initial pose to a first measurement pose, and obtaining a second transformation relationship between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose; the first measurement pose is the pose of the scanning component when scanning the registration component; and determining the first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship. The registration module is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning device.

6. A robot-assisted system, characterized in that, The robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, a registration component, and a controller; the scanning component is mounted on the end effector of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. The medical imaging scanning device is used to scan the registration component to obtain the first coordinate information of the plurality of positioning elements on the registration component; The surgical robot is used to control the scanning component to scan the registration component and obtain the second coordinate information of the plurality of positioning elements on the registration component; The step of controlling the scanning component on the surgical robot to scan the registration component and obtain the second coordinate information of the plurality of positioning elements on the registration component includes: controlling the scanning component on the surgical robot to scan the registration component and obtain the initial coordinate information of the plurality of positioning elements on the registration component; obtaining a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; and performing a coordinate transformation on the initial coordinate information based on the first transformation relationship to obtain the second coordinate information of the plurality of positioning elements; the step of obtaining the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot... The relationship includes: obtaining an initial transformation relationship between the coordinate system of the scanning component in an initial pose and the base coordinate system of the surgical robot; controlling the scanning component to switch from the initial pose to a first measurement pose, and obtaining a second transformation relationship between the coordinate system of the scanning component in the initial pose and the coordinate system of the scanning component in the first measurement pose; the first measurement pose is the pose of the scanning component when scanning the registration component; and determining a first transformation relationship between the coordinate system of the scanning component in the first measurement pose and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship. The controller is used to register the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is the coordinate system corresponding to the medical image scanning device.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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