Laser assisted positioning method and puncture robot system in interventional surgery

Abstract

The application relates to a laser-assisted positioning method in an interventional operation and a puncture robot system, wherein the method comprises the following steps: determining a first coordinate transformation relationship between an image coordinate system of a computer tomography device and a mechanical arm coordinate system of a puncture robot; obtaining a needle entry point coordinate of a needle entry point in the mechanical arm coordinate system based on the first coordinate transformation relationship; determining control parameters of a laser indicating device in the puncture robot according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indicating device coordinate system in the puncture robot and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; the second coordinate transformation relationship is determined by structure parameters of the puncture robot; and performing laser-assisted positioning based on the control parameters of the laser indicating device. Through the application, the problems that calibration work between multiple components needs to be completed, the operation process is complex, and the positioning precision is low in the related art are solved, the purpose of simplifying the operation process is achieved, and the positioning precision can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a laser-assisted positioning method and a puncture robot system in an interventional operation. BACKGROUND

[0002] The technical feature of interventional treatment is to use the images of computed tomography (CT) and magnetic resonance imaging (MRI) for preoperative planning, and use auxiliary devices such as magnetic navigation and laser-assisted positioning for needle insertion guidance. In the operation, through the guidance of digital subtraction angiography (DSA), CT, MRI and other imaging equipment, through the puncture needle, catheter and other interventional materials, the specific instruments are introduced into the human body through the natural orifice or the small incision for minimally invasive treatment.

[0003] With the development of robot technology, puncture robot systems are more and more used to assist in interventional treatment, which improves the operation precision. The puncture robot systems used at present need personnel to participate in the calibration between various devices in the puncture robot system, which leads to a complex operation process of calibration and low positioning accuracy.

[0004] At present, there is no effective solution to the problems of complex operation process of calibration and low positioning accuracy in the related art. SUMMARY

[0005] In this embodiment, a laser-assisted positioning method and a puncture robot system in an interventional operation are provided to solve the problems of complex operation process of calibration and low positioning accuracy in the related art.

[0006] In a first aspect, a laser-assisted positioning method in an interventional operation is provided in this embodiment, comprising:

[0007] Scanning a registration member on a puncture robot by a computed tomography imaging device to determine a first coordinate transformation relationship between an image coordinate system of the computed tomography imaging device and a mechanical arm coordinate system of the puncture robot;

[0008] Converting a needle entry point coordinate of a needle entry point in the image coordinate system to the mechanical arm coordinate system based on the first coordinate transformation relationship to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system;

[0009] determining the control parameter of the laser indicating device in the puncture robot according to a second coordinate transformation relationship between a coordinate system of a mechanical arm in the puncture robot and a coordinate system of the indicating device and the needle entry point coordinate of the needle entry point in the coordinate system of the mechanical arm, wherein the second coordinate transformation relationship is determined by the structural parameter of the puncture robot;

[0010] performing laser-assisted positioning based on the control parameter of the laser indicating device.

[0011] In some embodiments, the method further comprises:

[0012] determining a puncture plan path and needle entry point coordinates of one or more needles based on a planning of a medical image of an object.

[0013] In some embodiments, the converting the needle entry point coordinate of the needle entry point in the image coordinate system into the coordinate system of the mechanical arm to obtain the needle entry point coordinate of the needle entry point in the coordinate system of the mechanical arm based on the first coordinate transformation relationship comprises:

[0014] converting the corresponding needle entry point coordinates of the needle entry point of one or more needles in the image coordinate system into the coordinate system of the mechanical arm to obtain the corresponding needle entry point coordinates of the needle entry point of one or more needles in the coordinate system of the mechanical arm based on the first coordinate transformation relationship.

[0015] In some embodiments, the determining the control parameter of the laser indicating device in the puncture robot according to a second coordinate transformation relationship between a coordinate system of a mechanical arm in the puncture robot and a coordinate system of the indicating device and the needle entry point coordinate of the needle entry point in the coordinate system of the mechanical arm comprises:

[0016] determining the needle entry point coordinate of the needle entry point in the coordinate system of the indicating device according to the second coordinate transformation relationship between the coordinate system of the mechanical arm in the puncture robot and the coordinate system of the indicating device and the needle entry point coordinate of the needle entry point in the coordinate system of the mechanical arm;

[0017] normalizing the needle entry point coordinate of the needle entry point in the coordinate system of the indicating device by using a normalization formula to determine the control parameter of the laser indicating device in the puncture robot.

[0018] In some embodiments, the method further comprises:

[0019] after completing the laser-assisted positioning of the current needle entry point, performing laser-assisted positioning on the next needle entry point based on the control parameter corresponding to the next needle entry point until the laser-assisted positioning of all needle entry points is completed.

[0020] In a second aspect, a puncture robot system is provided in the embodiments, comprising: a computer tomography device and a puncture robot;

[0021] The computer tomography device is configured to scan a registration member on the puncture robot;

[0022] The processor in the computer tomography device is connected with the puncture robot, and is configured to determine a first coordinate transformation relationship between an image coordinate system of the computer tomography device and a mechanical arm coordinate system of the puncture robot; convert a needle entry point coordinate of a needle entry point in the image coordinate system to the mechanical arm coordinate system based on the first coordinate transformation relationship, to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; determine a control parameter of a laser indicating device in the puncture robot according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indicating device coordinate system in the puncture robot, and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; the second coordinate transformation relationship is determined by a structural parameter of the puncture robot; and perform laser-assisted positioning based on the control parameter of the laser indicating device.

[0023] In some embodiments, the puncture robot comprises: a moving device, a support arm, and a laser indicating device;

[0024] The support arm is arranged on the moving device, and the laser indicating device is arranged on the support arm, and the laser indicating device has at least two degrees of freedom.

[0025] In some embodiments, the laser indicating device comprises a first driving motion unit, a second driving motion unit, and a laser emitter;

[0026] The first driving motion unit is connected with the processor, and is configured to control rotation of laser emitted by the laser emitter on an object sagittal plane;

[0027] The second driving motion unit is connected with the processor, and is configured to control rotation of laser emitted by the laser emitter on an object coronal plane.

[0028] In some embodiments, the puncture robot further comprises a mechanical arm and a puncture device;

[0029] The mechanical arm is arranged on the moving device, and the mechanical arm has at least five degrees of freedom;

[0030] The puncture device is arranged on the mechanical arm, and the puncture device is provided with a registration member.

[0031] In a third aspect, a computer device is provided in the embodiments, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the laser-assisted positioning method in the interventional surgery of the first aspect when executing the computer program.

[0032] In a fourth aspect, a storage medium is provided in the embodiments, which stores a computer program executable by a processor to implement the laser-assisted positioning method in the interventional surgery of the first aspect.

[0033] Compared with the related art, the laser-assisted positioning method in the interventional surgery and the puncture robot system provided in the embodiments; wherein, the method scans a registration member on the puncture robot by a computed tomography imaging device, determines a first coordinate transformation relationship between an image coordinate system of the computed tomography imaging device and a mechanical arm coordinate system of the puncture robot; converts a needle entry point coordinate of the needle entry point in the image coordinate system into the mechanical arm coordinate system based on the first coordinate transformation relationship, to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; determines a control parameter of a laser indicating device in the puncture robot according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indicating device coordinate system in the puncture robot, and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; the second coordinate transformation relationship is determined by a structural parameter of the puncture robot; and performs laser-assisted positioning based on the control parameter of the laser indicating device; solves the problems of complex operation process and low positioning accuracy in the related art, and completes the calibration work between multiple components and the subsequent laser-assisted positioning by using the first coordinate transformation relationship and the second coordinate transformation relationship, to achieve the purpose of simplifying the operation process and improve the positioning accuracy.

[0034] Details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings described herein are intended to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0036] Figure 1 is a schematic diagram of a puncture robot system provided in an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of a laser indicating device provided in an embodiment of the present application;

[0038] Figure 3is a schematic diagram of a computer tomography device according to an embodiment of the present application;

[0039] Figure 4 is a structural block diagram of a processor according to an embodiment of the present application;

[0040] Figure 5 is a flow chart of a laser-assisted positioning method in an interventional procedure according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and explained below in conjunction with the accompanying drawings and embodiments.

[0042] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the general meaning understood by a person with ordinary skill in the art to which the present application belongs. In the present application, "one", "a", "an", "the", "these" and similar words do not represent a quantitative limitation, but can be singular or plural. In the present application, the terms "include", "contain", "have" and any variants thereof are intended to cover non-exclusive inclusion; for example, a process, method and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. In the present application, the terms "connected", "connected", "coupled" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In the present application, "multiple" means two or more. The association between the associated objects is described by the term "and / or", which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. In general, the character " / " represents an "or" relationship between the objects before and after it. In the present application, the terms "first", "second", "third" and the like are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0043] Figure 1 is a schematic diagram of an exemplary puncture robot system according to some embodiments of the present application. Referring to Figure 1 As shown, the puncture robot system includes a computer tomography device 100 and a puncture robot;

[0044] The puncture robot comprises a moving device 210, a support arm 220, and a laser indication device 230; the support arm 220 is arranged on the moving device 210, the laser indication device 230 is arranged on the support arm 220, and the laser indication device 230 has at least two degrees of freedom. The moving device 210 can be a trolley, a mobile platform, etc. The support arm 220 on the moving device 210 supports the laser indication device 230, and in combination with the at least two degrees of freedom of the laser indication device 230, the emitted laser can be used for laser-assisted positioning of the object (patient).

[0045] Specifically, as shown in Figure 2 the laser indication device 230 comprises a first driving motion unit 231, a second driving motion unit 232, and a laser emitter 233; the first driving motion unit 231 is connected with the processor and is used for controlling the rotation of the laser emitted by the laser emitter 233 on the object's sagittal plane; the second driving motion unit 232 is connected with the processor and is used for controlling the rotation of the laser emitted by the laser emitter 233 on the object's coronal plane. The control parameters of the laser indication device 230 control the specific operation of the first driving motion unit 231 and the second driving motion unit 232 in the laser indication device 230. For example, the processor transmits the control angle of the first driving motion unit 231 in the calculated control parameters to the first driving motion unit 231, so that the first driving motion unit 231 can adjust to the corresponding angle according to the rotation of the object's sagittal plane. The same is true for the second driving motion unit 232, which receives the control angle of the second driving motion unit 232 and adjusts to the corresponding angle according to the rotation of the object's coronal plane. Then, through the cooperation of the first driving motion unit 231 and the second driving motion unit 232, the laser emitted by the laser emitter 233 can rotate on the object's sagittal plane and coronal plane to complete the laser-assisted positioning.

[0046] Among them, the laser indication device can also be called a local anesthesia indication device, and the indication device coordinate system can also be called a local anesthesia coordinate system, etc. Other terms are similar, and the names of devices and coordinate systems can also be converted accordingly in some specific scenarios. This will not be illustrated one by one.

[0047] Among them, the support arm 220 can have at least one degree of freedom, and in the initial work, the laser indication device 230 is arranged away from the position outside the object's body (such as the position of the laser indication device 230 shown in Figure 1 ).

[0048] In some embodiments, the puncture robot further comprises a mechanical arm 240 and a puncture device 250; the mechanical arm 240 is arranged on the moving device 210, and the mechanical arm 240 has at least five degrees of freedom; the puncture device 250 is arranged on the mechanical arm 240, and a registration member is arranged on the puncture device 250. The puncture device 250 can be moved in the coronal plane, the sagittal plane and the transverse plane through the five-degree-of-freedom mechanical arm 240, so as to complete the target action. The registration member can be a Z-shaped registration member, which can improve the registration efficiency. The puncture device 250 can further be provided with a puncture needle, a calibration tool and the like.

[0049] Figure 3 is a schematic diagram of an exemplary computed tomography apparatus 100 according to some embodiments of the present application. Referring to Figure 3 As shown, the computed tomography apparatus 100 can include a scanner 110, a network 120, one or more terminals 130, a processor 140, and a memory 150. All components in the computed tomography apparatus 100 can be connected to each other through the network 120.

[0050] The scanner 110 can scan an object and generate scan data related to the object. As the computed tomography apparatus 100, the scanner 110 is configured to scan a registration member on a puncture robot and generate scan data related to the registration member. In some embodiments, the scanner 110 can be a medical imaging apparatus, such as a CT apparatus, a PET-CT apparatus.

[0051] The term “image” mentioned in the present application can refer to a 2D image, a 3D image, a 4D image and / or any related data (e.g., CT data, projection data corresponding to the CT data). This is not intended to limit the scope of the present application. Various modifications and changes can be made by those skilled in the art under the guidance of the present application.

[0052] The scanner 110 can include a gantry 111, a detector 112, a detection area 113, and a table 114. In some embodiments, the scanner 110 can further include a radioactive scanning source 115. The gantry 111 can support the detector 112 and the radioactive scanning source 115. An object (patient) can be placed on the table 114 for scanning. The radioactive scanning source 115 can emit radioactive rays to the object. The detector 112 can detect the radiation rays (e.g., X-rays) emitted from the detection area 113.

[0053] The network 120 can include any suitable network that enables the computer tomography device 100 to exchange information and / or data. In some embodiments, one or more components of the computer tomography device 100 (e.g., the scanner 110, the terminal 130, the processor 140, the memory 150, etc.) can communicate information and / or data with one or more other components of the computer tomography device 100 through the network 120. For example, the processor 140 can obtain image data from the scanner 110 through the network 120. As another example, the processor 140 can obtain user instructions from the terminal 130 through the network 120. The network 120 can be and / or include a public network (e.g., the Internet), a private network (e.g., a local area network (LAN), a wide area network (WAN), etc.), a wired network (e.g., an Ethernet network), a wireless network (e.g., an 802.11 network, a Wi-Fi network, etc.), a cellular network (e.g., a long-term evolution (LTE) network), a frame relay network, a virtual private network (VPN), a satellite network, a telephone network (e.g., a

[0054] One or more terminals 130 include a mobile device 131, a tablet 132, a notebook 133, or the like, or any combination thereof. In some embodiments, the mobile device 131 can include a smart home device, a wearable device, a mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof. In some embodiments, the smart home device can include a smart lighting device, a control device of a smart appliance, a smart surveillance device, a smart television, a smart camera, an Internet phone, or the like, or any combination thereof. In some embodiments, the wearable device can include a bracelet, a shoe, a pair of glasses, a helmet, a watch, a piece of clothing, a backpack, a smart accessory, or the like, or any combination thereof. In some embodiments, the mobile device 131 can include a mobile phone, a personal digital assistant (PDA), a game device, a navigation device, a point-of-sale (POS) device, a notebook, a tablet, a desktop, or the like, or any combination thereof. In some embodiments, the virtual reality device and / or the augmented reality device can include a virtual reality headset, a virtual reality glasses, a virtual reality goggle, an augmented reality headset, an augmented reality glasses, an augmented reality goggle, or the like, or any combination thereof. For example, the virtual reality device and / or the augmented reality device can include Google Glass™, Oculus Rift™, Hololens™, Gear VR™, or the like. In some embodiments, the terminal 130 can be a part of the processor 140.

[0055] The processor 140 can process data and / or information obtained from the scanner 110, the terminal 130, and / or the memory 150. In some embodiments, the processor 140, in connection with the puncture robot, is configured to determine a first coordinate transformation relationship between an image coordinate system of the computed tomography apparatus 100 and a mechanical arm coordinate system of the puncture robot; convert, based on the first coordinate transformation relationship, a needle entry point coordinate of a needle entry point in the image coordinate system to the mechanical arm coordinate system to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; determine, according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indicating device coordinate system in the puncture robot and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system, a control parameter of the laser indicating device 230 in the puncture robot; the second coordinate transformation relationship is determined by a structural parameter of the puncture robot; and perform laser-assisted positioning based on the control parameter of the laser indicating device 230. In some embodiments, the processor 140 can be a single server or a group of servers. The group of servers can be centralized or distributed. In some embodiments, the processor 140 can be local or remote. For example, the processor 140 can access information and / or data stored in the scanner 110, the terminal 130, and / or the memory 150 through the network 120. As another example, the processor 140 can be directly connected to the scanner 110, the terminal 130, and / or the memory 150 to access the stored information and / or data. In some embodiments, the processor 140 can be implemented on a cloud platform. For example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an interconnected cloud, a multiple cloud, and / or the like, or any combination thereof. In some embodiments, the processor 140 can be implemented by a computing device having one or more components as shown in FIG. 1. Figure 3

[0056] ​Memory 150 can store data, instructions, and / or any other information. In some embodiments, memory 150 can store data obtained from terminal 130 and / or processor 140. In some embodiments, memory 150 can store data and / or instructions that processor 140 can execute or use to perform the example methods described in this disclosure. In some embodiments, memory 150 can include a mass storage device, a removable storage device, a volatile read / write memory, a read-only memory (ROM), etc., or any combination thereof. An example mass storage device can include a magnetic disk, an optical disk, a solid-state drive, etc. An example removable storage can include a flash drive, a floppy disk, an optical disk, a memory card, a compact disk, a magnetic tape, etc. An example volatile read / write memory can include a random access memory (RAM). An example RAM can include a dynamic RAM (DRAM), a double data rate synchronous dynamic RAM (DDR SDRAM), a static RAM (SRAM), a thyristor RAM (T-RAM), and a zero capacitor RAM (Z-RAM), etc. An example ROM can include a mask ROM (MROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a compact disk ROM (CD-ROM), and a digital versatile disk ROM, etc. In some embodiments, memory 150 can be implemented on a cloud platform. By way of example only, a cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an interconnected cloud, a multiple cloud, etc., or any combination thereof.

[0057] In some embodiments, memory 150 can be connected to network 120 to communicate with one or more other components in computed tomography imaging device 100 (e.g., processor 140, terminal 130, etc.). One or more components in computed tomography imaging device 100 can access data or instructions stored in memory 150 through network 120. In some embodiments, memory 150 can be directly connected to or in communication with one or more other components in computed tomography imaging device 100 (e.g., processor 140, terminal 130, etc.). In some embodiments, memory 150 can be part of processor 140.

[0058] Figure 4 is a schematic diagram of an example processor 140 according to some embodiments of the present disclosure. As shown in Figure 4 processor 140 can include a first conversion module 141, a second conversion module 142, a calculation module 143, and a positioning module 144;

[0059] The first conversion module 141 is configured to scan a registration element on the puncture robot by using the computed tomography device to determine a first coordinate transformation relationship between an image coordinate system of the computed tomography device and a mechanical arm coordinate system of the puncture robot.

[0060] The second conversion module 142 is configured to convert a needle entry point coordinate of a needle entry point in the image coordinate system into the mechanical arm coordinate system based on the first coordinate transformation relationship to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system.

[0061] The calculation module 143 is configured to determine a control parameter of a laser indication device in the puncture robot according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indication device coordinate system in the puncture robot and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system, wherein the second coordinate transformation relationship is determined by a structural parameter of the puncture robot.

[0062] The positioning module 144 is configured to perform laser-assisted positioning based on the control parameter of the laser indication device.

[0063] The above device solves the problems of complex operation process and low positioning accuracy in the related art, and completes the calibration between multiple components by using the first coordinate transformation relationship and the second coordinate transformation relationship, and then completes the subsequent laser-assisted positioning, so as to achieve the purpose of simplifying the operation process and improving the positioning accuracy.

[0064] It should be noted that each of the above modules can be a function module or a program module, and can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor, or each of the above modules can be located in different processors in any combination. The terms "module", "unit", "sub-unit" and the like can be a combination of software and / or hardware that can implement a predetermined function. Although the device described in the following embodiments is preferably implemented by software, the implementation of hardware or a combination of software and hardware is also possible and is conceived.

[0065] Figure 5 is an example flowchart of a laser-assisted positioning method in an interventional procedure according to some embodiments of the present application. Referring to Figure 5 the laser-assisted positioning method in the interventional procedure includes the following steps:

[0066] In step S510, a registration element on the puncture robot is scanned by using the computed tomography device to determine a first coordinate transformation relationship between an image coordinate system of the computed tomography device and a mechanical arm coordinate system of the puncture robot.

[0067] In step S520, the needle entry point coordinate of the needle entry point in the image coordinate system is converted into the mechanical arm coordinate system based on the first coordinate transformation relationship, to obtain the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system.

[0068] In step S530, the control parameter of the laser indicating device in the puncture robot is determined according to the second coordinate transformation relationship between the mechanical arm coordinate system and the indicating device coordinate system in the puncture robot and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; the second coordinate transformation relationship is determined by the structural parameter of the puncture robot.

[0069] In step S540, the laser assisted positioning is performed based on the control parameter of the laser indicating device.

[0070] Specifically, the registration member is arranged on the puncture end of the puncture robot, the registration member is scanned by the computer tomography imaging equipment to obtain scanning data, and the homogeneous transformation matrix M1 between the image coordinate system of the computer tomography imaging equipment and the mechanical arm coordinate system is determined by combining the image processing technology; the homogeneous transformation matrix M1 is the first coordinate transformation relationship. In one of the embodiments, the registration member can be scanned by placing the puncture end into the CT aperture by the mechanical arm in the preparation stage. Since the laser indicating device is arranged on the moving device through the support arm, the mechanical arm and the laser indicating device are both fixed to the moving device, and the relative position relationship between the two can be determined by the mechanical structure due to the limitation of the structure form; therefore, the homogeneous transformation matrix M2 between the mechanical arm coordinate system and the indicating device coordinate system in the puncture robot can be determined, and the homogeneous transformation matrix M2 is the second coordinate transformation relationship. The image coordinate system can be regarded as the patient coordinate system, the positive direction of the X axis is the direction in which the right hand of the patient points to the left hand of the patient, the positive direction of the Y axis is the direction in which the front chest of the patient points to the back of the patient, and the positive direction of the Z axis is the direction in which the bottom of the foot of the patient points to the top of the head of the patient; the image coordinate system is established in this way. In other embodiments, the image coordinate system can also be established based on other kinematic parameters, and the mechanical arm coordinate system and the indicating device coordinate system can also be established as required, which is not limited.

[0071] Since the structural parameter of the puncture robot is fixed and unchanged, the scanning of the registration member is only needed once to determine the first coordinate transformation relationship during each laser assisted positioning, and the relative position relationship of the laser indicating device relative to the puncture robot does not need to be calibrated again, so as to simplify the calibration process. At the same time, the registration registration based on the scanning can ensure the accuracy between the mechanical arm coordinate system and the image coordinate system. Compared with the related art which adopts the mechanical positioning method to determine the calibration work between the puncture robot, the computer tomography imaging equipment and the auxiliary device, the operation process is complex, and the registration process can be simplified and the laser assisted positioning accuracy can be greatly improved.

[0072] The needle entry point refers to a point on the surface of the object (patient) where the needle needs to be inserted. The needle entry point can be determined based on the planning of the medical image of the object. Generally, the coordinates of the needle entry point are in the image coordinate system. The coordinates of the needle entry point can be converted to the mechanical arm coordinate system based on the first coordinate transformation relationship, to obtain the coordinates of the needle entry point in the mechanical arm coordinate system. The name of the needle entry point can be different for different scenarios. For example, in the scenario of local anesthesia surgery, the needle entry point can be the local anesthesia point when performing local anesthesia.

[0073] After determining the coordinates of the needle entry point in the mechanical arm coordinate system, the control parameters of the laser indication device need to be determined for laser-assisted positioning. Specifically, the control parameters of the laser indication device are calculated based on the second coordinate transformation relationship, the coordinates of the needle entry point in the mechanical arm coordinate system, and the structural parameters of the puncture robot. The laser is used for auxiliary positioning to simplify the positioning process. The calculation result is related to the specific structure of the laser indication device. For example, if the laser indication device has two degrees of freedom, i.e., a first driving motion unit and a second driving motion unit, then only the control angles of the two driving motion units need to be calculated. If the laser indication device has three degrees of freedom, i.e., a first driving motion unit, a second driving motion unit, and a third driving motion unit, then only the control angles of the three driving motion units need to be calculated. Here, we will not give examples one by one.

[0074] In the existing puncture robot system, personnel are required to participate in the calibration between multiple devices in the puncture robot system for each surgery. After calibrating each device, the calibration between devices needs to be continued. This operation process is complex. Due to the overly complex calibration process, human factors and cumulative errors can reduce the positioning accuracy.

[0075] The present application determines the second coordinate transformation relationship between the mechanical arm coordinate system and the indication device coordinate system through the structural parameters of the puncture robot, and combines the first coordinate transformation relationship between the image coordinate system of the computer tomography imaging device and the mechanical arm coordinate system of the puncture robot. The calibration between the computer tomography imaging device, the mechanical arm, and the laser indication device is completed through the first coordinate transformation relationship and the second coordinate transformation relationship, without the need for additional calculation of the relative position relationship between the laser indication device and the computer tomography imaging device. Therefore, the calibration process can be simplified. Thus, the influence of human factors can be avoided, and the positioning accuracy can be improved. The problem of complex operation process and low positioning accuracy due to the need to complete the calibration between multiple components in the related art is solved.

[0076] Moreover, for the scenario of local anesthesia surgery, the indication of the interventional puncture local anesthesia needle entry point can be automatically performed, and the laser indication device arranged on the support arm indicates the local anesthesia puncture needle entry point through point laser or cross laser, without local anesthesia operation space limitation.

[0077] In other embodiments, since the structural parameters of the puncture robot can change slightly due to wear and tear, human factors, etc. during use, the relative position relationship between the laser indicating device and the puncture robot can be calibrated to further improve the positioning accuracy.

[0078] Specifically, the control angles of the first driving motion unit and the second driving motion unit are adjusted by at least two sets of control parameters of the laser indicating device to adjust the position of the laser emitted by the laser emitter, and the intersection of the at least two sets of lasers is required to coincide with the specified target measurement point in the mechanical arm. Then, the position coordinates of the intersection and the target measurement point in the respective coordinate systems are determined; for example, the position coordinates of the target measurement point in the mechanical arm coordinate system are calculated according to the pose information of each joint of the mechanical arm. The position coordinates of the intersection in the indicating device coordinate system are determined according to the forward kinematics algorithm. Finally, the homogeneous transformation matrix of the mechanical arm coordinate system relative to the indicating device coordinate system is determined by registering and optimizing the position coordinates of the target measurement point in the mechanical arm coordinate system and the position coordinates of the intersection in the indicating device coordinate system, so as to complete the calibration of the relative position relationship between the laser indicating device and the puncture robot. In this embodiment, the calibration of the laser indicating device relative to the puncture robot can be quickly completed by adjusting the position of the laser emitted by the laser emitter under the condition that the intersection of the two sets of lasers coincides with the specified target measurement point in the mechanical arm, and the accuracy of the calibration can be ensured.

[0079] The above steps are described in detail as follows:

[0080] In some embodiments, step S510 includes the following steps:

[0081] In step S511, the registration member on the puncture robot is scanned by the computer tomography imaging device to obtain scanning data.

[0082] In step S512, feature point information is extracted from the scanning data, and a first coordinate transformation relationship between the image coordinate system of the computer tomography imaging device and the mechanical arm coordinate system is calculated based on the feature point information.

[0083] Specifically, the registration member on the puncture robot enters the CT aperture; the registration member is scanned by the CT aperture to obtain scanning data; and specific feature point information is extracted from the scanning data by using image processing technology. For example, if the registration member is a Z-shaped registration frame, the feature point information is Z-shaped feature point information. The extracted feature point information is spliced and compared with the standard feature information of the Z-shaped registration frame for conversion, so that the first coordinate transformation relationship between the image coordinate system of the computer tomography device and the mechanical arm coordinate system can be calculated. The Z-shaped registration frame can be directly installed on the puncture device without the need for disassembly after registration, thereby further simplifying the overall laser-assisted positioning process.

[0084] In some embodiments, the laser-assisted positioning method in the interventional surgery further includes the following steps:

[0085] Based on the planning of the subject's medical image, the puncture plan path and the needle entry point coordinate of one or more needles are determined.

[0086] Specifically, based on the planning of the subject's medical image, the puncture plan path and the needle entry point coordinate of one or more needles are determined. For example, in the operation scene of performing local anesthesia, only one position may need to be anesthetized, that is, the puncture plan path and the needle entry point coordinate are planned. It may also be necessary to anesthetize multiple positions, that is, the puncture plan path and multiple needle entry point coordinates are planned. Thus, the puncture plan path and the needle entry point coordinate of one or more needles can be planned at one time, improving efficiency.

[0087] For the case where there is one or more needle entry points, the needle entry point of each needle is converted into the mechanical arm coordinate system, specifically including the following steps:

[0088] Based on the first coordinate transformation relationship, the needle entry point coordinate corresponding to one or more needles is converted into the mechanical arm coordinate system to obtain the corresponding needle entry point coordinate in the mechanical arm coordinate system.

[0089] Based on the first coordinate transformation relationship, the needle entry point coordinate corresponding to one or more needles is converted into the mechanical arm coordinate system to obtain the corresponding needle entry point coordinate in the mechanical arm coordinate system.

[0090] In order to match the needle entry point of one or more needles, the control parameters of the laser indicating device corresponding to the needle entry point of each needle are matched; then the position of the laser is adjusted according to the control parameters of the laser indicating device for continuous laser-assisted positioning without user intervention.

[0091] The specific step S530 includes the following steps:

[0092] Step S531, according to the second coordinate transformation relationship between the mechanical arm coordinate system and the coordinate system of the indicating device in the puncture robot, and the needle entry point coordinates of the needle entry point in the mechanical arm coordinate system, the needle entry point coordinates of the needle entry point in the coordinate system of the indicating device are determined.

[0093] Step S532, using the normalization formula, the needle entry point coordinates of the needle entry point in the coordinate system of the indicating device are normalized to determine the control parameters of the laser indicating device in the puncture robot.

[0094] For different structures of the laser indicating device, the specific calculation process will also be different. For example, a two-degree-of-freedom orthogonal laser indicating device as shown in FIG. 6 is taken as an example to illustrate the above process. Figure 2

[0095] Specifically, according to the second coordinate transformation relationship between the mechanical arm coordinate system and the coordinate system of the indicating device in the puncture robot, and the needle entry point coordinates of the needle entry point in the mechanical arm coordinate system, the coordinates of the needle entry point P in the coordinate system of the indicating device are determined as (x, y, z).

[0096] The normalization formula for the x-axis coordinate of P point is:

[0097] The normalization formula for the y-axis coordinate of P point is:

[0098] The normalization formula for the z-axis coordinate of P point is:

[0099] Therefore, the needle entry point P coordinates in the coordinate system of the indicating device after normalization are

[0100] Thus, the control parameters corresponding to the two degrees of freedom of the laser indicating device can be determined, including the control angle of the first driving motion unit and the control angle of the second driving motion unit.

[0101] The control angle of the first driving motion unit is:

[0102] The control angle calculation result of the second driving motion unit is:

[0103] Through the above steps, the control parameters of the laser indicating device can be quickly calculated without the aid of complex algorithms, and the calculation accuracy can be guaranteed.

[0104] For other degrees of freedom of the laser indicating device, the corresponding control parameters can also be determined based on similar technical processes as described above, and no further examples are given.

[0105] ​In some of the embodiments, the laser-assisted positioning method in the interventional surgery further comprises the following steps:

[0106] After the laser-assisted positioning of the current needle entry point is completed, the laser-assisted positioning of the next needle entry point is performed based on the control parameters corresponding to the next needle entry point until the laser-assisted positioning of all the needle entry points is completed.

[0107] Specifically, after the laser-assisted positioning of the current needle entry point is completed, the laser-assisted positioning of the next needle entry point can be automatically completed, that is, the control angle of the driving movement unit of the laser indicating device for each needle is automatically calculated, and the needle entry points are indicated one by one, so that the method can be directly applied to the scene of multiple needles; and separate control for each needle is no longer required, the indicating efficiency is improved, and the method is suitable for scenes with requirements for time length.

[0108] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0109] In this embodiment, a computer device is also provided, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

[0110] Optionally, the above computer device can further comprise a transmission device and an input and output device, wherein the transmission device is connected with the above processor, and the input and output device is connected with the above processor.

[0111] Optionally, in this embodiment, the above processor can be configured to execute the following steps by the computer program:

[0112] S1, scanning a registration member on a puncture robot by using a computer tomography imaging device to determine a first coordinate transformation relationship between an image coordinate system of the computer tomography imaging device and a mechanical arm coordinate system of the puncture robot;

[0113] S2, converting a needle entry point coordinate of the needle entry point in the image coordinate system to the mechanical arm coordinate system based on the first coordinate transformation relationship to obtain a needle entry point coordinate of the needle entry point in the mechanical arm coordinate system;

[0114] S3, determining control parameters of a laser indicating device in the puncture robot according to a second coordinate transformation relationship between the mechanical arm coordinate system and an indicating device coordinate system in the puncture robot and the needle entry point coordinate of the needle entry point in the mechanical arm coordinate system; the second coordinate transformation relationship is determined by structure parameters of the puncture robot;

[0115] S4, laser-assisted positioning based on the control parameters of the laser pointing device.

[0116] It should be noted that the specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, and will not be described herein again.

[0117] In addition, in combination with the laser-assisted positioning method in the interventional surgery provided in the above embodiments, a storage medium can also be provided in the present embodiment to implement. The storage medium has a computer program stored thereon; the computer program is executed by a processor to implement any one of the laser-assisted positioning methods in the interventional surgery in the above embodiments.

[0118] It should be understood that the specific embodiments described herein are only used to explain this application, but not to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0119] Obviously, the drawings are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can also be applied to other similar situations according to the drawings without creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, for those of ordinary skill in the art, some design, manufacture or production changes according to the technical content disclosed in the present application are only routine technical means and should not be regarded as insufficient disclosure of the present application.

[0120] The word "embodiment" in the present application means that the specific features, structures or characteristics described in combination with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternative to each other. It can be clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0121] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A laser-assisted positioning method for interventional surgery, characterized in that, include: The registration piece on the puncture robot is scanned using a computed tomography (CT) imaging device to determine the first coordinate transformation relationship between the image coordinate system of the CT imaging device and the mechanical arm coordinate system of the puncture robot. Based on the first coordinate transformation relationship, the needle entry point coordinates in the image coordinate system are transformed to the robotic arm coordinate system to obtain the needle entry point coordinates in the robotic arm coordinate system. Based on the second coordinate transformation relationship between the coordinate system of the robotic arm and the coordinate system of the indicating device in the puncture robot, and the coordinates of the needle insertion point in the coordinate system of the robotic arm, the control parameters of the laser indicating device in the puncture robot are determined; the second coordinate transformation relationship is determined by the structural parameters of the puncture robot. Laser-assisted positioning is performed based on the control parameters of the laser pointing device.

2. The laser-assisted positioning method in interventional surgery according to claim 1, characterized in that, The method further includes: Based on object-specific medical image planning, determine the puncture plan path and the coordinates of one or more needle insertion points.

3. The laser-assisted positioning method in interventional surgery according to claim 2, characterized in that, The step of transforming the needle insertion point coordinates in the image coordinate system to the robotic arm coordinate system based on the first coordinate transformation relationship, to obtain the needle insertion point coordinates in the robotic arm coordinate system, includes: Based on the first coordinate transformation relationship, the needle insertion point coordinates of one or more needles in the image coordinate system are transformed to the robotic arm coordinate system to obtain the needle insertion point coordinates of one or more needles in the robotic arm coordinate system.

4. The laser-assisted positioning method in interventional surgery according to claim 2, characterized in that, The step of determining the control parameters of the laser pointer in the puncture robot based on the second coordinate transformation relationship between the coordinate system of the robotic arm and the coordinate system of the pointer in the puncture robot, and the coordinates of the needle insertion point in the coordinate system of the robotic arm, includes: Based on the second coordinate transformation relationship between the robotic arm coordinate system and the indicator device coordinate system in the puncture robot, and the needle insertion point coordinates in the robotic arm coordinate system, the needle insertion point coordinates in the indicator device coordinate system are determined. Using a normalization formula, the coordinates of the needle insertion point in the coordinate system of the indicator device are normalized to determine the control parameters of the laser indicator device in the puncture robot.

5. The laser-assisted positioning method in interventional surgery according to claim 1, characterized in that, The method further includes: After completing the laser-assisted positioning of the current needle insertion point, the next needle insertion point is laser-assisted positioned based on the control parameters corresponding to the next needle insertion point, until the laser-assisted positioning of all needle insertion points is completed.

6. A puncture robot system, characterized in that, include: Computed tomography (CT) equipment and puncture robots; The computed tomography (CT) imaging device is used to scan the registration piece on the puncture robot; The processor in the computed tomography (CT) imaging device is connected to the puncture robot and is used to determine a first coordinate transformation relationship between the image coordinate system of the CT imaging device and the robotic arm coordinate system of the puncture robot; based on the first coordinate transformation relationship, the coordinates of the needle insertion point in the image coordinate system are transformed to the robotic arm coordinate system to obtain the needle insertion point coordinates in the robotic arm coordinate system; according to the second coordinate transformation relationship between the robotic arm coordinate system and the indicator device coordinate system in the puncture robot, and the needle insertion point coordinates in the robotic arm coordinate system, the control parameters of the laser indicator device in the puncture robot are determined; the second coordinate transformation relationship is determined by the structural parameters of the puncture robot; laser-assisted positioning is performed based on the control parameters of the laser indicator device.

7. The puncture robot system according to claim 6, characterized in that, The puncture robot includes: a mobile device, a support arm, and a laser pointing device; The support arm is mounted on the moving device, and the laser pointing device is mounted on the support arm. The laser pointing device has at least two degrees of freedom.

8. The puncture robot system according to claim 7, characterized in that, The laser pointing device includes a first driving motion unit, a second driving motion unit, and a laser emitter; The first driving motion unit is connected to the processor and is used to control the rotation of the laser emitted by the laser emitter on the object's anamorphic surface; The second drive motion unit, connected to the processor, is used to control the rotation of the laser emitted by the laser emitter on the coronal plane of the object.

9. The puncture robot system according to claim 7, characterized in that, The puncture robot also includes a robotic arm and a puncture device; The robotic arm is mounted on the mobile device and has at least five degrees of freedom. The puncture device is mounted on the robotic arm, and a registration element is provided on the puncture device.

10. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the steps of the laser-assisted positioning method in any one of claims 1 to 5.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the laser-assisted positioning method in interventional surgery as described in any one of claims 1 to 5.

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