Method and device for the registration of a laser pointer device with a surgical execution arm

Abstract

The application relates to a registration method and device of a laser indicating device and a surgical execution arm, wherein the method comprises the following steps: acquiring first pose information of each joint of the surgical execution arm, determining a first position coordinate of a target measurement point in a surgical execution arm coordinate system according to the first pose information; when the intersection of at least two laser lines emitted by the laser indicating device at different poses coincides with the target measurement point, determining at least two groups of second pose information of each joint of the laser indicating device; and determining a second position coordinate of the intersection in a base coordinate system of the indicating device according to the at least two groups of second pose information; and performing registration optimization according to the first position coordinate and the second position coordinate, so as to obtain a homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the indicating device. Through the application, the problem that an additional measuring device needs to be introduced in the related art, thereby increasing the registration cost, is solved, and the registration accuracy can be ensured without introducing the additional device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a registration method and device of a laser indicating device and a surgical execution arm. BACKGROUND

[0002] With the progress and development of science and technology, various types of surgical robots (hereinafter referred to as robots) can assist surgeons in performing precise surgical operations. Through the robot, more precise operations can be achieved, and the quality of the operation and patient satisfaction can be improved.

[0003] In clinical applications, the robot generally needs to cooperate with some instruments for surgical operation. For example, in the process of using a laser indicating device in combination with a robot, the current registration scheme obtains the depth information of an object based on the principle of triangulation and measures the depth information by introducing a measuring device, and completes registration through the two depth information. The disadvantage of this scheme is that an additional measuring device needs to be introduced, resulting in an increase in the cost of registration.

[0004] In view of the problem that an additional measuring device needs to be introduced in the related art, resulting in an increase in the cost of registration, no effective solution has been proposed so far. SUMMARY

[0005] A registration method and device of a laser indicating device and a surgical execution arm are provided in the present embodiment to solve the problem that an additional measuring device needs to be introduced in the related art, resulting in an increase in the cost of registration.

[0006] In a first aspect, a registration method of a laser indicating device and a surgical execution arm is provided in the present embodiment, comprising:

[0007] obtaining first pose information of each joint of the surgical execution arm, and determining a first position coordinate of a target measurement point in a surgical execution arm coordinate system according to the first pose information;

[0008] determining at least two groups of second pose information of each joint of the laser indicating device when the intersection of at least two laser lines emitted at different poses of the laser indicating device coincides with the target measurement point, each laser line corresponding to a group of second pose information; and determining a second position coordinate of the intersection in an indicating device base coordinate system according to at least two groups of second pose information;

[0009] performing registration optimization according to the first position coordinate and the second position coordinate to obtain a homogeneous transformation matrix of the surgical execution arm coordinate system and the indicating device base coordinate system.

[0010] In some embodiments, the first pose information of each joint of the surgical execution arm has at least two groups; each group of first pose information corresponds to at least two groups of second pose information.

[0011] In some embodiments, the laser pointer device has at least three degrees of freedom.

[0012] In some embodiments, the acquiring the first pose information of each joint of the surgical execution arm, and determining the first position coordinates of the target measurement point in the surgical execution arm coordinate system according to the first pose information, comprises:

[0013] acquiring the first pose information of each joint of the surgical execution arm;

[0014] determining the first position coordinates of the target measurement point in the surgical execution arm coordinate system according to the first pose information by using the screw representation forward kinematics formula.

[0015] In some embodiments, when the intersection of at least two laser lines emitted by the laser pointer device at different poses coincides with the target measurement point, at least two sets of second pose information of each joint of the laser pointer device are determined, each laser line corresponding to a set of second pose information; and the second position coordinates of the intersection in the pointer device base coordinate system are determined according to at least two sets of second pose information, comprising:

[0016] adjusting the laser lines emitted by the laser pointer device at different poses, each laser line corresponding to a set of second pose information;

[0017] when the intersection of at least two laser lines coincides with the target measurement point, at least two sets of second pose information of each joint of the laser pointer device are determined;

[0018] determining the second position coordinates of the intersection of at least two laser lines in the pointer device base coordinate system according to at least two sets of second pose information by using the pointer device forward kinematics formula.

[0019] In some embodiments, the determining the second position coordinates of the intersection of at least two laser lines in the pointer device base coordinate system according to at least two sets of second pose information by using the pointer device forward kinematics formula, comprises:

[0020] determining the homogeneous transformation matrix of the pointer device base coordinate system and the laser emitter base coordinate system;

[0021] determining the straight line equation of each laser line in the pointer device base coordinate system according to the homogeneous transformation matrix of the pointer device base coordinate system and the laser emitter base coordinate system and at least two sets of second pose information;

[0022] According to linear equations of the at least two laser lines in the base coordinate system of the indicating device, a second position coordinate of the intersection of the at least two laser lines in the base coordinate system of the indicating device is determined.

[0023] In some embodiments, the registration optimization according to the first position coordinate and the second position coordinate obtains a homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the indicating device.

[0024] Based on a registration relationship satisfied by the first position coordinate and the second position coordinate.

[0025] The registration relationship is optimized by using a least square method to obtain the homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the indicating device.

[0026] In a second aspect, a registration device of a laser indicating device and a surgical execution arm is provided in the embodiments, which includes an acquisition module, a processing module and a registration module.

[0027] The acquisition module is configured to acquire first pose information of each joint of the surgical execution arm, and determine a first position coordinate of a target measurement point in a surgical execution arm coordinate system according to the first pose information.

[0028] The processing module is configured to determine at least two sets of second pose information of each joint of the laser indicating device when an intersection of at least two laser lines emitted under different poses of the laser indicating device coincides with the target measurement point, each laser line corresponding to a set of the second pose information, and determine a second position coordinate of the intersection in a base coordinate system of the indicating device according to the at least two sets of the second pose information.

[0029] The registration module is configured to perform registration optimization according to the first position coordinate and the second position coordinate to obtain a homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the indicating device.

[0030] 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 registration method of the laser indicating device and the surgical execution arm according to the first aspect when executing the computer program.

[0031] In a fourth aspect, a storage medium is provided in the embodiments, which stores a computer program executable by a processor to implement the registration method of the laser indicating device and the surgical execution arm according to the first aspect.

[0032] Compared with the related art, the laser indicating device and the registration method and device of the surgical execution arm provided in the embodiment, by acquiring first pose information of each joint of the surgical execution arm, determining a first position coordinate of the target measurement point in a coordinate system of the surgical execution arm according to the first pose information; when the intersection of at least two laser lines emitted by the laser indicating device at different poses coincides with the target measurement point, determining at least two sets of second pose information of each joint of the laser indicating device, each laser line corresponding to a set of second pose information; and determining a second position coordinate of the intersection in a base coordinate system of the indicating device according to the at least two sets of second pose information; and performing registration optimization according to the first position coordinate and the second position coordinate to obtain a homogeneous transformation matrix of the coordinate system of the surgical execution arm and the base coordinate system of the indicating device; solves the problem that in the related art, an additional measurement device needs to be introduced, resulting in an increase in the cost of registration, and realizes that in the case of not introducing an additional device, the registration accuracy can be ensured.

[0033] The 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 clear and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0034] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0035] Figure 1 is a schematic diagram of a surgical robot system provided by an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a support arm provided by an embodiment of the present application;

[0037] Figure 3 is a schematic diagram of an indicator provided by an embodiment of the present application;

[0038] Figure 4 is a schematic diagram of a computer tomography device provided by an embodiment of the present application;

[0039] Figure 5 is a structural block diagram of a processor provided by an embodiment of the present application;

[0040] Figure 6 is a flowchart of a registration method of a laser indicating device and a surgical execution arm provided by an embodiment of the present application. DETAILED DESCRIPTION

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

[0042] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as those commonly understood by a person having ordinary skill in the art to which the present application belongs. The terms "one", "a", "an", "the", "these", and similar terms in the present application do not indicate quantity, and they can be singular or plural. The terms "include", "contain", "have", and any variants thereof in the present application 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. The terms "connected", "connected", "coupled" and the like in the present application are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The term "multiple" in the present application refers to two or more. The term "and / or" describes the association between the associated objects, 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. Generally, the character " / " represents an "or" relationship between the associated objects. The terms "first", "second", "third" and the like in the present application 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 surgical robot system according to some embodiments of the present application. Referring to Figure 1 , the surgical robot system includes a laser indication device and a surgical execution arm.

[0044] The laser indication device can include a moving device 210, a support arm 220, and an indicator 230. The support arm 220 is provided on the moving device 210, and the indicator 230 is provided on the support arm 220. The moving device 210 can be a cart, a mobile station, etc. The laser indication device has at least three degrees of freedom; each rotary joint is one degree of freedom, i.e. the laser indication device has three rotary joints, which can adjust the laser line emitted by the laser indication device from three directions, so that multiple laser lines emitted by the laser indication device at different poses intersect at a specified point. The indicator 230 has at least two degrees of freedom, corresponding to two rotary joints. As shown in Figure 3 , the indicator 230 includes a second rotary joint 231, a third rotary joint 232, and a laser emitter 233. The support arm 220 has one degree of freedom, i.e. the support arm 220 has one rotary joint, as shown in Figure 2As shown, the support arm 220 comprises an upper arm 221, a first rotary joint 222, and a lower arm 223; the upper arm 221 is connected with the lower arm 223 through the first rotary joint 222, and the upper arm 221 is provided with an indicator 230. The second rotary joint 231, the third rotary joint 232, and the first rotary joint 222 are all connected with the processor and rotate under the control of the processor to make the intersection of the multiple laser lines emitted by the laser emitter 233 coincide with the target measurement point of the surgical execution arm.

[0045] In order to make the indicator 230 not affect the normal work of the robot, the first rotary joint 222 of the support arm 220 can be controlled. In the initial work, the indicator 230 is away from the position arranged outside the object body; in the auxiliary positioning work, the first rotary joint 222 can be rotated to make the indicator 230 on the support arm 220 above the object.

[0046] The surgical execution arm comprises a mechanical arm 240 and an end instrument 250; the mechanical arm 240 is arranged on the moving device 210, the mechanical arm 240 has multiple degrees of freedom, preferably, the mechanical arm 240 can have five degrees of freedom; the end instrument 250 is arranged on the mechanical arm 240. Through the mechanical arm 240, the end instrument 250 can be moved to various poses to complete the target action. The end instrument 250 comprises but is not limited to a puncture needle, a calibration tool, etc. In the embodiment, the robot and the laser indicating device share one moving device 210. In other embodiments, the robot can be arranged separately, which can have a moving device 210 by itself. Of course, the laser indicating device and the surgical execution arm can also have no moving device 210, which is not limited.

[0047] In other embodiments, the method of the application is not limited to be applicable to the above-mentioned multi-degree-of-freedom mechanical arm 240 and three-degree-of-freedom laser indicating device, but also can be applicable to other degrees-of-freedom mechanical arms 240 and laser indicating devices.

[0048] Figure 1 The robot system in the computer tomography device further comprises a computer tomography device. Figure 4 is a schematic diagram of an exemplary computer tomography device 100 according to some embodiments of the application. Referring to Figure 4 As shown, the computer tomography device 100 can comprise a scanner 110, a network 120, one or more terminals 130, a processor 140, and a memory 150. All components in the computer tomography device 100 can be connected with each other through the network 120.

[0049] The scanner 110 can scan an object and generate scanning data related to the object. In some embodiments, the scanner 110 can be a medical imaging device, for example, a CT device, a PET-CT device.

[0050] "images" referred to in the present disclosure can refer to 2D images, 3D images, 4D images, and / or any related data (e.g., CT data, projection data corresponding to CT data). This is not intended to limit the scope of the present disclosure. Various modifications and changes can be made as would be obvious to a person of ordinary skill in the art having the benefit of this disclosure.

[0051] The scanner 110 can include a gantry 111, a detector 112, a detection region 113, and a table 114. In some embodiments, the scanner 110 can also include a radioactive scan source 115. The gantry 111 can support the detector 112 and the radioactive scan source 115. A subject (patient) can be placed on the table 114 for scanning. The radioactive scan source 115 can emit radioactive rays toward the subject. The detector 112 can detect radiation rays (e.g., X-rays) emitted from the detection region 113.

[0052] The network 120 can include any suitable network that can facilitate 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 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

[0053] The 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 monitoring 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 helmet, a virtual reality pair of glasses, a virtual reality pair of goggles, an augmented reality helmet, an augmented reality pair of glasses, an augmented reality pair of goggles, 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 part of the processor 140.

[0054] 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 laser pointing device and the surgical execution arm, is configured to obtain first pose information of each joint of the surgical execution arm, determine a first position coordinate of a target measurement point in a coordinate system of the surgical execution arm according to the first pose information, determine at least two sets of second pose information of each joint of the laser pointing device when an intersection of at least two laser lines emitted at different poses of the laser pointing device coincides with the target measurement point, each laser line corresponding to a set of second pose information, and determine a second position coordinate of the intersection in a base coordinate system of the pointing device according to the at least two sets of second pose information, and perform registration optimization according to the first position coordinate and the second position coordinate to obtain a homogeneous transformation matrix between the coordinate system of the surgical execution arm and the base coordinate system of the pointing device.

[0055] 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. By way of 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 In some embodiments, the processor 140 can be implemented on a cloud platform. By way of 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.

[0056] The memory 150 can store data, instructions, and / or any other information. In some embodiments, the memory 150 can store data obtained from the terminal 130 and / or the processor 140. In some embodiments, the memory 150 can store data and / or instructions that the processor 140 can execute or use to perform the example methods described in the present disclosure. In some embodiments, the memory 150 can include a mass storage device, a removable storage device, a volatile read / write memory, a read-only memory (ROM), and / or the like, or any combination thereof. An example mass storage device can include a magnetic disk, an optical disk, a solid-state drive, and / or the like. An example removable storage can include a flash drive, a floppy disk, an optical disk, a memory card, a compact disk, a magnetic tape, and / or the like. 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), and / or the like. 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), a digital versatile disk ROM, and / or the like. In some embodiments, the memory 150 can be implemented on a cloud platform. By way of 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.

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

[0058] Figure 5 is a schematic diagram of an exemplary processor 140 according to some embodiments of the present application. As shown in Figure 5 the processor 140 can include an acquisition module 141, a processing module 142, and a registration module 143.

[0059] The acquisition module 141 is configured to acquire first pose information of each joint of the surgical execution arm, and determine a first position coordinate of the target measurement point in a coordinate system of the surgical execution arm according to the first pose information.

[0060] The processing module 142 is configured to determine at least two sets of second pose information of each joint of the laser indication device when the intersection of at least two laser lines emitted at different poses of the laser indication device coincides with the target measurement point, each laser line corresponding to a set of second pose information, and determine a second position coordinate of the intersection in a base coordinate system of the indication device according to the at least two sets of second pose information.

[0061] The registration module 143 is configured to perform registration optimization according to the first position coordinate and the second position coordinate, and obtain a homogeneous transformation matrix of the coordinate system of the surgical execution arm and the base coordinate system of the indication device.

[0062] With the above device, the need for introducing additional measurement equipment in the related art is solved, which leads to an increase in the cost of registration. In the case of not introducing additional equipment, the registration accuracy can be ensured.

[0063] In some embodiments, the first pose information of each joint of the surgical execution arm has at least two sets; each set of first pose information corresponds to at least two sets of second pose information.

[0064] In some embodiments, the laser indication device has at least three degrees of freedom.

[0065] In some embodiments, the acquisition module 141 is further configured to acquire the first pose information of each joint of the surgical execution arm.

[0066] Using the positive kinematics formula expressed by screws, the first position coordinates of the target measurement point in the surgical arm coordinate system are determined based on the first pose information.

[0067] In some embodiments, the processing module 142 is also used to adjust the laser lines emitted by the laser pointing device in different poses, with each laser line corresponding to a set of second pose information;

[0068] When the intersection of at least two laser lines coincides with the target measurement point, at least two sets of second pose information for each joint of the laser pointing device are determined.

[0069] Using the forward kinematics formula of the indicating device, the second position coordinates of the intersection point of at least two laser lines in the base coordinate system of the indicating device are determined based on at least two sets of second pose information.

[0070] In some embodiments, the processing module 142 is further configured to determine the homogeneous transformation matrix between the indicator base coordinate system and the laser emitter base coordinate system;

[0071] Based on the homogeneous transformation matrix between the indicator base coordinate system and the laser emitter base coordinate system and at least two sets of second pose information, determine the linear equation of each laser line in the indicator base coordinate system.

[0072] Based on the equations of the lines of at least two laser lines in the coordinate system of the indicating device, determine the second position coordinates of the intersection point of at least two laser lines in the coordinate system of the indicating device.

[0073] In some embodiments, the registration module 143 is further configured to base its work on a registration relationship satisfied by the first position coordinates and the second position coordinates.

[0074] The registration relationship is optimized using the least squares method to obtain the homogeneous transformation matrix between the surgical arm coordinate system and the indicator device base coordinate system.

[0075] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0076] This embodiment provides a registration method between a laser pointing device and a surgical arm. Figure 6 This is a flowchart of the registration method between the laser pointing device and the surgical execution arm in this embodiment, as shown below. Figure 6 As shown, the process includes the following steps:

[0077] Step S610, acquiring first pose information of each joint of the surgical execution arm, and determining a first position coordinate of the target measurement point in a coordinate system of the surgical execution arm according to the first pose information;

[0078] Specifically, each joint of the surgical execution arm refers to each rotary joint in the surgical execution arm; each rotary joint has one degree of freedom. The first pose information of each joint of the surgical execution arm refers to the pose-related parameters of each joint of the mechanical arm at a certain time node. For example, the pose-related parameters include but are not limited to rotational coordinates, angle parameters, etc. Generally, the zero position is taken as the preferred pose. The zero position can be understood as the state in which the angle parameters of each joint are 0. When each joint is in the zero position, the first position coordinate of the target measurement point in the coordinate system of the surgical execution arm can be determined according to the related structural parameters of the surgical execution arm. Of course, in order to improve the accuracy of subsequent calculation, the pose information of each joint can be transformed to obtain multiple sets of first pose information to determine the first position coordinate of the target measurement point in the coordinate system of the surgical execution arm corresponding to each set of first pose information.

[0079] In a preferred embodiment, the first pose information of each joint of the surgical execution arm has at least two sets; the first pose information of each joint of the surgical execution arm has at least two sets; each set of first pose information corresponds to at least two sets of second pose information. In this embodiment, the accuracy of the homogeneous transformation matrix calculation of the coordinate system of the surgical execution arm and the base coordinate system of the indication device can be improved. If further improvement in accuracy is required, five sets of first pose information can be obtained; and each set of first pose information corresponds to at least two sets of second pose information.

[0080] Step S620, when the intersection of at least two laser lines emitted by the laser indication device at different poses coincides with the target measurement point, determining at least two sets of second pose information of each joint of the laser indication device, each laser line corresponding to a set of second pose information; and determining a second position coordinate of the intersection in the base coordinate system of the indication device according to the at least two sets of second pose information;

[0081] Specifically, the laser indication device includes a moving device, a support arm, and an indicator; the laser emitter in the indicator emits a laser line. Each joint of the laser indication device refers to each rotary joint in the laser indication device; for example, the second rotary joint and the third rotary joint in the indicator, and the first rotary joint in the support arm.

[0082] The laser emitter in the pointer emits a laser line in each of the different poses (each set of second pose information is related to the pose of the second rotary joint, the third rotary joint and the first rotary joint, and each set of second pose information corresponds to the laser pointer in one pose). Each set of second pose information corresponds to the path of a laser line. The intersection of multiple laser lines can be any point. The relevant joints of the surgical execution arm can be adjusted to make the target measurement point coincide with the intersection of the laser line. Generally, the lower end point of the end instrument can be designated as the target measurement point.

[0083] In this embodiment, at least two sets of second pose information are used to determine the corresponding straight line equations of at least two laser lines in the base coordinate system of the pointing device, and each straight line equation corresponds to a laser line. The intersection point in the base coordinate system of the pointing device is calculated from the at least two straight line equations. In other embodiments, the intersection point coordinate in the base coordinate system of the pointing device can be designated as a virtual target measurement point. The joints of the surgical execution arm are adjusted to make the physical target measurement point on the end instrument coincide with the designated virtual target measurement point. Since the coordinate point of the target measurement point in the base coordinate system of the pointing device is designated, the intersection coordinate is also the coordinate point of the target measurement point in the base coordinate system of the pointing device, so the second position coordinate can be directly determined. This method can simplify the calculation process and improve the calculation efficiency. The second pose information includes but is not limited to angle information, related structural parameters of the second pose information, etc.

[0084] In step S630, the first position coordinate and the second position coordinate are used for registration optimization to obtain the homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the pointing device.

[0085] Specifically, the least squares method is used to perform registration optimization according to the first position coordinate and the second position coordinate to obtain the homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the pointing device.

[0086] In the existing registration scheme of the surgical robot, the depth information of the object is obtained based on the triangulation principle, and the depth information is measured by introducing a measuring device. The registration is completed by the two depth information. This scheme needs to introduce an additional measuring device, which increases the cost of registration.

[0087] The present application determines the first position coordinates of the target measurement point in the surgical execution arm coordinate system according to the first pose information, and then determines the second position coordinates of the intersection point in the indicating device base coordinate system according to the at least two sets of second pose information. Since the intersection point coincides with the target measurement point, the conversion relationship between the surgical execution arm coordinate system and the indicating device base coordinate system is associated through the first position coordinates and the second position coordinates, and the homogeneous transformation matrix of the surgical execution arm coordinate system and the indicating device base coordinate system is obtained. Therefore, the high-precision registration can be completed by adjusting the relevant parameters of the relevant joints in the surgical robot without introducing additional equipment, which can guarantee the registration accuracy, facilitate user use, and meet the design requirements of the miniaturization of the surgical robot, thereby solving the problem of increased registration cost caused by the introduction of additional measurement equipment in the related art.

[0088] The indicating device coordinate system will be described below:

[0089] Taking the laser indicating device as an example, the indicating device coordinate system includes an indicating device base coordinate system, a laser emitter base coordinate system, and a laser emitter end coordinate system.

[0090] The indicating device base coordinate system Base is established with the first rotary joint as the coordinate system origin. The relationship between the coordinate system at the first rotary joint and the indicating device base coordinate system is that when the first rotary joint is at zero position, the coordinate system at the first rotary joint coincides with the indicating device base coordinate system Base; when the first rotary joint is at a position after rotating by an angle h, the coordinate system at the first rotary joint has a relationship of rotating by an angle h around the z-axis of the indicating device base coordinate system.

[0091] The origin of the laser emitter base coordinate system is located at the second rotary joint. The establishment criterion of the laser emitter base coordinate system is that when the second rotary joint and the third rotary joint are at zero position, the laser indicating device points vertically downward at this time, and the direction is the z-axis of the laser emitter base coordinate system; the parallel line of the rotation axis of the third rotary joint is the y-axis of the laser emitter base coordinate system, and the direction of the rotation axis of the second rotary joint is the x-axis of the laser emitter base coordinate system; the laser line emitted by the laser indicating device and the parallel line of the rotation axis of the third rotary joint can determine a unique plane, and the intersection point of the plane and the rotation axis of the second rotary joint is the origin of the laser emitter base coordinate system.

[0092] The laser emitter end coordinate system E is established with the intersection point of the second rotary joint and the third rotary joint as the coordinate system origin. The directions of the axes of the laser emitter end coordinate system are consistent with the directions of the axes of the laser emitter base coordinate system.

[0093] The surgical execution arm coordinate system can be set by a user. For example, the surgical execution arm coordinate system established with the intersection of the movement device of the surgical execution arm and the axis of the mechanical arm as the origin of the coordinate system is not limited in this regard.

[0094] The target measurement point coordinate system is established with the target measurement point on the end instrument as the origin of the coordinate system, and the directions of the coordinate axes can be set by a user.

[0095] It should be noted that the laser indicating device can also be called a local anesthesia indicating device, the indicating device coordinate system can also be called a local anesthesia coordinate system, and the indicating device base coordinate system can also be called a local anesthesia base coordinate system. Other terms are similar, and the names of devices and coordinate systems can also be converted accordingly in some specific scenarios, which will not be illustrated one by one.

[0096] The above steps are described through embodiments as follows:

[0097] In some embodiments, step S610 includes the following steps:

[0098] Step S611: Obtain first pose information of each joint of the surgical execution arm.

[0099] Step S612: Determine the first position coordinates of the target measurement point in the surgical execution arm coordinate system according to the first pose information by using the screw representation forward kinematics formula.

[0100] Specifically, each joint of the surgical execution arm will obtain a set of first pose information corresponding to each joint when moving to different poses. Then, the screw representation forward kinematics formula is combined to calculate the first position coordinates of the target measurement point in the surgical execution arm coordinate system. The screw representation forward kinematics formula can quickly and accurately determine the first position coordinates of the target measurement point in the surgical execution arm coordinate system, thereby improving the calculation efficiency.

[0101] The screw representation forward kinematics formula is established in the surgical execution arm coordinate system in combination with the relevant data of the surgical execution arm. The expression is as follows:

[0102]

[0103] In the formula, T represents the set of first position coordinates; represents the screw coordinates of each joint of the surgical execution arm; θ i i=1,...,5 represents the angle of each joint of the surgical execution arm; represents the homogeneous transformation matrix of the target measurement point coordinate system in the surgical execution arm coordinate system when each joint of the surgical execution arm is at zero position, which can be the initial pose matrix of the target measurement point in the surgical execution arm coordinate system.

[0104] In this regard, it is needed to know that the second pose information can be acquired in the device base coordinate system or in other coordinate systems such as the laser emitter end coordinate system. If the second pose information is acquired in other coordinate systems such as the laser emitter end coordinate system, it can be converted to the device base coordinate system through the homogeneous transformation matrix between the coordinate systems.

[0105] In some embodiments, step S620 comprises the following steps:

[0106] Step S621, adjusting the laser lines emitted by the laser pointing device in different poses, each laser line corresponding to a set of second pose information;

[0107] Step S622, determining at least two sets of second pose information of the joints of the laser pointing device when the intersection of the at least two laser lines coincides with the target measurement point;

[0108] Step S623, determining the second position coordinates of the intersection of the at least two laser lines in the device base coordinate system according to the at least two sets of second pose information by using the forward kinematics formula of the pointing device.

[0109] Specifically, each set of second pose information of the joints corresponds to a laser line. The path of the laser line can be adjusted by adjusting the second pose information of the joints in the laser pointing device. In this embodiment, both laser lines need to pass through the target measurement point. Therefore, the first laser line emitted by the laser pointing device can be adjusted to pass through the target measurement point first, and the first set of second pose information of the joints θ(θ a1 , θ a2 , θ a3 ) is determined. Then the laser pointing device is further adjusted, the laser pointing device is moved and the path of the laser line is moved, so that the second laser line emitted by the laser pointing device passes through the target measurement point, and the second set of second pose information of the joints θ(θ b1 , θ b2 , θ b3 ) is determined.

[0110] Based on the obtained second pose information, the second position coordinates of the intersection of the two laser lines in the device base coordinate system are determined by using the forward kinematics formula of the pointing device. The specific steps can be:

[0111] determining the homogeneous transformation matrix between the device base coordinate system and the laser emitter base coordinate system;

[0112] determining the straight line equation of each laser line in the device base coordinate system according to the homogeneous transformation matrix between the device base coordinate system and the laser emitter base coordinate system and the at least two sets of second pose information;

[0113] According to the linear equations of the at least two laser lines in the base coordinate system of the indicating device, the second position coordinates of the intersection of the at least two laser lines in the base coordinate system of the indicating device are determined.

[0114] In the embodiment, due to the positional relationship defined by the structures of the base coordinate system Base of the indicating device and the end coordinate system E of the laser emitter, when a certain angle configuration θ (θ1, θ2, θ3) of each joint in the laser indicating device is given, the homogeneous transformation matrix of the intersection of the second rotary joint 231 and the third rotary joint 232 (as shown in FIG. 2B) and the base coordinate system Base of the indicating device (as shown in FIG. 2A at the first rotary joint 222) is: Figure 3 Figure 2

[0115]

[0116] In the formula, rotz(θ1) represents a 4*4 homogeneous transformation matrix formed after rotating θ1 around the z axis; θ1 represents an angle of the first rotary joint 222 (passive joint) of the support arm as shown in FIG. 2B; Figure 2 represents a homogeneous transformation matrix of the base coordinate system of the laser emitter with respect to the base coordinate system of the indicating device (also the coordinate system at the first rotary joint 222 in FIG. 2A); rotx(θ2) represents a 4*4 homogeneous transformation matrix formed after rotating θ2 around the x axis; θ2 represents an angle of the second rotary joint 231 (active joint) as shown in FIG. 2B; Figure 2 Figure 3 transl() represents a translation transformation along the x, y, and z directions of the base coordinate system of the indicating device (which can be considered as the coordinate system at the first rotary joint 222 in FIG. 2A); roty(θ3) represents a 4*4 homogeneous transformation matrix formed after rotating θ3 around the y axis; θ3 represents an angle of the third rotary joint 232 (active joint) as shown in FIG. 2B. Figure 2 Figure 3

[0117] In the formula, the forward kinematics formula of the indicating device is established in the coordinate system of the indicating device in combination with the related data of each joint of the laser indicating device; and the expression is as follows:

[0118]

[0119] Then, the linear equation of the laser line determined according to the second set of pose information can be represented by the vectors in the third column and the fourth column of the expression of the homogeneous transformation matrix T of the base coordinate system of the indicating device and the base coordinate system of the laser emitter. For example, the linear equation is (r 13 , r 23 , r 33 ) (p x , p y , p z ​​​​​​).

[0120] If the straight line equation of the above laser line passes through a point P i =(P ix ,P iy ,P iz )(i=1,2,....), the vector of the straight line direction is u i =(u ix ,u iy ,u iz )(i=1,2,....), and the nearest point on the multiple straight lines is m(x, y, z) (on the straight line), the point satisfies the equation: m=P i +a i *u i ; in the equation, a i represents the distance from the nearest point m to P i .

[0121] The equation is expanded into an equation, and a linearization matrix is constructed, and the expression of the linearization matrix is:

[0122]

[0123] The 6x5 matrix on the left side of the equation is denoted as G, the 5x1 vector on the left side of the equation is denoted as X, and the 6x1 vector on the right side of the equation is denoted as d; then the nearest point P (if multiple straight lines intersect, the point is the intersection point) to the straight line can be obtained by the following formula (the first three rows of X): X=pinv(G)·d;

[0124] Therefore, the second position coordinate of the intersection point P in the base coordinate system of the indicating device can be obtained in this way, and it can be considered that the second position coordinate of the intersection point in the base coordinate system of the indicating device is obtained by using the least square method.

[0125] In the embodiment, the second position coordinate of the intersection point in the base coordinate system of the indicating device can be accurately calculated through the above steps, and the accuracy is improved.

[0126] In some embodiments, step S630 includes the following steps:

[0127] Step S631, based on the registration relationship satisfied by the first position coordinate and the second position coordinate;

[0128] Step S632, using the least square method to optimize the registration relationship, and obtaining the homogeneous transformation matrix of the surgical execution arm coordinate system and the base coordinate system of the indicating device.

[0129] Specifically, the registration relationship is:

[0130]

[0131] wherein P i RB denotes a set of first position coordinates A in the coordinate system of the surgical execution arm; denotes a set of second position coordinates B in the coordinate system of the pointing device; R denotes a pose matrix of the coordinate system of the surgical execution arm in the coordinate system of the pointing device; and t denotes a position of the origin of the coordinate system of the surgical execution arm in the coordinate system of the pointing device.

[0132] The registration relationship is optimized by using a least square method, so that the transformation relationship between the coordinate system of the surgical execution arm and the coordinate system of the pointing device is quickly optimized, and the requirement for the performance of the processing device is reduced. In other embodiments, other optimization algorithms can be used to optimize the registration relationship, and the present application is not limited in this regard.

[0133] It should be noted that the steps shown in the above flow or the flowchart of the accompanying drawings can be executed in a computer system such as a set 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.

[0134] In the present embodiment, a computer device is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor being configured to execute the computer program to perform the steps in any of the above method embodiments.

[0135] Optionally, the above computer device can further comprise a transmission device and an input and output device, wherein the transmission device is connected to the processor, and the input and output device is connected to the processor.

[0136] Optionally, in the present embodiment, the processor can be configured to execute the following steps by the computer program:

[0137] S1, acquiring first pose information of each joint of the surgical execution arm, and determining first position coordinates of the target measurement point in the coordinate system of the surgical execution arm according to the first pose information;

[0138] S2, determining at least two sets of second pose information of each joint of the laser pointing device when the intersection of at least two laser lines emitted at different poses of the laser pointing device coincides with the target measurement point, each laser line corresponding to a set of second pose information; and determining second position coordinates of the intersection in the coordinate system of the pointing device according to the at least two sets of second pose information;

[0139] S3, performing registration optimization according to the first position coordinates and the second position coordinates, and obtaining a homogeneous transformation matrix of the coordinate system of the surgical execution arm and the coordinate system of the pointing device.

[0140] 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, which will not be repeated in the present embodiment.

[0141] In addition, in combination with the registration method of the laser indicating device and the surgical execution arm 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 the registration method of the laser indicating device and the surgical execution arm in any one of the above embodiments.

[0142] It should be understood that the specific embodiments described herein are intended to explain, not limit, the application. Based on 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.

[0143] Obviously, the drawings are only some examples or embodiments of the present application, and those of ordinary skill in the art can also apply the present application to other similar situations without creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, some design, manufacture or production changes made by those of ordinary skill in the art 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.

[0144] 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 alternatives to other embodiments. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0145] The above-described embodiments only express several implementation manners of the present application, which are described in detail and specifically, but should not be understood as limitations 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 method of registering a laser pointer device with a surgical execution arm, the method comprising: The method comprises the following steps: acquiring first pose information of each joint of a surgical execution arm, and determining a first position coordinate of a target measurement point in a coordinate system of the surgical execution arm according to the first pose information; when the intersection of at least two laser lines emitted by the laser pointing device at different poses coincides with the target measurement point, determining at least two sets of second pose information of each joint of the laser pointing device, each laser line corresponding to a set of second pose information; and using forward kinematics formula of the pointing device, determining a second position coordinate of the intersection in a base coordinate system of the pointing device according to the at least two sets of second pose information; performing registration optimization according to the first position coordinate and the second position coordinate to obtain a homogeneous transformation matrix of the coordinate system of the surgical execution arm and the base coordinate system of the pointing device.

2. The method of registering a laser pointer device with a surgical execution arm of claim 1, wherein, The first pose information of each joint of the surgical execution arm has at least two sets; each set of the first pose information corresponds to at least two sets of the second pose information.

3. The method of registering a laser pointer device with a surgical execution arm of claim 1, wherein, The laser pointing device has at least three degrees of freedom.

4. The method of registering a laser pointer device with a surgical execution arm according to any one of claims 1 to 3, characterized in that, The method of acquiring first pose information of each joint of a surgical execution arm, and determining a first position coordinate of a target measurement point in a coordinate system of the surgical execution arm according to the first pose information comprises the following steps: acquiring first pose information of each joint of the surgical execution arm; using forward kinematics calculation formula expressed by a screw to determine a first position coordinate of the target measurement point in the coordinate system of the surgical execution arm according to the first pose information.

5. The method of registration of a laser pointer device with a surgical execution arm according to claim 4, wherein, The method of, when the intersection of at least two laser lines emitted by the laser pointing device at different poses coincides with the target measurement point, determining at least two sets of second pose information of each joint of the laser pointing device, each laser line corresponding to a set of second pose information; and using forward kinematics formula of the pointing device, determining a second position coordinate of the intersection in a base coordinate system of the pointing device according to the at least two sets of second pose information comprises the following steps: adjusting the laser lines emitted by the laser pointing device at different poses, each laser line corresponding to a set of second pose information; when the intersection of at least two laser lines coincides with the target measurement point, determining at least two sets of second pose information of each joint of the laser pointing device; using forward kinematics formula of the pointing device, determining a second position coordinate of the intersection of the at least two laser lines in the base coordinate system of the pointing device according to the at least two sets of second pose information. The method of using forward kinematics formula of the pointing device, determining a second position coordinate of the intersection of the at least two laser lines in the base coordinate system of the pointing device according to the at least two sets of second pose information comprises the following steps:

6. The method of registering a laser pointer device with a surgical execution arm of claim 5, wherein, determining a homogeneous transformation matrix of the base coordinate system of the pointing device and the base coordinate system of the laser emitter; according to the homogeneous transformation matrix of the base coordinate system of the pointing device and the base coordinate system of the laser emitter and the at least two sets of second pose information, determining a straight line equation of each laser line in the base coordinate system of the pointing device; according to the straight line equations of the at least two laser lines in the base coordinate system of the pointing device, determining a second position coordinate of the intersection of the at least two laser lines in the base coordinate system of the pointing device. ​ 7. The method of registering a laser pointer device with a surgical execution arm of claim 4, wherein, The homogeneous transformation matrix of the surgical execution arm coordinate system and the indicating device base coordinate system obtained by registration optimization according to the first position coordinates and the second position coordinates comprises: a registration relationship satisfied by the first position coordinates and the second position coordinates; a homogeneous transformation matrix of the surgical execution arm coordinate system and the indicating device base coordinate system obtained by optimization of the registration relationship using a least square method.

8. A laser pointer device and surgical arm registration device, comprising: comprise: an acquisition module, a processing module, and a registration module; the acquisition module is configured to acquire first pose information of each joint of a surgical execution arm, and determine first position coordinates of a target measurement point in a surgical execution arm coordinate system according to the first pose information; the processing module is configured to determine at least two sets of second pose information of each joint of a laser indicating device when an intersection of at least two laser lines emitted by the laser indicating device at different poses coincides with the target measurement point, with each laser line corresponding to a set of the second pose information; and determine second position coordinates of the intersection in an indicating device base coordinate system according to at least two sets of the second pose information using an indicating device forward kinematics formula; the registration module is configured to perform registration optimization according to the first position coordinates and the second position coordinates to obtain a homogeneous transformation matrix of the surgical execution arm coordinate system and the indicating device base coordinate system. 9.A computer device, comprising a memory and a processor, and characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the steps of the registration method of the laser indicating device and the surgical execution arm according to any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the registration method of the laser indicating device and the surgical execution arm according to any one of claims 1 to 7.

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