Surgical robot positioning accuracy testing device, testing system, method and system

Abstract

This invention discloses a surgical robot positioning accuracy detection device, detection system, method, and system. The method includes: determining a first detection point and a second detection point on the surgical robot positioning accuracy detection device; acquiring actual detection point data and actual marker point data in a three-dimensional inspection image; calculating the actual position coordinates at the first and second detection points to determine the planned target path; and calculating the deviation angle between the actual positioning path based on the actual position coordinates of the first and second marker points. This invention calculates the deviation angle based on the actual position coordinates of two detection points on the surgical robot positioning accuracy detection device and the actual position coordinates of two marker points on the positioning device connected to the surgical robot, achieving accurate detection of the surgical robot system accuracy. It also evaluates the navigation and positioning performance of the surgical robot from two dimensions: marker point position and positioning posture position, enhancing the reliability and effectiveness of the detection.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a surgical robot positioning accuracy detection device, detection system, method, and system. Background Technology

[0002] Precision medicine is becoming the future direction of orthopedic surgery, and surgical robots that combine imaging and robotic arm control technology are becoming increasingly popular, greatly reducing the operational difficulty for surgeons. Accurately assessing the positioning accuracy of the surgical robot's navigation system is crucial to ensuring the safe and successful completion of surgery; currently, positional accuracy and positional repeatability are used as evaluation indicators.

[0003] Then, whether the implantable device can be inserted along the specific bone structure channel according to the surgical path planned by the doctor, and whether it can avoid nerves and blood vessels, are key factors in the success of the surgery. The evaluation of the positioning accuracy of the navigation system involves requirements for both the accuracy of the positioning point and the directional accuracy of the spatial straight line determining the implant's entry and exit points.

[0004] Therefore, the methods of representing fixed-point errors using positional accuracy and repeatability are no longer sufficient to comprehensively and objectively evaluate the precision of surgical robots. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defect that the accuracy of the surgical robot positioning system is difficult to detect in the prior art, and to provide a surgical robot positioning accuracy detection device, detection system, method and system.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] In a first aspect, the present invention provides a surgical robot positioning accuracy detection device, comprising:

[0008] Support base;

[0009] At least two detection units are provided on the same side of the support base. Each detection unit includes a support rod and a detection component. One end of the support rod is connected to the support base, and the other end of the support rod is equipped with the detection component. The projection of each detection component along the vertical direction is located on the side line or diagonal of a preset rectangle.

[0010] Preferably, the height values ​​of at least four of the detection components located diagonally from the support base are 90-100mm, 70-80mm, 50-60mm and 30-40mm, respectively;

[0011] And / or,

[0012] The detection component is a stainless steel ball with a diameter of 2-3 mm;

[0013] And / or,

[0014] The preset rectangle is a square, and the length of the square is 100-150mm.

[0015] In a second aspect, the present invention provides a detection system, comprising a surgical robot positioning accuracy detection device and a positioning device as described in any of the first aspects, wherein the surgical robot positioning accuracy detection device is used to detect the positioning accuracy of the positioning device.

[0016] The positioning device includes a positioning component and a connecting rod. The positioning component is connected to the surgical robot via the connecting rod. The positioning component has a front and a side. The side of the positioning component is provided with a side hole, which is located in the middle of the positioning component.

[0017] Preferably, the positioning component has a central hole at both ends of its front side, and a metal detection ball is provided in both the side hole and the central hole.

[0018] Thirdly, the present invention provides a method for detecting the positioning accuracy of a surgical robot, implemented using the surgical robot positioning accuracy detection device described in any one of the first aspects, comprising:

[0019] Determine the first and second detection points on the surgical robot positioning accuracy detection device;

[0020] Acquire actual detection point data and actual marker point data in a three-dimensional inspection image obtained by three-dimensional scanning using an imaging device; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging device coordinate system;

[0021] The planned target path is determined based on the actual position coordinates of the first detection point and the second detection point, and the actual positioning path is determined based on the actual position coordinates of the first marker point and the second marker point;

[0022] Calculate the deviation angle between the planned target path and the actual positioning path.

[0023] Preferably, before the step of acquiring the actual detection point data and actual marker point data in the three-dimensional projection image obtained by three-dimensional scanning using an imaging device, the method includes:

[0024] After performing a three-dimensional scan on the surgical robot positioning accuracy detection device using an imaging device, a three-dimensional planning image is obtained;

[0025] Acquire planning detection point data in the three-dimensional planning image; the planning detection point data includes the planning position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot;

[0026] The planned position coordinates of the first and second detection points in the imaging device coordinate system are converted into the transformed position coordinates of the first and second detection points in the surgical robot coordinate system.

[0027] The planned position coordinates of the first and second marker points on the central axis of the positioning device connected to the surgical robot are determined based on the transformed position coordinates of the first and second detection points.

[0028] Control commands are generated based on the planned position coordinates of the first and second marker points, causing the surgical robot to move to the planned position.

[0029] Preferably, it also includes:

[0030] The predicted position coordinates of the first detection point and the second detection point are calculated based on the actual position coordinates of the first and second marker points in the three-dimensional planning image. The first position deviation and the second position deviation are calculated based on the predicted position coordinates of the first and second detection points and the actual position coordinates of the first and second detection points.

[0031] And / or,

[0032] Calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path.

[0033] Fourthly, the present invention provides a surgical robot positioning accuracy detection system, comprising:

[0034] The first determining module is used to determine the first detection point and the second detection point on the surgical robot positioning accuracy detection device;

[0035] The first acquisition module is used to acquire actual detection point data and actual marker point data in a three-dimensional inspection image obtained by three-dimensional scanning using an imaging device; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging device coordinate system.

[0036] The second determining module is used to determine the planned target path based on the actual position coordinates of the first detection point and the second detection point, and to determine the actual positioning path based on the actual position coordinates of the first marker point and the second marker point;

[0037] The first calculation module is used to calculate the deviation angle between the actual planned path and the actual marked path.

[0038] Preferably, the system further includes:

[0039] The generation module is used to generate a three-dimensional medical image after the surgical robot positioning accuracy detection device is scanned in three dimensions using an imaging device;

[0040] The second acquisition module is used to acquire the planned detection point data in the three-dimensional medical image; the planned detection point data includes the planned position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot;

[0041] The conversion module is used to convert the planned position coordinates of the first detection point and the second detection point in the imaging device coordinate system into the converted position coordinates of the first detection point and the second detection point in the surgical robot coordinate system;

[0042] The third determining module is used to determine the planned position coordinates of the first and second marker points on the central axis of the positioning device connected to the surgical robot based on the transformed position coordinates of the first and second detection points.

[0043] The drive module is used to generate control commands based on the planned position coordinates of the first and second marker points, so that the surgical robot moves to the planned position.

[0044] Preferably, it also includes:

[0045] The second calculation module is used to calculate the predicted position coordinates of the first detection point and the second detection point based on the actual position coordinates of the first marker point and the second marker point in the three-dimensional inspection image, and to calculate the first position deviation and the second position deviation based on the predicted position coordinates of the first detection point and the second detection point and the actual position coordinates of the first detection point and the second detection point.

[0046] And / or,

[0047] The third calculation module is used to calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path.

[0048] Fifthly, the present invention provides an electronic device including a processor, a memory, and a computer program of a computer stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a method for detecting the positioning accuracy of a surgical robot as described in any of the third aspects.

[0049] In a sixth aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the surgical robot positioning accuracy detection method as described in any of the third aspects.

[0050] The positive and progressive effects of this invention are as follows: This invention discloses a surgical robot positioning accuracy detection device, detection system, method, and system. The method calculates the deviation angle based on the actual position coordinates of two detection points on the surgical robot positioning accuracy detection device and the actual position coordinates of two marker points on the positioning device connected to the surgical robot, thereby realizing the accurate detection of the surgical robot system accuracy. The navigation and positioning performance of the surgical robot is evaluated from two dimensions: the position of the marker points and the positioning posture position, which enhances the reliability and effectiveness of the detection. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the surgical robot positioning accuracy detection device according to Embodiment 1 of the present invention.

[0052] Figure 2 This is a schematic diagram of the detection system of Embodiment 2 of the present invention.

[0053] Figure 3 This is a schematic diagram of the positioning device of the detection system in Embodiment 2 of the present invention.

[0054] Figure 4 This is a flowchart of the surgical robot positioning accuracy detection method according to Embodiment 3 of the present invention.

[0055] Figure 5 This is a schematic diagram of the principle structure of the surgical robot positioning accuracy detection method in Embodiment 3 of the present invention.

[0056] Figure 6 This is a flowchart of the surgical robot positioning accuracy detection method according to Embodiment 4 of the present invention.

[0057] Figure 7 This is a schematic diagram illustrating the application of the surgical robot positioning accuracy detection method in Embodiment 4 of the present invention.

[0058] Figure 8 This is a schematic diagram of the module of the surgical robot positioning accuracy detection system in Embodiment 5 of the present invention.

[0059] Figure 9This is a schematic diagram of the surgical robot positioning accuracy detection system according to Embodiment 6 of the present invention.

[0060] Figure 10 This is a schematic diagram of the electronic device for implementing the surgical robot positioning accuracy detection method in Embodiment 7 of the present invention. Detailed Implementation

[0061] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0062] Example 1

[0063] This embodiment provides a surgical robot positioning accuracy detection device 100, such as... Figure 1 As shown, the positioning accuracy detection device 100 includes:

[0064] Support 1;

[0065] At least two detection units 2 are located on the same side of the support base 1. Each detection unit 2 includes a support rod 21 and a detection component 22. One end of the support rod 21 is connected to the support base 1, and the other end of the support rod 21 is equipped with the detection component 22. The projection of each detection component 22 along the vertical direction is located on the side line or diagonal of a preset rectangle.

[0066] The surgical robot positioning accuracy detection device 100 in this embodiment is used in the surgical robot positioning accuracy detection method to detect the system accuracy of the surgical robot at a predetermined detection point.

[0067] The support base 1 and the support rod 21 are made of materials that are difficult to image in medical imaging. For example, the support base 1 can be made of PMMA (polymethyl methacrylate), which has good X-ray transmission properties, and the support rod 21 can be a hollow structure made of a mixture of carbon fiber tube and engineering plastic. The support base 1 can be provided with at least two mounting holes, and one end of the support rod 21 can be detachably connected to the mounting hole.

[0068] The surgical robot positioning accuracy testing device 100 may include two or more testing units 2. The height of each support rod 21 may be the same or different. Using any two testing units 2 as a group, an experiment is conducted to test the system accuracy of the surgical robot at a predetermined testing point. Typically, three groups of testing units 2 are selected for accuracy testing, and the distance between these three groups of testing units 2 should not be too close to ensure that the testing range for positioning accuracy covers as large a space as possible. The accuracy testing of the testing component 22 can be completed in a single position scan and path planning, thereby improving the efficiency of surgical robot positioning accuracy testing.

[0069] Each detection component 22 can be located at specific positions on each side of the preset rectangle, such as the two endpoints, the midpoint, and the 1 / 3 mark of each side. Each detection component 22 can also be arranged at specific positions on the diagonal of the preset rectangle, such as the two midpoints, the midpoint, and the 1 / 3 mark of the diagonal. Each detection component 22 can also be arranged simultaneously at specific positions on each side and at specific positions on the diagonal of the preset rectangle, such as the two endpoints, the midpoint, and the 1 / 3 mark of each side and the diagonal.

[0070] In one embodiment, the height values ​​of at least four detection components 22 located diagonally from the support base 1 are 90-100mm, 70-80mm, 50-60mm and 30-40mm, respectively.

[0071] like Figure 1 As shown, the detection components 22 located on the diagonal can include a first type of detection component (shown as G in the figure) with a height of 95 mm; a second type of detection component (shown as J in the figure) with a height of 75 mm; a third type of detection component (shown as H in the figure) with a height of 55 mm; and a fourth type of detection component (shown as I in the figure) with a height of 35 mm.

[0072] In one embodiment, the detection component 22 is a stainless steel ball with a diameter of 2-3 mm.

[0073] The detection component 22 can be an X-ray-proof detection sphere, such as a stainless steel sphere. This stainless steel sphere produces a clearer image in X-ray images. The diameter of the stainless steel sphere can be 2 to 3 millimeters, for example, 2.5 millimeters, with an error within 0.02 millimeters in diameter.

[0074] In one embodiment, the preset rectangle is a square with a length of 100-150mm.

[0075] When the preset rectangle is a square, the side length of the square can be adjusted according to the structure and parameters of the imaging device. For example, the side length is 130 mm.

[0076] In this embodiment, by connecting one end of the support rod to the support base and installing the detection component at the other end of the support rod, the positioning accuracy detection device is simplified; by projecting the detection component vertically onto the side or diagonal of a preset rectangle, the test space distribution for positioning accuracy detection is expanded as much as possible; by setting multiple detection components and integrating them into the accuracy detection device, the problem of difficulty in detecting the distance between points and lines during accuracy detection is overcome, thereby improving the accuracy of positioning system accuracy detection.

[0077] Example 2

[0078] This embodiment provides a detection system, such as Figure 2-3 As shown, the surgical robot positioning accuracy detection device 100 and positioning device 200 are included in Embodiment 1. The surgical robot positioning accuracy detection device 100 is used to detect the positioning accuracy of the positioning device 200.

[0079] The positioning device 200 includes a positioning component 3 and a connecting rod (not shown in the figure). The positioning component 3 is connected to the surgical robot via the connecting rod. The positioning component 3 has a front and a side. The side of the positioning component 3 is provided with a side hole 31, which is located in the middle of the positioning component 3.

[0080] like Figure 3 As shown, the positioning component 3 is cylindrical with a length of 50-150 mm, for example, 90 mm. The diameter of the positioning component 3 and the size of the side hole 31 can be designed according to the actual needs of the surgical robot for different testing applications. The presence of the side hole 31 ensures that at least one detection hole can be imaged under the imaging device, improving the effectiveness of positioning accuracy testing using the surgical robot positioning accuracy testing device.

[0081] In one embodiment, such as Figure 3 As shown, both ends of the front of the positioning component 3 are provided with a central hole 32, and both the side hole 31 and the central hole 32 are provided with metal detection balls 33.

[0082] The metal detection ball 33 can be an X-ray-proof ball, such as a stainless steel ball. This stainless steel ball provides clearer imaging in medical images. The diameter of the stainless steel ball can be 2 to 3 millimeters, for example, 3 millimeters, with a diameter error within 0.02 millimeters. The two central holes 32 and one side hole 31 on the positioning component 3 prevent the situation where only one central hole 32 is within the imaging range during 3D scanning using imaging equipment, which could cause positioning accuracy detection failure and improve testing efficiency.

[0083] In this embodiment, the navigation and positioning accuracy of the surgical robot is measured using a detection system, which eliminates the need for an infrared optical system and simplifies the testing system. The surgical robot positioning accuracy detection device provides a reliable means for determining the navigation and positioning performance of the surgical robot and improves testing efficiency.

[0084] Example 3

[0085] This embodiment provides a method for detecting the positioning accuracy of a surgical robot, such as... Figure 4 As shown, the positioning accuracy detection device for the surgical robot in Example 1 is used to achieve this, including the following steps:

[0086] S11. Determine the first and second detection points on the surgical robot positioning accuracy detection device.

[0087] S12. Obtain actual detection point data and actual marker point data in the three-dimensional inspection image obtained by three-dimensional scanning using imaging equipment; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging equipment coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging equipment coordinate system.

[0088] S13. Determine the planned target path based on the actual position coordinates of the first detection point and the second detection point, and determine the actual positioning path based on the actual position coordinates of the first marker point and the second marker point.

[0089] S14. Calculate the deviation angle between the planned target path and the actual positioning path.

[0090] In step S11 above, two detection components at different positions are selected from several detection components on the surgical robot's positioning accuracy detection device and grouped together for positioning accuracy detection. The positions and orientations of the two detection components should not be close to each other to ensure that the test range covers as large a space as possible. Based on the selected detection components, a first detection point and a second detection point are determined. These first and second detection points are then used as the entry point or exit point, respectively, to form a planned path.

[0091] In step S12 above, after using an imaging device (e.g., a C-arm) to perform a three-dimensional scan of the surgical robot positioning accuracy detection device and the positioning device connected to the surgical robot within the imaging range, a three-dimensional inspection image is generated. After parsing the three-dimensional inspection image, actual detection point data and actual marker point data are obtained. The same imaging device is used to scan both the surgical robot positioning accuracy detection device and the positioning device simultaneously, ensuring that the obtained actual detection point data based on the plan and the actual marker point data for navigation and positioning are in the same set of image data, thus meeting the accuracy and consistency requirements of positioning accuracy detection. In Example 2, a metal detection ball placed in any one of the central holes of the positioning device is used as the first marker point, and a metal detection ball placed in a side hole is used as the second marker point. Alternatively, metal detection balls placed in the two central holes of the positioning device in Example 2 can be used as the first and second marker points, respectively.

[0092] In step S13 above, the first detection point is used as the entry point and the second detection point as the exit point. A planned target path is then formed based on the actual position coordinates of the first and second detection points. Similarly, the first marker point is used as the entry point and the second marker point as the exit point. An actual positioning path is then formed based on the actual position coordinates of both the first and second marker points. If the actual position coordinates of either the first or second detection point change, the formed planned target path is adjusted accordingly.

[0093] Regarding step S14 above, if the actual position coordinates of the first marker point are... The actual coordinates of the second marker point are The actual location path is The actual coordinates of the first detection point are: The actual coordinates of the second detection point are: The planned target path is .

[0094] The deviation angle between the planned target path and the actual positioning path is calculated using the following formula:

[0095]

[0096] In one embodiment, such as Figure 5 As shown, after simultaneously performing a 3D scan of the surgical robot positioning accuracy detection device and the surgical robot within the imaging range using a C-arm, P is obtained. A The location coordinates of the test point and P B The coordinates of the test points are used to form a planned path and location (shown by solid lines in the figure). The coordinates of markers P1 and P2 are obtained to form a positioning path and location (shown by dashed lines in the figure). The angle between the calculated planned path and the positioning path is used as a standard indicator to measure the deviation of the positioning posture angle in the surgical robot positioning accuracy test. It should be noted that the P1 and P2 markers can also be removed from the surgical robot positioning accuracy testing device. A Test points and P B The accuracy test is repeated for the two other detection components besides the test point.

[0097] In this embodiment, the deviation angle is calculated by using the actual position coordinates of two detection points on the surgical robot positioning accuracy detection device in the imaging device coordinate system and the actual position coordinates of two marker points on the central axis of the positioning device connected to the surgical robot. This enables accurate detection of the surgical robot system's accuracy. Multiple detection points and marker points can complete the accuracy test in a single position scan and path planning, improving the efficiency of the surgical robot system's accuracy detection.

[0098] Example 4

[0099] This embodiment provides a method for detecting the positioning accuracy of a surgical robot, such as... Figure 6 As shown, improvements have been made compared to Example 3, specifically:

[0100] S111. After performing a three-dimensional scan of the surgical robot positioning accuracy detection device using imaging equipment, a three-dimensional planning image is generated.

[0101] S112. Obtain the planning detection point data in the three-dimensional planning image; the planning detection point data includes the planning position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot.

[0102] S113. Convert the planned position coordinates of the first and second detection points in the imaging equipment coordinate system into the transformed position coordinates of the first and second detection points in the surgical robot coordinate system.

[0103] S114. Determine the planned position coordinates of the first and second marker points on the central axis of the positioning device connected to the surgical robot based on the converted position coordinates of the first and second detection points.

[0104] S115. Based on the planned position coordinates of the first and second marker points, generate control commands to enable the surgical robot to move to the planned position.

[0105] In step S111 above, the surgical robot positioning accuracy detection device is placed within the spatial range where the imaging device can perform image scanning, and its position is kept fixed. After the imaging device performs a three-dimensional scan of the surgical robot positioning accuracy detection device, a three-dimensional planning image is generated. For example, a three-dimensional planning image is generated after using a C-arm to perform a three-dimensional scan of the surgical robot positioning accuracy detection device.

[0106] In step S112 above, the imaging device coordinate system is based on the coordinate system built into the imaging device, with the origin set on the 3D planning image. After image segmentation and reconstruction of the 3D planning image, the planning position coordinates with the first detection point as the in point and the second detection point as the out point are obtained. The planned location coordinates of the second detection point This provides the fundamental data for driving the movement of the surgical robot.

[0107] In step S113 above, the surgical robot coordinate system is based on the coordinate system built into the robotic arm base of the surgical robot, and the origin of the coordinate system is set on the three-dimensional coordinate system on the robotic arm base.

[0108] For example, the rotation and translation matrix between the imaging device and the surgical robot is: R represents a 3×3 rotation matrix, and t represents a 3×1 translation matrix.

[0109] The planned location coordinates of the first detection point and Left multiply by rotation and translation matrix This can be converted into the transformed position coordinates in the surgical robot coordinate system. ,For example, .

[0110] In step S114 above, the planned position coordinates of the first and second marker points are calculated based on the transformed position coordinates of the first and second detection points and the preset constraints. For example, the transformed position coordinates of the first detection point are... The coordinates of the transformed position of the second detection point are The unit direction vector is If the safety distance is L, then the planned position coordinates of the second marker point on the central axis of the positioning device connected to the surgical robot are: The planned location coordinates of the first marker point are: .

[0111] Regarding step S115 above, based on the planned position coordinates of the first and second marker points... Control commands are generated, and the surgical robot moves to the planned position according to the commands, so that the positioning device connected to the surgical robot points as far as possible to the planned path formed based on the first and second marker points in the surgical robot coordinate system. It should be noted that the position coordinates of the metal detection ball in the side hole or center hole of the positioning device in Embodiment 2 represent the position coordinates of the first and second marker points.

[0112] In one embodiment, the surgical robot positioning accuracy detection method further includes:

[0113] S51. Calculate the predicted position coordinates of the first detection point and the second detection point based on the actual position coordinates of the first and second marker points in the three-dimensional inspection image, and calculate the first position deviation and the second position deviation based on the predicted position coordinates of the first and second detection points and the actual position coordinates of the first and second detection points.

[0114] The actual coordinates of the first marker point in the 3D inspection image are: The actual coordinates of the second marker point are The safe distance is L, and the unit direction vector is Calculate along Predicted position coordinates of the first detection point in the direction Predicted position coordinates of the second detection point The actual coordinates of the first detection point in the 3D inspection image are: The actual coordinates of the second detection point are: , First positional deviation and second positional deviation:

[0115]

[0116] in, Substituting A and B into i in the above formula, we obtain the first positional deviation. Second position deviation .

[0117] In one embodiment, the surgical robot positioning accuracy detection method further includes:

[0118] S52. Calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path.

[0119] The first and second distances are calculated using the following formulas:

[0120]

[0121] in, ;

[0122] Substituting A and B into i in the above equation, we obtain the first distance. Second distance .

[0123] In one embodiment, such as Figure 7 As shown, after performing a 3D scan of the surgical robot positioning accuracy detection device using an imaging device, the spatial coordinates of the test points marked on the device are obtained. These spatial coordinates are then converted into the target pose for the surgical robot's planned path. The surgical robot, equipped with positioning probes, performs navigation and positioning based on the target pose and then stops moving. After again performing a 3D scan of the surgical robot equipped with positioning probes and the surgical robot positioning accuracy detection device within the imaging range using the imaging device, the spatial coordinates of the test points marked on the device and the spatial coordinates of the positioning probes are obtained. The error between the actual arrival spatial pose formed by the spatial coordinates of the positioning probes and the test point pose formed by the spatial coordinates of the test points is calculated.

[0124] In this embodiment, a first position deviation and a second position deviation are calculated based on the predicted and actual position coordinates of two detection points to determine whether the positioning of the two marker points on the positioning device connected to the surgical robot is accurate. A first distance and a second distance are calculated from the two detection points to the actual positioning path formed by the first and second marker points to determine whether there is a deviation in the positioning attitude of the actual positioning path formed by the two marker points on the positioning device connected to the surgical robot. The navigation and positioning performance of the surgical robot is evaluated from two dimensions: marker point position and positioning attitude position. This avoids the situation where the planned target path and the actual positioning path are inconsistent due to accurate positioning points but positioning attitude deviation, thus enhancing the reliability and effectiveness of the accuracy detection of the surgical robot positioning system.

[0125] Example 5

[0126] This embodiment provides a surgical robot positioning accuracy detection system, such as... Figure 8 As shown, the surgical robot positioning accuracy detection system includes: a first determination module 210, a first acquisition module 220, a second determination module 230, and a first calculation module 240.

[0127] The first determining module 210 is used to determine the first detection point and the second detection point on the surgical robot positioning accuracy detection device.

[0128] The first acquisition module 220 is used to acquire actual detection point data and actual marker point data in the three-dimensional inspection image obtained by three-dimensional scanning using an imaging device; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging device coordinate system.

[0129] The second determining module 230 is used to determine the planned target path based on the actual position coordinates of the first detection point and the second detection point, and to determine the actual positioning path based on the actual position coordinates of the first marker point and the second marker point.

[0130] The first calculation module 240 is used to calculate the deviation angle between the planned target path and the actual positioning path.

[0131] The first determining module 210 selects two detection components at different positions from several detection components on the surgical robot's positioning accuracy detection device and groups them together for positioning accuracy detection. The positions and orientations of the two detection components should not be close to each other to ensure that the test range covers as large a space as possible. Based on the selected detection components, a first detection point and a second detection point are determined. These first and second detection points are then used as the entry point or exit point, respectively, to form a planned path.

[0132] After performing a three-dimensional scan of the surgical robot positioning accuracy detection device and the positioning device connected to the surgical robot within the imaging range using an imaging device (e.g., a C-arm), a three-dimensional inspection image is generated. After parsing the three-dimensional inspection image, the first acquisition module 220 acquires the actual detection point data and the actual marker point data. Using the same imaging device to scan both the surgical robot positioning accuracy detection device and the positioning device simultaneously ensures that the acquired actual detection point data based on the plan and the actual marker point data for navigation and positioning are in the same set of image data, meeting the accuracy and consistency requirements of positioning accuracy detection. A metal detection ball placed in any one of the central holes of the positioning device is used as the first marker point, and a metal detection ball placed in a side hole is used as the second marker point. Alternatively, metal detection balls placed in the two central holes of the positioning device can be used as the first and second marker points, respectively.

[0133] The second determining module 230 uses the first detection point as the entry point and the second detection point as the exit point, and then forms a planned target path based on the actual position coordinates of the first and second detection points. Similarly, using the first marker point as the entry point and the second marker point as the exit point, the second determining module 230 forms an actual positioning path based on the actual position coordinates of the first and second marker points. When the actual position coordinates of either the first or second detection point change, the formed planned target path is adjusted accordingly.

[0134] If the coordinates of the first marker point are The coordinates of the second marker point are The actual marked path is The coordinates of the first detection point are The coordinates of the second detection point are The planned target path is .

[0135] The first calculation module 240 calculates the deviation angle between the planned target path and the actual positioning path using the following formula:

[0136]

[0137] In this embodiment, the deviation angle is calculated by using the actual position coordinates of two detection points on the surgical robot positioning accuracy detection device in the imaging device coordinate system and the actual position coordinates of two marker points on the central axis of the positioning device connected to the surgical robot. This enables accurate detection of the surgical robot system's accuracy. Multiple detection points and marker points can complete the accuracy test in a single position scan and path planning, improving the efficiency of the surgical robot system's accuracy detection.

[0138] Example 6

[0139] This embodiment provides a surgical robot positioning accuracy detection system, such as... Figure 9 As shown, compared with Embodiment 5, the surgical robot positioning accuracy detection system has been improved and further includes: a generation module 211, a second acquisition module 212, a conversion module 213, a third determination module 214, and a driving module 215.

[0140] The generation module 211 is used to generate a three-dimensional planning image after the imaging equipment performs a three-dimensional scan on the surgical robot positioning accuracy detection device.

[0141] The second acquisition module 212 is used to acquire planning detection point data in the three-dimensional planning image; the planning detection point data includes the planning position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot.

[0142] The conversion module 213 is used to convert the planned position coordinates of the first and second detection points in the imaging device coordinate system into the converted position coordinates of the first and second detection points in the surgical robot coordinate system.

[0143] The third determining module 214 is used to determine the planned position coordinates of the first and second marker points on the central axis of the positioning device connected to the surgical robot based on the transformed position coordinates of the first and second detection points.

[0144] The drive module 215 is used to generate control commands based on the planned position coordinates of the first and second marker points, so that the surgical robot can move to the planned position.

[0145] The surgical robot positioning accuracy detection device is placed within the space where the imaging equipment can perform image scanning, and its position is kept fixed. The generation module 211 generates a 3D planning image after performing a 3D scan of the surgical robot positioning accuracy detection device using the imaging equipment. For example, a 3D medical image is generated after performing a 3D scan of the surgical robot positioning accuracy detection device using a C-arm.

[0146] The imaging device coordinate system is based on the coordinate system built into the imaging device, with the origin set on the 3D planning image. After performing image segmentation and reconstruction on the 3D planning image, the second acquisition module 212 acquires the planning position coordinates with the first detection point as the in point and the second detection point as the out point. The planned location coordinates of the second detection point This provides the fundamental data for driving the movement of the surgical robot.

[0147] The surgical robot coordinate system is a three-dimensional coordinate system based on the coordinate system built into the robotic arm base of the surgical robot, with the origin of the coordinate system set on the robotic arm base.

[0148] For example, the rotation and translation matrix between the imaging device and the surgical robot is: R represents a 3×3 rotation matrix, and t represents a 3×1 translation matrix. The conversion module 213 converts the planned position coordinates of the first detection point... and Left multiply by rotation and translation matrix This can be converted into the transformed position coordinates in the surgical robot coordinate system. ,For example, .

[0149] The third determining module 214 calculates the planned position coordinates of the first and second marker points based on the transformed position coordinates of the first and second detection points and preset constraints. For example, the transformed position coordinates of the first detection point are... The coordinates of the transformed position of the second detection point are The unit direction vector is If the safety distance is L, then the planned position coordinates of the second marker point on the central axis of the positioning device connected to the surgical robot are: The planned location coordinates of the first marker point are: .

[0150] Based on the planned position coordinates of the first and second marker points The control command is generated, and the drive module 215 drives the surgical robot to move precisely, so that the positioning device connected to the surgical robot points as far as possible to the planned path formed based on the first and second marker points in the surgical robot coordinate system. It should be noted that the position coordinates of the metal detection ball in the side hole or center hole of the positioning device in Embodiment 2 represent the position coordinates of the first and second marker points.

[0151] In one embodiment, the surgical robot positioning accuracy detection system further includes a second calculation module 250.

[0152] The second calculation module 250 is used to calculate the predicted position coordinates of the first detection point and the second detection point based on the actual position coordinates of the first and second marker points in the three-dimensional inspection image, and to calculate the first position deviation and the second position deviation based on the predicted position coordinates of the first and second detection points and the actual position coordinates of the first and second detection points.

[0153] The actual coordinates of the first marker point in the 3D inspection image are: The actual coordinates of the second marker point are The safe distance is L, and the unit direction vector is Calculate along Predicted position coordinates of the first detection point in the direction Predicted position coordinates of the second detection point The actual coordinates of the first detection point in the 3D inspection image are: The actual coordinates of the second detection point are: , First positional deviation and second positional deviation:

[0154]

[0155] in, Substituting A and B into i in the above formula, we obtain the first positional deviation. Second position deviation .

[0156] In one embodiment, the surgical robot positioning accuracy detection system further includes a third calculation module 260.

[0157] The third calculation module 260 is used to calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path.

[0158] The first and second distances are calculated using the following formulas:

[0159]

[0160] in, Substituting A and B into i in the above formula, we obtain the first distance. Second distance .

[0161] In this embodiment, a first position deviation and a second position deviation are calculated based on the predicted and actual position coordinates of two detection points to determine whether the positioning of the two marker points on the positioning device connected to the surgical robot is accurate. A first distance and a second distance are calculated from the two detection points to the actual positioning path formed by the first and second marker points to determine whether there is a deviation in the positioning attitude of the actual marked path formed by the two marker points on the positioning device connected to the surgical robot. The navigation and positioning performance of the surgical robot is evaluated from two dimensions: marker point position and positioning attitude position. This avoids the situation where the planned target path and the actual positioning path are inconsistent due to accurate positioning points but positioning attitude deviation, thus enhancing the reliability and effectiveness of the surgical robot positioning system accuracy detection.

[0162] Example 7

[0163] Figure 10This is a schematic diagram of the structure of an electronic device provided in this embodiment. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the surgical robot positioning accuracy detection method of Embodiment 3 or Embodiment 4. Figure 10 The electronic device 90 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0164] like Figure 10 As shown, the electronic device 90 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0165] Bus 93 includes a data bus, an address bus, and a control bus.

[0166] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0167] The memory 92 may also include a program / utility 925 having a set (at least one) of program modules 924, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0168] The processor 91 executes various functional applications and data processing by running computer programs stored in the memory 92, such as the surgical robot positioning accuracy detection method of Embodiment 3 or Embodiment 4 of the present invention.

[0169] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 95. Furthermore, the model-generating device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 96. Figure 10 As shown, network adapter 96 communicates with other modules of the model-generated device 90 via bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0170] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0171] Example 8

[0172] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the surgical robot positioning accuracy detection method of Embodiment 3 or Embodiment 4.

[0173] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0174] In a possible implementation, the present invention can also be implemented as a program product, which includes program code. When the program product is run on a terminal device, the program code is used to cause the terminal device to perform the steps of implementing the surgical robot positioning accuracy detection method of Embodiment 3 or Embodiment 4.

[0175] The program code for executing the present invention can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0176] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A method for detecting the positioning accuracy of a surgical robot, characterized in that, This is achieved using a surgical robot positioning accuracy detection device, which is located within a detection system. The detection system also includes an imaging device and a positioning device. The imaging device is a C-arm X-ray imaging device. The surgical robot positioning accuracy detection device is used to detect the positioning accuracy of the positioning device. The positioning device includes a positioning component and a connecting rod. The positioning component is connected to the surgical robot via the connecting rod. The positioning component has a front and a side. The side of the positioning component has a side hole located in the middle. Both ends of the front of the positioning component have central holes. Metal detection balls are installed in both the side holes and the central holes. The metal detection balls and the detection component in the surgical robot positioning detection device are simultaneously imaged in the same three-dimensional scan image of the imaging device. The surgical robot positioning accuracy detection device includes: a support base; at least two detection units, each detection unit being located on the same side of the support base, each detection unit including a support rod and a detection component, one end of the support rod being connected to the support base, and the other end of the support rod being equipped with the detection component, the projection of each detection component along the vertical direction being located on the side line or diagonal of a preset rectangle; each detection component may be located at the two endpoints, midpoint, and 1 / 3 position of each side and / or diagonal of the preset rectangle; The heights of at least four of the detection components located diagonally from the support base are 90-100mm, 70-80mm, 50-60mm, and 30-40mm, respectively; the preset rectangle is a square with a length of 100-150mm; the detection component is a stainless steel ball with a diameter of 2-3mm; the support base is made of X-ray resistant material, and the support rod is a hollow structure. The method includes: Determine the first and second detection points on the surgical robot positioning accuracy detection device; Acquire actual detection point data and actual marker point data in a three-dimensional inspection image obtained by three-dimensional scanning using an imaging device; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging device coordinate system; The planned target path is determined based on the actual position coordinates of the first detection point and the second detection point, and the actual positioning path is determined based on the actual position coordinates of the first marker point and the second marker point; Calculate the deviation angle between the planned target path and the actual positioning path; the formula for calculating the deviation angle between the planned target path and the actual positioning path is: The deviation angle is The planned target path is The actual positioning path is The actual position coordinates of the first marker point are The actual coordinates of the second marker point are The actual coordinates of the first detection point are: The actual coordinates of the second detection point are: ; The predicted position coordinates of the first detection point and the second detection point are calculated based on the actual position coordinates of the first and second marker points in the three-dimensional inspection image, and the first position deviation and the second position deviation are calculated based on the predicted position coordinates of the first and second detection points and the actual position coordinates of the first and second detection points. Calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path; Before the step of acquiring the actual detection point data and actual marker point data in the three-dimensional inspection image obtained by three-dimensional scanning using an imaging device, the following steps are included: After performing a three-dimensional scan on the surgical robot positioning accuracy detection device using an imaging device, a three-dimensional planning image is generated; Acquire planning detection point data in the three-dimensional planning image; the planning detection point data includes the planning position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot; The planned position coordinates of the first and second detection points in the imaging device coordinate system are converted into the transformed position coordinates of the first and second detection points in the surgical robot coordinate system. The planned position coordinates of the first and second marker points on the central axis of the positioning device connected to the surgical robot are determined based on the transformed position coordinates of the first and second detection points. Control commands are generated based on the planned position coordinates of the first and second marker points, causing the surgical robot to move to the planned position.

2. A surgical robot positioning accuracy detection system, characterized in that, This is achieved using a surgical robot positioning accuracy detection device, which is located within a detection system. The detection system also includes an imaging device and a positioning device. The imaging device is a C-arm X-ray imaging device. The surgical robot positioning accuracy detection device is used to detect the positioning accuracy of the positioning device. The positioning device includes a positioning component and a connecting rod. The positioning component is connected to the surgical robot via the connecting rod. The positioning component has a front and a side. The side of the positioning component has a side hole located in the middle. Both ends of the front of the positioning component have central holes. Metal detection balls are installed in both the side holes and the central holes. The metal detection balls and the detection component in the surgical robot positioning detection device are simultaneously imaged in the same three-dimensional scan image of the imaging device. The surgical robot positioning accuracy detection device includes: a support base; at least two detection units, each detection unit being located on the same side of the support base, each detection unit including a support rod and a detection component, one end of the support rod being connected to the support base, and the other end of the support rod being equipped with the detection component, the projection of each detection component along the vertical direction being located on the side line or diagonal of a preset rectangle; each detection component may be located at the two endpoints, midpoint, and 1 / 3 position of each side and / or diagonal of the preset rectangle; The heights of at least four of the detection components located diagonally from the support base are 90-100mm, 70-80mm, 50-60mm, and 30-40mm, respectively; the preset rectangle is a square with a length of 100-150mm; the detection component is a stainless steel ball with a diameter of 2-3mm; the support base is made of X-ray resistant material, and the support rod is a hollow structure. The system includes: The first determining module is used to determine the first detection point and the second detection point on the surgical robot positioning accuracy detection device; The first acquisition module is used to acquire actual detection point data and actual marker point data in a three-dimensional inspection image obtained by three-dimensional scanning using an imaging device; the actual detection point data includes the actual position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the actual marker point data includes the actual position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot in the imaging device coordinate system. The second determining module is used to determine the planned target path based on the actual position coordinates of the first detection point and the second detection point, and to determine the actual positioning path based on the actual position coordinates of the first marker point and the second marker point; The first calculation module is used to calculate the deviation angle between the planned target path and the actual positioning path; the formula for calculating the deviation angle between the planned target path and the actual positioning path is: The deviation angle is The planned target path is The actual positioning path is The actual position coordinates of the first marker point are The actual coordinates of the second marker point are The actual coordinates of the first detection point are: The actual coordinates of the second detection point are: ; The second calculation module is used to calculate the predicted position coordinates of the first detection point and the second detection point based on the actual position coordinates of the first marker point and the second marker point in the three-dimensional inspection image, and to calculate the first position deviation and the second position deviation based on the predicted position coordinates of the first detection point and the second detection point and the actual position coordinates of the first detection point and the second detection point. The third calculation module is used to calculate the first distance and the second distance from the first detection point and the second detection point in the three-dimensional inspection image to the actual positioning path; The generation module is used to generate a three-dimensional planning image after the surgical robot positioning accuracy device is three-dimensionally scanned by the imaging device. The second acquisition module is used to acquire planning detection point data in the three-dimensional planning image; the planning detection point data includes the planning position coordinates of the first detection point and the second detection point in the imaging device coordinate system, and the first detection point and the second detection point are used to generate the end effector pose of the surgical robot; The conversion module is used to convert the planned position coordinates of the first detection point and the second detection point in the imaging device coordinate system into the converted position coordinates of the first detection point and the second detection point in the surgical robot coordinate system. The third determining module is used to determine the planned position coordinates of the first marker point and the second marker point on the central axis of the positioning device connected to the surgical robot based on the transformed position coordinates of the first detection point and the second detection point; The drive module is used to generate control commands based on the planned position coordinates of the first and second marker points, so that the surgical robot can move to the planned position.

3. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for detecting the positioning accuracy of the surgical robot as described in claim 1.

4. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the method for detecting the positioning accuracy of a surgical robot as described in claim 1.

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