Puncture surgery robot collision detection method, device, equipment and storage medium

Abstract

The present invention relates to a collision detection method, device, equipment and storage medium for a puncture surgical robot. The method comprises: obtaining an image by scanning a lesion with a scanning robot arm, acquiring a scanning area of ​​the image in a first coordinate system; converting the scanning area to a second coordinate system; determining the edge of the scanning area and the lesion point; planning the path of the puncture robotic arm according to the lesion point; and determining the positional relationship between the path and the edge. The collision detection method, device, equipment and storage medium for a puncture surgical robot provided in the present application utilize an ultrasonic probe at the end of a scanning robot arm to obtain an image, and performing a coordinate system conversion on the image so that it is in the coordinate system to which the puncture needle belongs, thereby demarcating the scanning area and calibrating the lesion point. The puncture robotic arm then performs path planning and determines whether the path exceeds the scanning area. If so, it is determined that there is a collision risk, thereby helping to reduce the amount of computation required by the puncture surgical robot and ensure work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture surgical robots, and in particular to a collision detection method, device, equipment and storage medium for a puncture surgical robot. Background Art

[0002] The puncture surgical robot is an important application of robot-assisted minimally invasive surgery. It achieves small-scale operations by connecting a puncture needle to the end of the robotic arm and reaching the lesion in a reasonable direction and depth.

[0003] In addition, puncture surgical robots often need to consider factors such as obstacle avoidance during path planning. Obstacles include not only physiological structures such as bones and large blood vessels, but also other components of the puncture surgical robot body. Therefore, existing path avoidance methods often perform set operations through medical images and the position of the puncture surgical robot. However, the above-mentioned operation method has a large amount of computation and cannot ensure the working efficiency of the puncture surgical robot. Summary of the Invention

[0004] The present invention provides a collision detection method, device, equipment and storage medium for a puncture surgical robot, aiming to reduce the collision risk of the puncture surgical robot and ensure the working efficiency of the puncture surgical robot.

[0005] In a first aspect, an embodiment of the present invention provides a collision detection method for a puncture surgery robot, comprising:

[0006] The scanning robot arm scans the lesion to obtain an image, and obtains a scanning area of ​​the image in a first coordinate system, where the first coordinate system belongs to the coordinate system of the scanning robot arm;

[0007] Convert the scanning area to the second coordinate system, which is the coordinate system of the puncture robot arm;

[0008] Determine the edges of the scan area;

[0009] Plan the path of the puncture robotic arm according to the lesion point;

[0010] Determine the positional relationship between the path and the edge.

[0011] Optionally, determining the edge of the scanning area specifically includes:

[0012] Determine the point cloud set of the scanning area in the second coordinate system;

[0013] The coordinate information of the edge points corresponding to the selected point cloud set;

[0014] Connect the edge points and determine the edge of the scan area based on the corresponding coordinate information.

[0015] Optionally, determining the positional relationship between the path and the edge specifically includes:

[0016] Select the moving point of the connection part of the puncture robot arm along the path;

[0017] Determine the positional relationship between the moving point and the edge of the scanning area,

[0018] If they overlap, a collision is determined to have occurred.

[0019] Optionally, if there is overlap, after determining that a collision occurs, the following steps are further included:

[0020] Replan the path of the puncture robot arm.

[0021] Optionally, the connection portion includes a flange for fixing the puncture needle and a joint connecting the flange.

[0022] Optionally, before converting the scanning area to a second coordinate system, which is a coordinate system to which the puncture robot arm belongs, the method further includes:

[0023] Gets the homogeneous transformation matrix from the first coordinate system to the second coordinate system.

[0024] In a second aspect, an embodiment of the present invention provides a puncture surgery robot collision detection device, which applies the puncture surgery robot collision detection method proposed in the first aspect, including:

[0025] A scanning area determination module is used to obtain an image of the lesion by scanning the scanning robot arm, and obtain a scanning area of ​​the image in a first coordinate system, where the first coordinate system belongs to the coordinate system of the scanning robot arm;

[0026] A coordinate system conversion module is used to convert the scanning area to a second coordinate system, which is the coordinate system of the puncture robot arm;

[0027] Edge and lesion point determination module, used to determine the edge of the scanning area;

[0028] The path planning module is used to plan the path of the puncture robot arm according to the lesion point;

[0029] The position relationship determination module is used to determine the position relationship between the path and the edge.

[0030] Optionally, the coordinate system conversion module is configured to perform the following operations:

[0031] Gets the homogeneous transformation matrix from the first coordinate system to the second coordinate system.

[0032] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device including: one or more processors;

[0033] a memory for storing one or more programs;

[0034] When one or more programs are executed by one or more processors, the one or more processors implement the puncture surgery robot collision detection method provided by any embodiment of the present invention.

[0035] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the puncture surgical robot collision detection method provided by any embodiment of the present invention.

[0036] The embodiments of the present invention provide a collision detection method, device, equipment and storage medium for a puncture surgical robot, wherein the method uses an ultrasonic probe at the end of a scanning robotic arm to acquire an image, and performs coordinate system conversion on the image so that it is in the coordinate system of the puncture needle, and then defines the scanning area and calibrates the lesion point. Thereafter, the puncture robotic arm is path-planned, and it is determined whether the path exceeds the scanning area. If so, it is determined that there is a collision risk, which is beneficial to reducing the computational complexity of the puncture surgical robot and ensuring work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flowchart of a collision detection method for a puncture surgery robot provided by an embodiment of the present invention;

[0038] Figure 2 A flowchart of determining the edge of a scanning area in a collision detection method for a puncture surgery robot provided in an embodiment of the present invention;

[0039] Figure 3 This is a flow chart of determining the positional relationship between the path and the edge in a collision detection method for a puncture surgery robot provided by an embodiment of the present invention;

[0040] Figure 4 This is a schematic structural diagram of a collision detection device for a puncture surgery robot provided by an embodiment of the present invention;

[0041] Figure 5 This is a schematic structural diagram of a collision detection device for a puncture surgery robot provided by an embodiment of the present invention;

[0042] Figure 6 Schematic diagram of a scanning robotic arm and a puncture robotic arm in a collision detection method for a puncture surgical robot provided by an embodiment of the present invention;

[0043] Figure 7 It is an enlarged view of a puncture robot arm in a puncture surgical robot collision detection method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0045] Existing puncture surgical robots used for puncture surgery often need to consider factors such as obstacle avoidance during path planning. Obstacles include not only physiological structures such as bones and large blood vessels, but also other components of the puncture surgical robot body. Therefore, existing path avoidance methods often perform set operations based on medical images and the position of the puncture surgical robot. However, the above-mentioned operation method has a large amount of computation and cannot ensure the working efficiency of the puncture surgical robot.

[0046] Example 1

[0047] In view of the above shortcomings, the present invention proposes a collision detection method for a puncture surgical robot. Figure 1 As shown, including:

[0048] S10: The scanning robot arm scans the lesion to obtain an image, and obtains the scanning area of ​​the image in the first coordinate system. The first coordinate system belongs to the coordinate system of the scanning robot arm; Figure 6 As shown, the puncture surgical robot includes a scanning arm and a puncture arm. The end of the scanning arm is fixedly connected to an ultrasound probe, while a section of the puncture arm is fixedly connected to a puncture needle. It should be noted that the first coordinate system is based on the flange coordinate system at the end of the scanning arm. The image captured by the ultrasound probe is processed to obtain the scanning area in the first coordinate system.

[0049] S20: Convert the scanning area to the second coordinate system, which is the coordinate system of the puncture robot arm; the third coordinate system refers to the flange coordinate system based on the end of the puncture robot arm. In order to enable the puncture needle to operate within the scanning area, it is necessary to unify the coordinate systems corresponding to the scanning area and the puncture needle movement trajectory.

[0050] In a preferred embodiment, before executing step S20, the method further includes: obtaining a homogeneous transformation matrix from the first coordinate system to the second coordinate system. The coordinate transformation between the two coordinate systems is achieved through the homogeneous transformation matrix. The transformation formula is as follows:

[0051]

[0052] in, R P is the coordinate position vector of the ultrasound probe, is the homogeneous transformation matrix of the ultrasonic probe {T} relative to the first coordinate system, is the homogeneous transformation matrix of the first coordinate system relative to the second coordinate system.

[0053] S30: Determine the edge of the scanning area; It should be noted that the edge and the lesion point are determined in different ways. First, the edge of the scanning area can be determined by determining the edge extreme value of the scanning area in the second coordinate system and then connecting the edges of the scanning area. For example, assuming the second coordinate system is XOZ, the coordinates of the edge extreme point selected in the second coordinate system {R} are X R and Z R , connecting multiple edge extreme points to form the edge of the scanning area.

[0054] Here, the coordinate information of the lesion point in the second coordinate system is determined.

[0055] S40: Planning the path of the puncture robot arm based on the lesion point; based on the obtained lesion point coordinate information, the coordinate information of the puncture needle and the lesion point is calculated to obtain the path of the puncture robot arm. In a more preferred embodiment, the position information of physiological structures such as bones and large blood vessels is annotated within the scanning area, thereby constraining the puncture needle's puncture angle and the resulting path of the puncture robot arm.

[0056] S50: Determine the positional relationship between the path and the edge. The movement of the puncture robot arm within the scanning area will be determined to be safe, otherwise it will be determined to have a collision risk.

[0057] The collision detection method for a puncture surgical robot provided in an embodiment of the present invention uses an ultrasonic probe at the end of a scanning robotic arm to acquire an image, and performs coordinate system conversion on the image so that it is in the coordinate system of the puncture needle, and then defines the scanning area and calibrates the lesion point. After that, the path of the puncture robotic arm is planned, and it is determined whether the path exceeds the scanning area. If it exceeds the scanning area, it is determined that there is a collision risk, which is beneficial to reduce the computational complexity of the puncture surgical robot and ensure work efficiency.

[0058] Example 2

[0059] Further Figure 2 and Figure 3 As shown, this embodiment further refines the above technical solution, wherein step S30 specifically includes:

[0060] S31: Determine a point cloud set of the scanning area in the second coordinate system; the point cloud set includes image points collected by the ultrasound probe, and the image points can be lesions or physiological structures such as bones and large blood vessels.

[0061] S32: Coordinate information of the edge points corresponding to the selected point cloud is obtained. It should be noted that this coordinate information belongs to the second coordinate system of the puncture robot arm. The coordinate information of the edge points can be understood as having extreme coordinate values. For example, assuming the second coordinate system is a rectangular coordinate system XOZ, the coordinate information of the edge points has maximum and / or minimum values ​​in the X-axis and Z-axis directions.

[0062] S33: Connect the edge points and determine the edge of the scanning area based on the corresponding coordinate information. By connecting the edge points, the scanning area is delineated.

[0063] Then, in the process of executing step S50, it specifically includes:

[0064] S51: Select the moving point of the connection part of the puncture robot arm in the path; in an optional embodiment, the connection part includes a flange for fixing the puncture needle and a joint connecting the flange (such as the fourth and fifth joints of the puncture robot arm). When the flange and the joint are set in the scanning area, there will be no possibility of collision with other parts. Therefore, it is assumed that the detection point and coordinate values ​​of the flange and the joint in the second coordinate system are as follows Figure 7 As shown:

[0065] M(X M , Z M )

[0066] N(X N , Z N )

[0067] F(X F , Z F )

[0068] E(X E , Z E )

[0069] S52: Determine the positional relationship between the moving point and the edge of the scanning area; specifically, based on the comparison of the coordinate values ​​of the detection point and the edge point coordinate information, the determination formula is as follows: (X M >X R ∩Z M <Z R )∪(X N >X R ∩Z N <Z R )∪(X F >X R ∩Z F <Z R )∪Z E <Z R

[0070] S53: If there is overlap, a collision is determined to have occurred. If a collision is determined to have occurred, the path of the puncture robot arm needs to be replanned.

[0071] If no overlap occurs, move to the lesion site for subsequent puncture operations.

[0072] Based on the first embodiment, the embodiment of the present invention selects several detection points close to the puncture needle to determine whether the puncture needle is in the scanning area, thereby more accurately determining whether there is a possibility of collision with the puncture robotic arm. Compared with calculating the puncture robotic arm as a whole, this is beneficial to reducing the amount of calculation of the puncture surgical robot and ensuring work efficiency.

[0073] Example 3

[0074] The present invention also proposes a collision detection device for a puncture surgery robot, such as Figure 4 As shown, including:

[0075] The scanning area determination module 01 is used to obtain an image obtained by scanning the lesion by the scanning robot arm, and obtain the scanning area of ​​the image in a first coordinate system, where the first coordinate system belongs to the coordinate system of the scanning robot arm;

[0076] The coordinate system conversion module 02 is used to convert the scanning area to the second coordinate system, which is the coordinate system of the puncture robot arm. The coordinate system conversion module 02 is configured to perform the following operations:

[0077] Gets the homogeneous transformation matrix from the first coordinate system to the second coordinate system.

[0078] The edge and lesion point determination module 03 is used to determine the edge of the scan area. The edge and lesion point determination module 03 is specifically configured to perform the following operations:

[0079] Determine the point cloud set of the scanning area in the second coordinate system;

[0080] The coordinate information of the edge points corresponding to the selected point cloud set;

[0081] Connect the edge points and determine the edge of the scan area based on the corresponding coordinate information.

[0082] Path planning module 04, used to plan the path of the puncture robot arm according to the lesion point;

[0083] Position relationship determination module 05 is used to determine the position relationship between the path and the edge. Position relationship determination module 05 is configured to perform the following operations:

[0084] Select the moving points of the connection parts in the puncture robot arm along the path; the connection parts include the flange for fixing the puncture needle and the joint connecting the flange.

[0085] Determine the positional relationship between the moving point and the edge of the scanning area,

[0086] If they overlap, a collision is determined to have occurred.

[0087] The embodiment of the present invention provides a puncture surgical robot collision detection device, which adopts the same technical means as the puncture surgical robot collision detection method to achieve the same technical effect, and will not be described in detail here.

[0088] Example 4

[0089] Figure 5 A schematic diagram of a collision detection device for a puncture surgery robot according to an embodiment of the present invention is shown in FIG. Figure 5 As shown, the puncture surgical robot collision detection device includes a processor 510, a memory 520, an input device 530 and an output device 540; the number of processors 510 in the puncture surgical robot collision detection device can be one or more. Figure 5 In the embodiment, a processor 510 is used as an example; the processor 510, the memory 520, the input device 530 and the output device 540 in the collision detection device of the puncture surgery robot can be connected via a bus or other means. Figure 5 The bus connection is taken as an example.

[0090] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the puncture surgical robot collision detection method in the embodiments of the present invention (e.g., a scanning area determination module, a coordinate system conversion module, an edge and lesion point determination module, a path planning module, and a position relationship determination module). The processor 510 executes the software programs, instructions, and modules stored in the memory 520 to execute the various functional applications and data processing of the puncture surgical robot collision detection device, thereby implementing the above-mentioned puncture surgical robot collision detection method.

[0091] The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal, etc. In addition, the memory 520 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include a memory remotely located relative to the processor 510, and these remote memories may be connected to the puncture surgical robot collision detection device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] The input device 530 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the puncture surgical robot collision detection device. The output device 540 can include a display device such as a display screen.

[0093] Example 5

[0094] The fifth embodiment of the present invention further provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a collision detection method for a puncture surgical robot, including:

[0095] The scanning robot arm scans the lesion to obtain an image, and obtains a scanning area of ​​the image in a first coordinate system, where the first coordinate system belongs to the coordinate system of the scanning robot arm;

[0096] Convert the scanning area to the second coordinate system, which is the coordinate system of the puncture robot arm;

[0097] Determine the edges of the scan area;

[0098] Plan the path of the puncture robotic arm according to the lesion point;

[0099] Determine the positional relationship between the path and the edge.

[0100] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the puncture surgical robot collision detection method provided in any embodiment of the present invention.

[0101] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0102] It is worth noting that in the embodiment of the above-mentioned puncture surgical robot collision detection device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0103] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A collision detection method for a puncture surgery robot, characterized in that: include: An image is obtained by scanning the lesion by the scanning robot arm, and a scanning area of ​​the image in a first coordinate system is obtained, where the first coordinate system belongs to the coordinate system of the scanning robot arm; wherein the scanning area is used to prevent the possibility of collision with other components when the flange and joint of the puncture robot arm are set within the scanning area; Converting the scanning area to a second coordinate system, where the second coordinate system is the coordinate system of the puncture robot arm; determining an edge of the scanning area; Planning the path of the puncture robotic arm according to the lesion point; A positional relationship between the path and the edge is determined.

2. The puncture surgery robot collision detection method according to claim 1, characterized in that: Determining the edge of the scanning area specifically includes: determining a point cloud set of the scanning area in the second coordinate system; Selecting coordinate information of edge points corresponding to the point cloud set; The edge points are connected and the edge of the scanning area is determined according to the corresponding coordinate information.

3. The puncture surgery robot collision detection method according to claim 1, characterized in that: Determining the positional relationship between the path and the edge specifically includes: Selecting a moving point of the connecting portion of the puncture robot arm along the path; Determining the positional relationship between the moving point and the edge of the scanning area, If they overlap, a collision is determined to have occurred.

4. The puncture surgery robot collision detection method according to claim 3, characterized in that: If there is overlap, after determining that a collision occurs, the method further includes: Replan the path of the puncture robotic arm.

5. The collision detection method for a puncture surgery robot according to claim 3, characterized in that: The connection part includes a flange for fixing the puncture needle and a joint connecting the flange.

6. The puncture surgery robot collision detection method according to claim 1, characterized in that: Before converting the scanning area to the second coordinate system, the method further includes: Obtain a homogeneous transformation matrix from the first coordinate system to the second coordinate system.

7. A collision detection device for a puncture surgery robot, applying the method according to any one of claims 1 to 6, characterized in that: include: a scanning area determination module, configured to obtain an image obtained by scanning the lesion by the scanning robotic arm and obtain a scanning area of ​​the image in a first coordinate system, wherein the first coordinate system belongs to the coordinate system of the scanning robotic arm; wherein the scanning area is configured so that when the flange and joint of the puncture robotic arm are disposed within the scanning area, there is no possibility of collision with other components; A coordinate system conversion module, used for converting the scanning area to a second coordinate system, where the second coordinate system is the coordinate system of the puncture robot arm; An edge and lesion point determination module, configured to determine the edge of the scanning area; A path planning module, used to plan the path of the puncture robot arm according to the lesion point; The position relationship determination module is used to determine the position relationship between the path and the edge.

8. The collision detection device for a puncture surgery robot according to claim 7, wherein the coordinate system conversion module is configured to perform the following operations: Obtain a homogeneous transformation matrix from the first coordinate system to the second coordinate system.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the puncture surgery robot collision detection method as described in any one of claims 1-6.

10. A storage medium containing computer-executable instructions, characterized in that: When executed by a computer processor, the computer executable instructions are used to execute the puncture surgery robot collision detection method as described in any one of claims 1 to 6.

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