A method for improving registration accuracy of a mechanical arm in hip replacement surgery

Abstract

The application provides a method for improving the registration accuracy of a mechanical arm in hip replacement surgery, which comprises the following steps: data preparation of a measured object; calculation of the relative pose of a light-reflecting array, which converts the relative pose calculation of an entity in a three-dimensional space into the plane pose calculation in the three-dimensional space; real-time display of the relative pose of the light-reflecting array, and timely adjustment of the light-reflecting array to reduce the error caused by the pose. Compared with the prior art, the method provided by the application converts the relative pose calculation of an entity in a three-dimensional space into the plane pose calculation in the three-dimensional space, and applies the pose control to hip surgery, thereby improving the overall accuracy of the surgery. In addition, the application calculates and displays the plane relative pose in the three-dimensional space in real time and continuously, so that the surgical personnel can accurately control the relative pose information of the array in real time, timely adjust the light-reflecting array, effectively reduce the registration error of the mechanical arm, and improve the accuracy of the surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and in particular to a method for improving the registration accuracy of a mechanical arm in hip replacement surgery. BACKGROUND

[0002] In the preoperative equipment preparation of hip replacement surgery, mechanical arm registration is required, that is, the reflection array at the end of the mechanical arm is tracked by the binocular optical camera to determine the pose information of the mechanical arm base in the binocular optical camera coordinate system and the reflection array coordinate system of the trolley.

[0003] The commonly used mechanical arm registration method is as follows: the reflection array of the trolley is fixed, then the reflection array at the end of the mechanical arm is installed, and the two arrays are kept in the field of view of the binocular optical camera, after preparation, the mechanical arm moves according to the set route, and the pose of the mechanical arm end is collected in the process, so as to calculate the pose information of the mechanical arm base in the trolley coordinate system.

[0004] The small errors in the mechanical arm registration process will be amplified after multiple coordinate transformations, affecting the accuracy of the surgery. However, a large number of experiments have proved that the relative pose of the trolley and the end of the mechanical arm in the three-dimensional space will affect the accuracy of the pose of the trolley and the end of the mechanical arm obtained by the binocular optical camera, thereby affecting the calculation of the pose of the mechanical arm base in the trolley coordinate system. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art described in the background art, and to provide a method for improving the registration accuracy of a mechanical arm in hip replacement surgery, which can accurately control the relative pose of the trolley array and the mechanical arm end array, and reduce the registration error of the mechanical arm.

[0006] The present application is implemented by the following technical solutions: a method for improving the registration accuracy of a mechanical arm in hip replacement surgery, comprising the following steps:

[0007] Data preparation of the object to be measured;

[0008] Calculate the relative pose of the reflection array, and convert the relative pose of the entity in the three-dimensional space into a plane pose calculation in the three-dimensional space;

[0009] Real-time display of the relative pose of the reflection array, and timely adjustment of the reflection array to reduce the error caused by the pose.

[0010] Further, the data preparation of the object to be measured comprises:

[0011] The light-reflecting array is fixed on the trolley, and the light-reflecting array is installed at the end of the mechanical arm, while keeping the two arrays within the field of view of the binocular optical camera.

[0012] The pose matrix information of the trolley light-reflecting array and the mechanical arm end light-reflecting array is obtained from the binocular optical camera.

[0013] Further, the relative pose of the light-reflecting array is calculated, and the relative pose of the entity in the three-dimensional space is calculated and converted into a plane pose calculation in the three-dimensional space, comprising:

[0014] The matrix obtained from the binocular optical camera contains two parts of information: the attitude matrix and the position coordinates of the light-reflecting array in the binocular optical camera coordinate system, wherein the attitude matrix is the direction of the x, y, z axes of the light-reflecting array in the binocular optical camera coordinate system;

[0015] The xoy plane in the light-reflecting array coordinate system is regarded as the light-reflecting array plane, and the vector of the positive direction of the z axis of the light-reflecting array is obtained from the attitude matrix, which is the normal vector of the light-reflecting array plane;

[0016] The plane normal vector a of the trolley array and the plane normal vector b of the mechanical arm end array are obtained respectively;

[0017] The plane angle in the three-dimensional space is calculated, and according to the conversion of the inner product formula, it is known that , wherein p is the angle between the plane normal vector of the trolley array and the plane normal vector of the mechanical arm end array in the three-dimensional space;

[0018] The angle between the two plane normal vectors is kept at 0 degrees, and at this time, the two planes are in parallel state.

[0019] Further, the relative pose of the light-reflecting array is displayed in real time, and the light-reflecting array is adjusted in time to reduce the error caused by the pose, comprising:

[0020] The pose matrix of the two light-reflecting arrays is obtained from the binocular optical camera in real time, and the real-time pose of the trolley array and the mechanical arm end array in the binocular optical camera coordinate system is obtained;

[0021] The relative pose of the two arrays is calculated and displayed in real time on the interface;

[0022] According to the display data, the pose of the light-reflecting array is adjusted in time to reduce the error.

[0023] Compared with the prior art, the method provided by the application converts the relative pose problem of entities in a three-dimensional space into a plane pose calculation in the three-dimensional space, and applies the pose control to hip joint surgery, thereby improving the overall precision of the surgery. In addition, by calculating and displaying the plane relative pose in the three-dimensional space in real time and continuously, the surgical personnel can accurately control the relative pose information of the array in real time, adjust the reflective array in time, effectively reduce the registration error of the mechanical arm, and improve the precision of the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0024] The features, advantages, and technical effects of the exemplary embodiments of the application will be described below with reference to the accompanying drawings.

[0025] Figure 1 is a method flowchart provided by the embodiment of the application for improving the registration precision of the mechanical arm in the hip joint replacement surgery. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments, in order to make the purposes, technical solutions and advantages of the present disclosure clearer. It should be understood that the specific embodiments described herein are only intended to explain the present disclosure, rather than limit the present disclosure. The present disclosure can be implemented without some of these specific details by those skilled in the art. The description of the embodiments below is only intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.

[0027] It should be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by an "includes" statement does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0028] In order to better understand the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0029] Figure 1 is a method flowchart provided by the embodiment of the application for improving the registration precision of the mechanical arm in the hip joint replacement surgery.

[0030] AsFigure 1 As shown, the application provides a method for improving the registration accuracy of a mechanical arm in hip replacement surgery, comprising the following steps:

[0031] S101, data preparation of the object to be measured;

[0032] S102, calculating the relative pose of the reflective array, converting the relative pose of the entity in three-dimensional space into plane pose calculation in three-dimensional space;

[0033] S103, real-time display of the relative pose of the reflective array, and timely adjustment of the reflective array to reduce the error caused by the pose.

[0034] Optionally, the data preparation of the object to be measured in S101 comprises:

[0035] Fixing the reflective array of the trolley, installing the reflective array at the end of the mechanical arm, and keeping both arrays within the field of view of the binocular optical camera;

[0036] Obtaining the pose matrix information of the trolley reflective array and the mechanical arm end reflective array from the binocular optical camera.

[0037] Optionally, the calculation of the relative pose of the reflective array in S102 converts the relative pose of the entity in three-dimensional space into plane pose calculation in three-dimensional space, comprising:

[0038] The matrix obtained from the binocular optical camera contains two parts of information: the attitude matrix and the position coordinates of the reflective array in the binocular optical camera coordinate system, wherein the attitude matrix is the direction of the x, y, z axes of the reflective array in the binocular optical camera coordinate system;

[0039] Regarding the xoy plane in the reflective array coordinate system as the reflective array plane, obtaining the vector of the positive direction of the z axis of the reflective array from the attitude matrix, and the vector is the normal vector of the reflective array plane;

[0040] Respectively obtaining the plane normal vector a of the trolley array and the plane normal vector b of the mechanical arm end array;

[0041] Calculating the plane angle in three-dimensional space, according to the conversion of the inner product formula , wherein p is the included angle between the plane normal vector of the trolley array and the plane normal vector of the mechanical arm end array in three-dimensional space;

[0042] Keeping the included angle between the two plane normal vectors as 0 degrees, at which time the two planes are in parallel state.

[0043] Optionally, the relative pose of the light-reflecting array is displayed in real time in S103, and the light-reflecting array is adjusted in time to reduce the error caused by the pose, comprising:

[0044] The pose matrix of the two light-reflecting arrays is obtained from the binocular optical camera in real time, so as to obtain the real-time pose of the trolley array and the end of the mechanical arm array in the binocular optical camera coordinate system;

[0045] The relative pose of the two arrays is calculated and displayed on the interface in real time.

[0046] The pose of the light-reflecting array is adjusted in time according to the display data to reduce the error.

[0047] Compared with the prior art, the method provided by the application converts the relative pose of the entity in the three-dimensional space into the plane pose calculation in the three-dimensional space, and applies the pose control to the hip joint surgery, thereby improving the overall precision of the surgery. In addition, the application can let the surgical personnel accurately control the relative pose information of the array in real time by calculating and displaying the plane relative pose in the three-dimensional space in real time, and can adjust the light-reflecting array in time to effectively reduce the registration error of the mechanical arm and improve the precision of the surgery.

[0048] Although the application has been described with reference to the preferred embodiments, various modifications can be made to it without departing from the scope of the application, and equivalent substitutions can be made to the components thereof. In particular, the technical features mentioned in each embodiment can be combined in any manner as long as there is no structural conflict. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for improving registration accuracy of a robot in a hip replacement surgery, the method comprising: The method comprises the following steps: ​ S101, data preparation of the object to be measured; including: fixing the light reflection array of the trolley, installing the light reflection array at the end of the mechanical arm, and keeping the two arrays within the field of view of the binocular optical camera; Obtaining the pose matrix information of the trolley light reflection array and the mechanical arm end light reflection array from the binocular optical camera; S102, calculating the relative pose of the light reflection array, calculating the relative pose of the entity in three-dimensional space, and converting it into a plane pose calculation in three-dimensional space; S103, real-time display of the relative pose of the light reflection array, and timely adjustment of the light reflection array to reduce the error caused by the pose; In S102, the relative pose of the light reflection array is calculated, the relative pose of the entity in three-dimensional space is calculated, and the calculation is converted into a plane pose calculation in three-dimensional space, which comprises: The matrix obtained from the binocular optical camera contains two parts of information: the attitude matrix and the position coordinates of the light reflection array in the binocular optical camera coordinate system, wherein the attitude matrix is the direction of the x, y, z axes of the light reflection array in the binocular optical camera coordinate system; The xoy plane in the light reflection array coordinate system is regarded as the light reflection array plane, and the vector of the positive direction of the z axis of the light reflection array is obtained from the attitude matrix, which is the normal vector of the light reflection array plane; The plane normal vector a of the trolley array and the plane normal vector b of the mechanical arm end array are obtained respectively; The angle between the planes in the three-dimensional space is calculated according to the inner product formula conversion where p is the angle between the normal vector of the plane of the array of trolleys and the normal vector of the plane of the array of robot end effectors in the three-dimensional space. The included angle between the two plane normal vectors is kept at 0 degrees, at which time the two planes are in parallel state.

2. The method for improving the registration accuracy of a robot in a hip replacement surgery according to claim 1, wherein, In S103, the relative pose of the light reflection array is displayed in real time, and the light reflection array is adjusted in time to reduce the error caused by the pose, which comprises: The pose matrix of the two light reflection arrays is obtained from the binocular optical camera without interruption, and the real-time pose of the trolley array and the mechanical arm end array in the binocular optical camera coordinate system is obtained; The relative pose of the two arrays is calculated and displayed in real time on the interface; According to the display data, the pose of the light reflection array is adjusted in time to reduce the error.

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