Dynamic compensation method for spatial registration matrix in dental surgical robot navigation system

Abstract

This invention proposes a dynamic compensation method for the spatial registration matrix of a dental surgical robot navigation system, comprising the following steps: acquiring the position information of a marker in the camera coordinate system using an optical positioning camera; acquiring the position information of a patch in the camera coordinate system using a probe and an optical positioning camera; calculating the position information of the patch in the marker coordinate system; when the relative position of the marker and the tooth shifts, acquiring the position information of the marker and the patch in the camera coordinate system, and calculating the position information of the patch in the marker coordinate system; calculating the position offset of the marker based on the change in the position information of the patch in the marker coordinate system, and compensating and calibrating the tooling configuration file of the marker based on the offset; using the compensated data for spatial registration, thereby compensating for the accuracy of the marker, improving the registration accuracy of the dental surgical robot, and ensuring the smooth progress of the surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device navigation technology, and in particular to a method for dynamic compensation of spatial registration matrix in a dental surgical robot navigation system. Background Technology

[0002] During robotic dental surgery, optical positioning cameras capture the patient's position and posture in real time using markers fixed to the patient's teeth. However, because patients' teeth vary, there is a risk of the markers loosening or falling off when secured with gutta-percha. Furthermore, since the markers are primarily made of resin, they may break under accidental external forces after assembly. Deformation, loosening, detachment, or breakage of the markers can all cause positional shifts, making it impossible to accurately capture the patient's position and posture, thus hindering the smooth progress of the surgery. Summary of the Invention

[0003] This invention proposes a dynamic compensation method for the spatial registration matrix of a dental surgical robot navigation system, which solves the problem in the prior art that the patient's position and posture cannot be accurately captured after the position of the marker on the tooth shifts.

[0004] The technical solution of this invention is implemented as follows:

[0005] According to one aspect of the present invention, a method for dynamic compensation of spatial registration matrix in a dental surgical robot navigation system is provided, comprising the following steps:

[0006] Step S1: Fix the marker to the patient's teeth and acquire the marker's position information in the camera coordinate system using an optical positioning camera.

[0007] Step S2: The patch is fixed to the patient's teeth, and the position information of the patch in the camera coordinate system is obtained by using a probe and an optical positioning camera.

[0008] Step S3: Calculate the position information of the patch in the coordinate system of the marker based on the position information of the marker and the patch in the camera coordinate system.

[0009] Step S4: After the relative position of the marker and the tooth shifts, the position information of the marker in the camera coordinate system is obtained by the optical positioning camera. and the position information of the patch in the camera coordinate system The position information of the patch in the marker coordinate system is calculated.

[0010] Step S5, according to and The difference is used to calculate the position offset of the marker, and the tooling configuration file of the marker is compensated and calibrated according to the position offset of the marker. The compensated data is then used for spatial registration.

[0011] This invention fixes a small patch to the patient's teeth. After the position of the marker is shifted, the position of the patch can be obtained by a probe to calibrate the position of the marker (the relative positional relationship between the patch and the marker is obtained in advance before the marker shifts, and the position of the shifted marker can be calibrated based on the relative positional relationship). This provides accuracy compensation for the marker and dynamic compensation and calibration for the patient's real-time pose, improving the registration accuracy of the dental surgical robot and ensuring the smooth progress of the surgery.

[0012] As a preferred embodiment of the present invention, in step S1, the marker includes a support and a plurality of positioning reflective balls fixedly mounted on the support. The support is fixed to the teeth by gutta-percha. The plurality of positioning reflective balls are located outside the oral cavity, and the number of positioning reflective balls is not less than three. The plurality of positioning reflective balls can be captured by an optical positioning camera to obtain the three-dimensional pose information of the marker.

[0013] As a preferred embodiment of the present invention, in step S2, the patch is fixed to the tooth with gutta-percha, and the side of the patch facing away from the tooth is provided with a positioning hole, the inner diameter of which matches the outer diameter of the probe tip; by providing a positioning hole on the patch, it is convenient for the dentist to obtain the patch position information by holding the probe, ensuring that the probe contacts the patch at the same position each time, thereby improving the accuracy of positioning.

[0014] As a preferred embodiment of the present invention, in step S5, the following matrix transformation formula is used for spatial registration:

[0015]

[0016]

[0017] Wherein, B is the camera coordinate system, C is the robot arm fixed carriage coordinate system, O is the default tool coordinate system, P is the actual tool coordinate system, J is the robot base coordinate system, and M is the marker coordinate system;

[0018] Matrix transformation relationship between actual tool coordinate system P and robot base coordinate system J The matrix transformation relationship between the marker coordinate system M and the robot arm fixed carriage coordinate system C is obtained through tool calibration; the matrix transformation relationship between the robot base coordinate system J and the robot arm fixed carriage coordinate system C is obtained through positioning camera calibration. Obtained directly from the hardware parameters of the robot navigation system;

[0019] The coordinates of the actual tool end in the camera coordinate system can be obtained using the matrix transformation formula described above, thereby compensating for the spatial registration relationship of the robot navigation system.

[0020] According to another aspect of the present invention, a spatial registration matrix dynamic compensation system for a dental surgical robot navigation system includes:

[0021] Markers fixed to the patient's teeth are used in conjunction with an optical positioning camera to obtain spatial position information of the patient's teeth;

[0022] A patch fixed to the patient's teeth is used in conjunction with a probe and an optical positioning camera to dynamically calibrate the positional offset of the marker.

[0023] An optical positioning camera is used to acquire the position information of markers and patches in the camera coordinate system;

[0024] The probe is used in conjunction with an optical positioning camera to obtain the position information of the patch in the camera coordinate system;

[0025] A dental surgical robot system is used to register the spatial pose of a 3D model based on the position information of calibrated markers.

[0026] As a preferred embodiment of the present invention, the dental surgical robot includes a mobile trolley, a robotic arm, and surgical instruments. The surgical instruments are fixedly installed at the end of the robotic arm, and the robotic arm is mounted on the mobile trolley via a base. The mobile trolley is equipped with a controller, which is connected to the robotic arm, the surgical instruments, and an optical positioning camera.

[0027] Beneficial effects

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: By fixing a small patch on the patient's teeth, the present invention can calibrate the position of the marker by obtaining the position of the patch through a probe after the position of the marker has shifted (the relative positional relationship between the patch and the marker is obtained in advance before the position of the marker shifts, and the position of the marker after the shift can be calibrated according to the relative positional relationship), thereby compensating for the accuracy of the marker, dynamically compensating and calibrating the real-time posture of the patient, improving the registration accuracy of the dental surgical robot, and ensuring the smooth progress of the surgery. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating the spatial registration matrix dynamic compensation method for a dental surgical robot navigation system according to the present invention.

[0031] Figure 2 This is a schematic block diagram of the connection structure of the spatial registration matrix dynamic compensation system of a dental surgical robot navigation system according to an embodiment of the present invention. Detailed Implementation

[0032] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] Reference Figure 1 As shown, this embodiment provides a method for dynamic compensation of the spatial registration matrix in a dental surgical robot navigation system, including the following steps:

[0034] Step S1: Fix the marker to the patient's teeth and acquire the marker's position information in the camera coordinate system using an optical positioning camera.

[0035] Step S2: The patch is fixed to the patient's teeth, and the position information of the patch in the camera coordinate system is obtained by using a probe and an optical positioning camera.

[0036] Step S3: Calculate the position information of the patch in the coordinate system of the marker based on the position information of the marker and the patch in the camera coordinate system.

[0037] Step S4: After the relative position of the marker and the tooth shifts, the position information of the marker in the camera coordinate system is obtained by the optical positioning camera. and the position information of the patch in the camera coordinate system The position information of the patch in the marker coordinate system is calculated.

[0038] Step S5, according to and The difference is used to calculate the position offset of the marker, and the tooling configuration file of the marker is compensated and calibrated according to the position offset of the marker. The compensated data is then used for spatial registration.

[0039] This invention fixes a small patch to the patient's teeth (because of its small size, the patch is firmly fixed and less prone to deformation, loosening, falling off, or breaking). After a marker's position shifts, a probe is used to obtain the patch's position to calibrate the marker's position (the relative positional relationship between the patch and the marker is obtained beforehand, and the shifted marker's position can be calibrated based on this relationship). This provides accuracy compensation for the marker and dynamic compensation and calibration for the patient's real-time posture, improving the registration accuracy of the dental surgical robot and ensuring the smooth progress of the surgery.

[0040] As a preferred embodiment of the present invention, in step S1, the marker includes a support and a plurality of positioning reflective balls fixedly mounted on the support. The support is fixed to the teeth by gutta-percha. The plurality of positioning reflective balls are located outside the oral cavity, and the number of positioning reflective balls is not less than 3 (in this embodiment, there are 4 positioning reflective balls, and the 4 positioning reflective balls are not coplanar). The plurality of positioning reflective balls can be captured by an optical positioning camera to obtain the three-dimensional pose information of the marker.

[0041] As a preferred embodiment of the present invention, in step S2, the patch is fixed to the tooth with gutta-percha, and the side of the patch facing away from the tooth is provided with a positioning hole (in this embodiment, the positioning hole is a conical blind hole, which facilitates the quick alignment of the probe tip with the positioning hole). The inner diameter of the positioning hole matches the outer diameter of the probe tip. By setting a positioning hole on the patch, it is convenient for the dentist to obtain the patch position information by holding the probe, ensuring that the position of the probe in contact with the patch is consistent each time, thereby improving the accuracy of positioning.

[0042] As a preferred embodiment of the present invention, in step S5, the following matrix transformation formula is used for spatial registration:

[0043]

[0044]

[0045] Where B is the camera coordinate system, C is the robot arm fixed car coordinate system, O is the default tool coordinate system, P is the actual tool coordinate system, J is the robot base coordinate system, M is the marker coordinate system, and T represents the transformation matrix between the two coordinate systems, each T being a 4×4 matrix.

[0046] Matrix transformation relationship between actual tool coordinate system P and robot base coordinate system J The matrix transformation relationship between the marker coordinate system M and the robot arm fixed carriage coordinate system C is obtained through tool calibration; the matrix transformation relationship between the robot base coordinate system J and the robot arm fixed carriage coordinate system C is obtained through positioning camera calibration. Obtained directly from the hardware parameters of the robot navigation system;

[0047] The above matrix transformation formula can be used to obtain the coordinate information of the actual tool end in the camera coordinate system, thereby compensating for the spatial registration relationship of the robot navigation system. This ensures the fusion of coordinate systems in the spatial configuration even when the patient and robot are moving, thus ensuring the smooth progress of the surgery.

[0048] like Figure 2 As shown, corresponding to the above compensation method, this embodiment also provides a spatial registration matrix dynamic compensation system for a dental surgical robot navigation system, including:

[0049] Markers fixed to the patient's teeth are used in conjunction with an optical positioning camera to obtain spatial position information of the patient's teeth;

[0050] A patch fixed to the patient's teeth is used in conjunction with a probe and an optical positioning camera to dynamically calibrate the positional offset of the marker.

[0051] An optical positioning camera is used to acquire the position information of markers and patches in the camera coordinate system;

[0052] The probe is used in conjunction with an optical positioning camera to obtain the position information of the patch in the camera coordinate system. The probe is equipped with four optical positioning balls to cooperate with the optical positioning camera to obtain the spatial pose information of the probe tip.

[0053] A dental surgical robot system is used to register the spatial pose of a 3D model based on the position information of calibrated markers.

[0054] As a preferred embodiment of the present invention, the dental surgical robot includes a mobile trolley, a robotic arm, and surgical instruments. The surgical instruments are fixedly installed at the end of the robotic arm, and the robotic arm is mounted on the mobile trolley via a base. The mobile trolley is equipped with a controller, which is connected to the robotic arm, the surgical instruments, and an optical positioning camera.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for dynamic compensation of spatial registration matrix in a dental surgical robot navigation system, characterized in that, Includes the following steps: Step S1: Fix the marker to the patient's teeth and acquire the marker's position information in the camera coordinate system using an optical positioning camera. Step S2: The patch is fixed to the patient's teeth, and the position information of the patch in the camera coordinate system is obtained by using a probe and an optical positioning camera. Step S3: Calculate the position information of the patch in the coordinate system of the marker based on the position information of the marker and the patch in the camera coordinate system. Step S4: After the relative position of the marker and the tooth shifts, the position information of the marker in the camera coordinate system is obtained by the optical positioning camera. and the position information of the patch in the camera coordinate system The position information of the patch in the marker coordinate system is calculated. Step S5, according to and The difference is used to calculate the position offset of the marker, and the tooling configuration file of the marker is compensated and calibrated according to the position offset of the marker. The compensated data is then used for spatial registration.

2. The spatial registration matrix dynamic compensation method for a dental surgical robot navigation system as described in claim 1, characterized in that, In step S1, the marker includes a support and a plurality of positioning reflective balls fixedly mounted on the support. The support is fixed to the teeth by gutta-percha. The plurality of positioning reflective balls are located outside the oral cavity, and the number of positioning reflective balls is not less than three.

3. The spatial registration matrix dynamic compensation method for a dental surgical robot navigation system as described in claim 1, characterized in that, In step S2, the patch is fixed to the teeth with dental adhesive, and the side of the patch facing away from the teeth has a positioning hole, the inner diameter of which matches the outer diameter of the probe tip.

4. The spatial registration matrix dynamic compensation method for a dental surgical robot navigation system as described in claim 1, characterized in that, In step S5, spatial registration is performed using the following matrix transformation formula: Wherein, B is the camera coordinate system, C is the robot arm fixed carriage coordinate system, O is the default tool coordinate system, P is the actual tool coordinate system, J is the robot base coordinate system, and M is the marker coordinate system; Matrix transformation relationship between actual tool coordinate system P and robot base coordinate system J The matrix transformation relationship between the marker coordinate system M and the robot arm fixed carriage coordinate system C is obtained through tool calibration; the matrix transformation relationship between the robot base coordinate system J and the robot arm fixed carriage coordinate system C is obtained through positioning camera calibration. Obtained directly from the hardware parameters of the robot navigation system; The coordinates of the actual tool end in the camera coordinate system can be obtained using the matrix transformation formula described above, thereby compensating for the spatial registration relationship of the robot navigation system.

5. A spatial registration matrix dynamic compensation system for a dental surgical robot navigation system, characterized in that, include: Markers fixed to the patient's teeth are used in conjunction with an optical positioning camera to obtain spatial position information of the patient's teeth; A patch fixed to the patient's teeth is used in conjunction with a probe and an optical positioning camera to dynamically calibrate the positional offset of the marker. An optical positioning camera is used to acquire the position information of markers and patches in the camera coordinate system; The probe is used in conjunction with an optical positioning camera to obtain the position information of the patch in the camera coordinate system; A dental surgical robot system is used to register the spatial pose of a 3D model based on the position information of calibrated markers.

6. The spatial registration matrix dynamic compensation system for a dental surgical robot navigation system as described in claim 5, characterized in that, The dental surgical robot includes a mobile cart, a robotic arm, and surgical instruments. The surgical instruments are fixedly mounted at the end of the robotic arm, which is mounted on the mobile cart via a base. The mobile cart is equipped with a controller, which is connected to the robotic arm, surgical instruments, and an optical positioning camera.

Images