A method for precision detection of a puncture surgery robot system

Abstract

The present invention relates to a method for detecting the accuracy of a puncture surgical robot system, which is implemented by a set of surgical robot accuracy detection systems. The surgical robot accuracy detection system includes a laser positioning system and a positioning support. A number of columns are provided on the upper part of the positioning support, and a marked small ball is placed at the top of each column. The detection method includes the following steps: obtaining the CT coordinate system of the positioning support; obtaining the laser positioning coordinate system of the positioning support; completing the registration of the robot coordinate system and the CT coordinate system; planning the path of the surgical robot; comparing the starting point and the ending point of the actual path and the predicted path, and calculating the accuracy. The present invention accurately determines the central positions of each marked small ball and the calibration finger through a laser positioning system that directly calculates the distance between points and lines, without the need to judge through a real-time vision system or visual inspection, and the judgment is accurate and objective.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot precision detection, and particularly relates to a method for detecting the precision of a puncture surgical robot system. Background Technique

[0002] With the development of science and technology, surgical robots have been widely used in clinics, and they are far superior to ordinary manual surgeries in terms of positioning accuracy and movement stability. Therefore, positioning accuracy is one of the most important performances of surgical robots, which determines whether the robot can accurately align with the lesion according to the operation of the surgeon during the surgery. A slight deviation may cause unnecessary harm to the patient or even lead to medical accidents.

[0003] A surgical robot generally consists of a positioning system, a control system, and an optical tracking system. Among them, the precise positioning of the positioning components supporting the robot positioning system assists the doctor to complete the operation of surgical positioning; the control system takes software as the core to complete the standard image acquisition during the operation, the planning of the tunnel entry and stop points of the anatomical features of the surgical position, navigation display, and robot control; the optical tracking system can monitor the positions of special marker points in real time, transmit them to the control system, and detect the positional relationship between the surgical position and the puncture needle or other medical devices. The system precision error of the surgical robot comes from the error of the mechanical movement of the positioning system, and the indexes for evaluating the robot precision include absolute precision, repeat positioning precision, etc.

[0004] For example, the invention patent with the application number 2015105549090 provides a device and method for detecting the precision of a surgical robot system, which can comprehensively evaluate the precision of the surgical robot. By driving the surgical robot to move along the line where the target point is located as the planned path, and observing whether the tip of the test rod connected to the execution end of the surgical robot can accurately touch the center of the target point, so as to determine the system precision. Since both the execution end and the target point are entities, there is a situation where the execution end is blocked by the target point and stops, and it is difficult to determine the actual error. In addition, this method uses a visual method for observation, cannot objectively and accurately measure the distance between the execution end and the center of the target point, cannot obtain specific measurement data, and the judgment result is subjective. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method for detecting the precision of a puncture surgical robot system, which can accurately confirm the precision of the puncture surgical robot system with a simple method.

[0006] The technical solution adopted by the present invention to solve its technical problems is: to provide a method for detecting the accuracy of a puncture surgery robot system, which is implemented through a surgical robot accuracy detection system. The surgical robot accuracy detection system includes a laser positioning system and a positioning support. A number of columns are provided on the upper part of the positioning support, and a marked small ball is placed at the top of each column. A marked small ball is fixed at the end of the execution end of the execution mechanism of the surgical robot. The detection method includes the following steps:

[0007] S1. Obtain the CT coordinate system coordinates of the marked small balls through a CT machine, including the starting coordinates P of the marked small ball located at the end of the execution end;

[0008] S2. Take out the positioning support and the surgical robot from the CT machine, and then fix the laser positioning system on one side of them;

[0009] S3. Replace the marked small balls with calibration fingers, move the calibration fingers on the surgical robot to the position P1 of the starting coordinates P in the robot coordinate system, and complete the spatial registration of the surgical robot and the registration of the robot coordinate system and the CT coordinate system;

[0010] S4. Take the center of one of the calibration fingers on the positioning support as the needle insertion point and the other as the target point to plan a path for the surgical robot;

[0011] S5. Control the calibration fingers of the surgical robot to move according to the planned path, and record the laser positioning coordinates of the calibration fingers when they reach the needle insertion point and the target point through the laser positioning system;

[0012] S6. Repeat S4 - S5 by taking the centers of the calibration fingers on the remaining columns as the needle insertion point and the target point respectively, and record the obtained laser positioning coordinates;

[0013] S7. Calculate the accuracy of the surgical robot according to the data obtained in S6 according to the method specified in YY / T1712 - 2021,

[0014] wherein, the CT coordinate system is determined by CT images; the robot coordinate system is automatically obtained by the control system of the surgical robot; the laser positioning coordinates are determined by the laser positioning system.

[0015] Preferably, the spatial registration in S3 includes the following steps:

[0016] S3.1. Confirm the reset of the surgical robot system, so that the robot coordinate readings X, Y, Z, and C are 0. At the same time, the deflection angles of the A and B axes are less than 0.1. Control the calibration finger of the surgical robot to move to several different positions, record the robot coordinate readings and the spatial coordinate readings obtained by the laser positioning system tracking the calibration finger on the surgical robot, and obtain the transformation matrix K1 from the laser coordinate system to the robot coordinate system by the least squares method;

[0017] S3.2. Remove the calibration finger and place it on the top of the column instead of the marker ball. Track the calibration finger on the positioning support through the laser positioning system to obtain the spatial coordinate readings. Use the K1 to obtain its coordinates in the robot coordinate system. Use the coordinates of the marker ball in the CT coordinate system and the corresponding coordinates of the marker ball in the robot coordinate system to obtain the transformation matrix K2 from the CT coordinate system to the robot coordinate system by the least squares method;

[0018] S3.3. Import the CT imaging data obtained in S1 into the surgical robot, calculate the position P1 of the starting coordinate P in the CT coordinate system in the robot coordinate system through the transformation matrix K2, and control the surgical robot to move the center of the calibration finger to the position P1 to complete the spatial registration of the calibration finger.

[0019] Preferably, the outer diameters of the calibration finger and the marker ball are the same. The marker ball is made of a material that can be clearly photographed in the CT machine. The calibration finger is a spherical prism for laser positioning system positioning.

[0020] Preferably, the execution end of the surgical robot is a puncture needle. Grooves matching the puncture needle are opened in the marker ball and the calibration finger. The centers of the marker ball and the calibration finger are matched with the position of the puncture needle tip.

[0021] Preferably, at least three pairs of columns arranged side by side are provided on the positioning support. One of each pair of columns is higher than the other. The center of the marker ball on the higher column is used as the needle insertion point, and the center of the marker ball on the lower column is used as the target point.

[0022] Beneficial effects

[0023] A method for detecting the accuracy of a puncture surgical robot system provided by the present invention accurately confirms the center positions of each marker ball and calibration finger through a laser positioning system that directly calculates the distance between points and lines, without the need to judge through a real-time vision system or visual inspection, and the judgment is accurate and objective.

[0024] A method for detecting the accuracy of a puncture surgical robot system provided by the present invention, through steps of spatial registration and coordinate system registration, avoids the influence of the movement of the position of the execution end of the surgical robot on the implementation of accuracy detection. Therefore, it is not necessary to detect the system in a CT machine throughout the process, which is convenient for placing the puncture surgical robot and the positioning support at any position for testing and can be repeated.

[0025] The puncture surgical robot accuracy detection system used in the present invention replaces the target point with a marked small ball and a calibration finger, which is convenient for the laser positioning system to track. Then, it is automatically converted into points in the coordinate system through the laser positioning system. The same laser equipment as that used in the inspection institute is used to ensure that the detection results are standard and consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a puncture surgical robot accuracy detection system.

[0027] Figure 2 is Figure 1 an enlarged schematic diagram of the positioning support in

[0028] Figure 3 It is a front view, side view and sectional view structural schematic diagram of the calibration finger.

[0029] Among them, 1 - laser positioning system; 2 - surgical robot; 202 - calibration finger; 203 - execution end; 3 - positioning support; 301 - column; 302 - marked small ball.

[0030] The same reference numerals in each figure represent the same component. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The following further elaborates the present invention in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0032] The present invention provides a method for detecting the accuracy of a puncture surgical robot system, which is implemented through a surgical robot accuracy detection system as shown in Figure 1 the following figure. The surgical robot accuracy detection system includes a laser positioning system and a positioning support. Several columns are provided on the upper part of the positioning support, and a marked small ball is placed at the top of each column. A marked small ball is fixed at the end of the execution end of the surgical robot execution mechanism.

[0033] As shown in Figure 2As shown in the figure, at least three pairs of columns arranged side by side are provided on the positioning support. One column in each pair is higher than the other. The center of the marked small ball on the higher column can be used as the needle insertion point, and the center of the marked small ball on the shorter column can be used as the target point, so as to simulate the situation where the surgical robot inserts the needle obliquely downward from the upper side. An arc groove is provided at the top of the column, and the inner diameter of the arc groove matches the outer diameter of the marked small ball, ensuring that the position of the marked small ball is accurate and does not shake every time it is placed. Fixed bolt holes are provided at the bottom of the positioning support for fixing within the working space of the surgical robot to prevent relative position changes before and after CT photography.

[0034] As Figure 3 shown, the outer diameters of the calibration finger and the marked small ball are the same. The marked small ball is a spherical ball made of a material that can be clearly photographed in the CT machine; the calibration finger is a spherical prism used for the laser positioning system to position. In a specific embodiment, the execution end of the surgical robot is a puncture needle. When performing CT testing and laser positioning, the puncture needle is replaced with the marked small ball and the calibration finger, and the centers of the marked small ball and the calibration finger match the position of the puncture needle tip.

[0035] In a specific embodiment, the method for detecting the accuracy of the puncture surgical robot system provided by the present invention includes the following steps:

[0036] S1. Fix the positioning support within the effective working space of the surgical robot, and put the positioning support together with the surgical robot to be inspected into the CT machine for CT photography to obtain the CT coordinate system coordinates of the marked small ball and the starting coordinate P of the marked small ball at the end of the execution end.

[0037] S2. Take out the positioning support and the surgical robot from the CT machine, and then fix the laser positioning system on one side of them.

[0038] S3.1. Confirm that the surgical robot system is reset, so that the robot coordinate readings X, Y, Z, C are 0, and at the same time, the deflection angles of the A and B axes are less than 0.1. Control the calibration finger of the surgical robot to move to several different positions, record the robot coordinate readings and the spatial coordinate readings obtained by the laser positioning system tracking the calibration finger on the surgical robot, and obtain the transformation matrix K1 from the laser coordinate system to the robot coordinate system by the least squares method.

[0039] S3.2. Remove the calibrated finger and place it on the top of the column instead of the marked ball. Use the laser positioning system to track the calibrated finger on the positioning support to obtain the spatial coordinate readings. Use K1 to obtain its coordinates in the robot coordinate system. Use the coordinates of the marked ball in the CT coordinate system and the corresponding coordinates of the marked ball in the robot coordinate system, and use the least squares method to find the transformation matrix K2 from the CT coordinate system to the robot coordinate system;

[0040] S3.3. Import the CT imaging data obtained in S1 into the surgical robot. Calculate the position P1 of the starting coordinate P in the CT coordinate system in the robot coordinate system through the transformation matrix K2. Control the surgical robot to move the center of the calibrated finger to the position P1 to complete the spatial registration of the calibrated finger;

[0041] S4. Retrieve the corresponding coordinates of the calibrated finger tracked in S3.2 in the robot coordinate system of the surgical robot. Use one of them as the needle insertion point and the other as the target point to plan the path;

[0042] S5. Remove the positioning support. Control the calibrated finger of the surgical robot to move along the planned path, and use the laser positioning system to record the laser positioning coordinates when the calibrated finger reaches the needle insertion point and the target point;

[0043] S6. Use the marked balls on the other columns as the needle insertion point and the target point respectively, and repeat S4 - S6 to record the obtained laser positioning coordinates;

[0044] S7. Calculate the accuracy of the surgical robot according to Method 5.3.3 specified in the Auxiliary Surgical Equipment and Auxiliary Surgical System YY / T 1712 - 2021 that adopts robotic technology,

[0045] Among them, the CT coordinate system is determined by the CT image; the robot coordinate system is automatically obtained by the control system of the surgical robot; the laser positioning coordinate system is determined by the laser positioning device.

Claims

1. A method for detecting the accuracy of a puncture surgery robot system, which is implemented by a set of surgical robot accuracy detection systems. The surgical robot accuracy detection system includes a laser positioning system and a positioning support. There are several columns on the upper part of the positioning support. It is characterized in that, A marking ball is placed at the top of each of the columns, and a marking ball is fixed to the end of the execution end of the execution mechanism of the surgical robot. The detection method includes the following steps: S1. Obtain the CT coordinate system coordinates of the marking ball through a CT machine, including the starting coordinate P of the marking ball provided at the end of the execution end. S2. Take out the positioning support and the surgical robot from the CT machine, and then fix a laser positioning system on one side thereof. S3. Replace the marking ball with a calibration finger, and move the calibration finger on the surgical robot to the position P1 of the starting coordinate P in the robot coordinate system, completing the spatial registration of the surgical robot and the registration of the robot coordinate system and the CT coordinate system. S4. Use one of the centers of the calibration fingers on the positioning support as the needle insertion point and the other as the target point to plan a path for the surgical robot. S5. Control the calibration finger of the surgical robot to move along the planned path, and record the laser positioning coordinates of the calibration finger when it reaches the needle insertion point and the target point through the laser positioning system. S6. Repeat S4 - S5 by using the centers of the calibration fingers on the remaining columns as the needle insertion point and the target point respectively, and record the obtained laser positioning coordinates. S7. Calculate the accuracy of the surgical robot according to the data obtained in S6 by the method specified in YY / T 1712 - 2021. Among them, the CT coordinate system is determined by the CT image; the robot coordinate system is automatically obtained by the control system of the surgical robot; the laser positioning coordinates are determined by the laser positioning system.

2. The precision detection method of a puncture surgery robot system according to claim 1, wherein The spatial registration in S3 includes the following steps: S3.

1. Confirm that the surgical robot system is reset, so that the robot coordinate readings X, Y, Z, C are 0, and at the same time, the deflection angles of the A and B axes are less than 0.

1. Control the calibration finger of the surgical robot to move to several different positions, record the robot coordinate readings and the spatial coordinate readings obtained by the laser positioning system tracking the calibration finger on the surgical robot, and obtain the conversion matrix K1 from the laser coordinate system to the robot coordinate system by the least squares method. S3.

2. Remove the calibration finger and replace the marking ball, place it on the top of the column, obtain the spatial coordinate readings by tracking the calibration finger on the positioning support through the laser positioning system, obtain its coordinates in the robot coordinate system by using K1, and obtain the conversion matrix K2 from the CT coordinate system to the robot coordinate system by the least squares method by using the coordinates of the marking ball in the CT coordinate system and the corresponding coordinates of the marking ball in the robot coordinate system; S3.

3. Import the CT imaging data obtained in S1 into the surgical robot, calculate the position P1 of the starting coordinate P in the CT coordinate system in the robot coordinate system through the conversion matrix K2, and control the surgical robot to move the center of the calibration finger to the position P1 to complete the spatial registration of the calibration finger.

3. A method for detecting the accuracy of a puncture surgery robot system according to claim 1, characterized in that, The outer diameters of the calibration finger and the marking ball are the same. The marking ball is made of a material that can be clearly photographed in the CT machine. The calibration finger is a spherical prism for positioning by the laser positioning system.

4. A method for detecting the accuracy of a puncture surgery robot system according to claim 1, characterized in that, The execution end of the surgical robot is a puncture needle. Grooves matching the puncture needle are formed in the marking ball and the calibration finger, and the centers of the marking ball and the calibration finger are matched with the position of the puncture needle tip.

5. A method for detecting the accuracy of a puncture surgery robot system according to claim 1, characterized in that, At least three pairs of columns arranged side by side are provided on the positioning support. One column in each pair of columns is higher than the other. The center of the marking ball on the higher column is used as the needle entry point, and the center of the marking ball on the shorter column is used as the target point.

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