A method and apparatus for surgical needle registration of a surgical robot

Abstract

The application discloses a method and device for surgical needle registration of a surgical robot, and the method comprises the following steps: acquiring, by an optical device, a translation relationship of an optical device coordinate system to a needle tip coordinate system of a surgical needle, a translation relationship of the optical device coordinate system to a plurality of feature hole coordinate systems on an end effector, and a spatial transformation relationship of the optical device coordinate system to a first optical marker coordinate system; determining a rotation relationship of the optical device coordinate system to the needle tip coordinate system of the surgical needle by the translation relationship of the optical device coordinate system to the plurality of feature hole coordinate systems on the end effector; determining a spatial transformation relationship of the optical device coordinate system to the needle tip coordinate system of the surgical needle according to the translation relationship and the rotation relationship of the optical device coordinate system to the needle tip coordinate system of the surgical needle, and determining a spatial transformation relationship of the first optical marker coordinate system to the needle tip coordinate system of the surgical needle according to the spatial transformation relationship of the optical device coordinate system to the first optical marker coordinate system.

Description

Technical Field

[0001] This application relates to the field of information processing, and in particular to methods and apparatus for registering surgical needles in surgical robots. Background Technology

[0002] With the development of computer technology, positioning and navigation technology, and robotics technology, surgical robots, which combine these three technologies, are being used more and more widely. Percutaneous interventional surgery is the most common method for diagnosis and treatment, and in order to improve the precision and safety of surgery, the use of surgical robots to assist in surgery is gradually being developed. In robot-assisted navigation surgery, obtaining the position and orientation of surgical instruments, namely surgical needles, is a very important step, generally referred to as surgical needle registration.

[0003] Currently, commonly used robot navigation methods generally fall into two main categories: electromagnetic and optical navigation and positioning methods. In electromagnetic navigation, a common method for registering surgical needles involves implanting a small magnetic pole marker into the needle body, typically near the tip. A magnetic field transmitter then locates the magnetic pole, indirectly determining the needle's position. However, this method requires a specially designed surgical needle, making it extremely expensive. Optical navigation and positioning devices also connect an optical marker to the tail of the surgical needle. The needle's coordinates are measured by manually rotating the needle and marker, thus indirectly tracking the needle. However, this method not only requires a specially designed marker corresponding to the surgical needle, but the registration accuracy can vary depending on the technique used, and the registration process disrupts the sterile environment.

[0004] To address the above problems, this invention presents a surgical needle registration method and apparatus that is easy to operate, requires no modification to the surgical needle, has high registration accuracy, and does not disrupt the sterile environment. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a method and apparatus for registering surgical needles for a surgical robot, achieving a surgical needle registration method that is easy to operate, requires no modification to the surgical needle, has high registration accuracy, and does not disrupt the sterile environment.

[0006] To achieve the objectives of this application, this application provides a method for registering surgical needles on a surgical robot, the method comprising:

[0007] The translation relationship between the optical device coordinate system and the surgical needle tip coordinate system, the position data of multiple feature holes on the end effector, and the coordinate system between the optical device coordinate system and the first optical marker coordinate system are obtained through optical devices.

[0008] The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined by the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes.

[0009] The spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined based on the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system and the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0010] The spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system is determined based on the spatial transformation relationship from the optical device coordinate system to the first optical marker coordinate system and the spatial transformation relationship from the optical device coordinate system to the surgical needle tip coordinate system.

[0011] In one exemplary embodiment, the surgical needle registration of the surgical robot is applied to a system including the surgical robot, the optical device, the end effector, the guide block, and the probe;

[0012] The surgical robot includes a flange ring and a robotic arm. The flange ring is a connecting component that connects the last joint of the robotic arm and the end effector. The first optical marker is connected to the end effector, and the first optical marker and the end effector are rigidly connected.

[0013] The guide block is disposed at the bottom of the end effector and is fixed by the grippers of the end effector.

[0014] The probe is a rigid body with a second optical marker mounted on it.

[0015] In one exemplary embodiment, the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system is indirectly obtained by placing the probe at the bottom of the guide block and obtaining the translation relationship between the optical device coordinate system and the probe tip coordinate system through the optical device.

[0016] The translation relationship between the optical device coordinate system and the coordinate system of each feature hole on the end effector is indirectly obtained by placing the probe on the corresponding feature hole and obtaining the translation relationship between the optical device coordinate system and the coordinate system of the probe tip through the optical device.

[0017] In one exemplary embodiment, determining the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes includes:

[0018] The unit vector in the same direction as the spatial vector formed from the first feature hole to the second feature hole is taken as the X-axis of the surgical needle tip coordinate system. Based on the translation relationship between the optical device coordinate system and the first feature hole coordinate system and the translation relationship between the optical device coordinate system and the second feature hole coordinate system, the x column vector of the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined by the X-axis calculation formula.

[0019] The formula for calculating the X-axis is as follows:

[0020]

[0021] In the above formula, Let x be the column vector representing the rotational relationship from the optical device coordinate system to the surgical needle tip coordinate system. This represents the translation relationship from the optical device coordinate system to the first feature aperture coordinate system. This represents the translation relationship from the optical device coordinate system to the second feature aperture coordinate system, and Normalize is the normalization process for the vector.

[0022] The spatial vector formed by the first feature hole and the second feature hole is a vector that is parallel to the direction of the surgical needle puncture but opposite in direction.

[0023] In one exemplary embodiment, determining the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector includes:

[0024] Will be compared with column vector x The vertical vector serves as the Y-axis of the surgical needle tip coordinate system;

[0025] Based on the translation relationship between the optical device coordinate system and the first feature aperture coordinate system, the translation relationship between the optical device coordinate system and the third feature aperture, and the x column vector The y-column vector is used to determine the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system using the y-axis calculation formula.

[0026] The formula for calculating the Y-axis is as follows:

[0027]

[0028] In the above formula, Let y be the column vector representing the rotational relationship from the optical device coordinate system to the surgical needle tip coordinate system. Let represent the translation relationship from the optical device coordinate system to the third feature aperture coordinate system; where,

[0029]

[0030]

[0031] In one exemplary embodiment, the x column vector The perpendicular vector is:

[0032] On the plane defined by multiple feature holes, the projection of the spatial vector formed by the first feature hole to the third feature hole onto the plane is taken as the direction of the y column vector.

[0033] In one exemplary embodiment, determining the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector includes:

[0034] Based on the x-column vector of the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system, and the y-column vector of the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system, the z-column vector of the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined using the Z-axis calculation formula.

[0035] The formula for calculating the Z-axis is as follows:

[0036]

[0037] In the above formula, The z-column vector represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0038] In one exemplary embodiment, the spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system is described. for:

[0039]

[0040] In the above formula, This represents the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. This represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. This represents the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0041] In one exemplary embodiment, after determining the spatial transformation relationship between the first optical marker coordinate system and the surgical needle tip coordinate system, the method further includes: determining whether the surgical needle registration meets a preset accuracy threshold using a customized feature tool; if not, readjusting the rotation or translation relationship between the first optical marker coordinate system and the surgical needle tip coordinate system.

[0042] In one exemplary embodiment, determining whether the surgical needle registration meets a preset accuracy threshold using a customized feature tool includes:

[0043] Based on the robot coordinate system to the optical device coordinate system Spatial transformation relationship from the first optical marker coordinate system to the flange ring coordinate system Spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system Determine the spatial transformation relationship between the robot coordinate system and the flange ring coordinate system.

[0044] According to this spatial transformation relationship The robot is controlled to move the surgical needle, which has completed registration, to the target point; wherein, the target point is the upper circular hole on the customized feature tool;

[0045] Once the robot has completed its movement, if the needle tip is within the range of the hole, it is determined that the surgical needle registration meets the preset accuracy threshold.

[0046] If the needle tip is not within the range of the hole, the surgical needle registration is determined to not meet the preset accuracy threshold.

[0047] To address the aforementioned problems, the present invention also provides an apparatus for registering surgical needles for a surgical robot, the apparatus comprising: a memory and a processor; the memory for storing a program for registering surgical needles for a surgical robot, and the processor for reading and executing the program for registering surgical needles for a surgical robot, and executing the method described in any of the above embodiments.

[0048] Compared with existing technologies, this application includes a method and apparatus for registering surgical needles for a surgical robot. The method includes: acquiring, through optical equipment, the translational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system, the translational relationship between the optical equipment coordinate system and the coordinate systems of multiple feature holes on the end effector, and the spatial transformation relationship between the optical equipment coordinate system and the coordinate system of a first optical marker; determining the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system based on the translational relationship between the optical equipment coordinate system and the coordinate systems of multiple feature holes on the end effector; determining the spatial transformation relationship between the optical equipment coordinate system and the surgical needle tip coordinate system based on the translational relationship between the optical equipment coordinate system and the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system; and determining the spatial transformation relationship between the first optical marker coordinate system and the surgical needle tip coordinate system based on the spatial transformation relationship between the optical equipment coordinate system and the first optical marker coordinate system. The technical solution of this invention provides a surgical needle registration method that is easy to operate, requires no modification to the surgical needle, has high registration accuracy, and does not disrupt the sterile environment.

[0049] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0050] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0051] Figure 1 This is a flowchart illustrating a surgical needle registration method for a surgical robot according to an embodiment of this application;

[0052] Figure 2 This is a system schematic diagram of a robot and a spatial positioning device in some exemplary embodiments;

[0053] Figure 3 This is a schematic diagram of a device for registering the surgical needle of a surgical robot according to an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

[0055] The steps illustrated in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here.

[0056] This disclosure provides a method for registering surgical needles on a surgical robot, such as... Figure 1 As shown, the method includes steps S100-S130, as detailed below:

[0057] S100. Obtain the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system using optical equipment. Translational relationships from the optical device coordinate system to the coordinate systems of multiple feature holes on the end effector, and spatial transformation relationships from the optical device coordinate system to the coordinate system of the first optical marker;

[0058] S110. Determine the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system by the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector;

[0059] S120. Based on the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system. The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Determine the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system.

[0060] S130. Based on the spatial transformation relationship from the optical device coordinate system to the first optical marker coordinate system. The spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system. Determine the spatial transformation relationship from the coordinate system of the first optical marker to the coordinate system of the surgical needle tip.

[0061] In this embodiment, the registration of the surgical needle is the acquisition of the position and orientation of the surgical needle.

[0062] In this embodiment, spatial transformation relationships include rotation and translation. The spatial transformation relationship from coordinate system A to coordinate system B can be described, for example, using a 4x4 matrix, as follows:

[0063]

[0064] The spatial transformation relationship includes rotation and translation; r is a 3x3 rotation matrix describing the rotation relationship; t is a 3x1 column vector describing the translation relationship. Subsequent implementation processes in this application are all based on the above-described relationships for related calculations. The spatial transformation relationship from coordinate system A to coordinate system B can also be described in other ways, and is not limited to this one method, for example:

[0065]

[0066] Based on the above characterization, the spatial transformation relationship from coordinate system B to coordinate system A and the spatial transformation relationship from coordinate system A to coordinate system B can be defined as follows:

[0067]

[0068] Assuming that the spatial transformation relationships between A and B, and between B and C are known, the spatial transformation relationship between A and C can be solved as follows:

[0069]

[0070] For example, the spatial transformation relationship from the robot coordinate system to the spatial positioning device coordinate system can be used... express.

[0071] In one exemplary embodiment, surgical needle registration for a surgical robot is applied to a system including the surgical robot, the optical device, an end effector, a guide block, and a probe. The surgical robot includes a flange ring and a robotic arm. The flange ring is a connecting component that connects the last joint of the robotic arm and the end effector. A first optical marker is attached to the end effector, and the first optical marker and the end effector are rigidly connected. The guide block is disposed at the bottom of the end effector and is fixed by the grippers of the end effector. The probe is a rigid body on which a second optical marker is mounted. The system for which this surgical needle registration for a surgical robot is applied is as follows: Figure 2 As shown, Figure 2 The descriptions of the objects corresponding to each number are as follows:

[0072] The system for registering surgical needles for surgical robots includes:

[0073] 1: Sterile barrier; 2: End effector; 3: Featured aperture B; 4: Surgical needle; 5: Optical marker; 6: Featured aperture C; 7: Featured aperture A; 8: Guide block (ring-shaped metal); 9: Optical device; 10: Upper circular aperture of the feature tool; 11: Lower circular aperture of the feature tool; 12: Feature tool; 13: Probe;

[0074] in:

[0075] 1: Sterile barrier, a type of antibacterial film specifically used in the medical field, needs to be placed over the end effector before surgery to ensure that the end effector does not cause biological contamination during the operation.

[0076] 2: End effector, an actuator used in puncture or treatment procedures involving surgical needles.

[0077] 3: Feature hole B, denoted as FeatureB, is located on the surface of the end effector. This surface faces the same direction as the side where the surgical needle is mounted. The diameter of the hole is the same as the tip sphere of the probe marker.

[0078] 4: Surgical needle, installed on the end effector before surgery, with the needle tip flush with the bottom of the guide block. Let Needle be the coordinate system of the needle tip after installation, which is also the bottom of the guide block.

[0079] 5: An optical marker, denoted as Marker, is a rigid body mounted on the surface of an end effector. The coordinate system of this rigid body can be easily obtained by optical devices.

[0080] 6: Feature hole C, located on the surface of the end effector, faces the same direction as the side where the surgical needle is mounted, and the diameter of the hole is the same as the tip sphere of the probe marker.

[0081] 7: Feature A, located on the surface of the end effector, faces the same direction as the side where the surgical needle is mounted, and the diameter of the hole is the same as the tip sphere of the probe marker.

[0082] 8: Guide block, which can be placed at the bottom of the end effector and can be clamped and fixed by the gripper of the end effector to guide the surgical needle for puncture.

[0083] 9: Optical equipment, denoted as Tracker, refers to a device that can directly obtain the coordinates of a corresponding marker through an optical sensor.

[0084] 10: Feature tool upper layer circular holes, there are 5 circular holes, which are distributed in the middle, top, bottom, left and right from the top view angle. The hole numbers are recorded as 1, 2, 3, 4 and 5 respectively.

[0085] 11: Feature Tool - Lower Layer Circular Hole. There is one circular hole, centered when viewed from above. The hole's number is 0. The five upper circular holes and the lower circular hole can be combined to form puncture paths at different angles from top to bottom. These paths are represented as Path. 1-0 Path 2-0 Path 3-0 Path 4-0 Path 5-0 .

[0086] 12: The feature tool, made of a specific material, has five upper circular holes that, together with the lower circular holes, form spatial cylinders at different angles, i.e., the puncture path. These cylinders are hollow and allow the needle to penetrate from a specified angle. The feature tool is equipped with markers whose coordinate system can be directly acquired by optical equipment; this coordinate system is denoted as Cab. Since the positions of the lower and upper circular holes on the feature tool relative to Cab are fixed, they can be directly determined based on engineering design and machining results. The positions of the holes under Cab are denoted as follows:

[0087] 13: A probe, denoted as Tip, is a rigid body with a marker attached. Optical devices can directly obtain the spatial transformation relationship from the optical device coordinate system to the marker's coordinate system. The tip of the probe consists of a very small-diameter sphere. The origin of the marker can be set as the tip, allowing the optical device to directly obtain the translation relationship from the optical device coordinate system to the probe tip coordinate system. This is also the configuration in this embodiment, and the probe tip coordinate system is also represented by Tip. When the probe point is at a certain spatial location, i.e., the tip of the probe is in contact with that location, the optical device can indirectly obtain the translation relationship from the optical device coordinate system to that spatial location.

[0088] In addition, the system for registering the surgical needles of this surgical robot also includes the following related components, Figure 2 There is no label in the middle:

[0089] Robot: Represents the coordinate system of the robot. The robot is a general-purpose robotic arm.

[0090] Flange: The robot flange coordinate system. The flange is the connecting component that connects the last joint of the robotic arm and the end effector. Moreover, commercially available robot systems can directly obtain the spatial transformation relationship from the robot coordinate system to the flange coordinate system.

[0091] In one exemplary embodiment, the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system is indirectly obtained by placing the probe at the bottom of the guide block and obtaining the translation relationship between the optical device coordinate system and the probe tip coordinate system through the optical device.

[0092] The translation relationship from the optical device coordinate system to the coordinate system of each feature hole on the end effector is indirectly obtained by placing the probe on the corresponding feature hole and then obtaining the translation relationship from the optical device coordinate system to the coordinate system of the probe tip through the optical device. For example, placing the probe on the corresponding feature hole A and obtaining the translation relationship from the optical device coordinate system to the coordinate system of the probe tip through the optical device yields the translation relationship from the optical device coordinate system to the coordinate system of feature hole A. Similarly, placing the probe on the corresponding feature hole B and obtaining the translation relationship from the optical device coordinate system to the coordinate system of the probe tip through the optical device yields the translation relationship from the optical device coordinate system to the coordinate system of feature hole B.

[0093] In one exemplary embodiment, the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined by the translational relationship between the optical device coordinate system and multiple feature aperture coordinate systems, including:

[0094] Step 1: Determine the x-column vector representing the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system.

[0095] In this step, the unit vector in the same direction as the spatial vector formed from the first feature hole to the second feature hole is first used as the X-axis of the surgical needle tip coordinate system. Then, based on the translation relationship between the optical device coordinate system and the first feature hole coordinate system, and the translation relationship between the optical device coordinate system and the second feature hole coordinate system, the x-column vector of the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined using the X-axis calculation formula.

[0096] The formula for calculating the X-axis is as follows:

[0097]

[0098] In the above formula, Let x be the column vector representing the rotational relationship from the optical device coordinate system to the surgical needle tip coordinate system. This represents the translation relationship from the optical device coordinate system to the first feature aperture coordinate system. This represents the translation relationship from the optical device coordinate system to the second feature aperture coordinate system, and Normalize is the normalization process for the vector.

[0099] The spatial vector formed by the first feature hole and the second feature hole is a vector that is parallel to the direction of the surgical needle puncture but opposite in direction.

[0100] The second step is to determine the y-column vector representing the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system.

[0101] In this step, first, the column vector x is... The vertical vector is used as the Y-axis of the surgical needle tip coordinate system; then, based on the translation relationship from the optical device coordinate system to the first feature hole coordinate system, the translation relationship from the optical device coordinate system to the third feature hole, and the x column vector... The y-column vector from the optical device coordinate system to the surgical needle tip coordinate system is determined using the y-axis calculation formula.

[0102] The formula for calculating the Y-axis is as follows:

[0103]

[0104] In the above formula, Let y be the column vector representing the rotational relationship from the optical device coordinate system to the surgical needle tip coordinate system. Let represent the translation relationship from the optical device coordinate system to the third feature aperture coordinate system; where,

[0105]

[0106]

[0107] Wherein, the column vector x The perpendicular vector is:

[0108] On the plane defined by multiple feature holes, the projection of the spatial vector formed by the first feature hole to the third feature hole onto this plane is taken as the y-column vector. The direction.

[0109] Normalization: This involves processing the data (using an algorithm) to restrict it to a desired range. In this example, vector normalization is primarily performed. The specific normalization process for a vector is as follows: Let vector be a 3x1 column vector with coordinates (x0, y0, z0). After normalization, the coordinate values ​​are:

[0110]

[0111] After normalization, the vector has a magnitude of 1, which means it is a unit vector. In this embodiment, the normalization process is represented by Normalize, such as Normalize(vector) for normalizing a vector.

[0112] Representation of vector operations: Suppose we have vectors vector1 and vector2. Then, multiplying a number n with vector1 is represented as n*vector1; dot product of vector1 and vector2 is represented as vector1·vector2; and cross product of vector1 and vector2 is represented as vector1×vector2.

[0113] Step 3: Determine the z-column vector representing the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system.

[0114] The x-column vector based on the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system. The y-column vector representing the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. The z-column vector of the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system is determined using the Z-axis calculation formula;

[0115] The formula for calculating the Z-axis is as follows:

[0116]

[0117] In the above formula, The z-column vector represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0118] In one exemplary embodiment, based on the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system... The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Determine the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. Among them, the position data from the optical device to the tip of the surgical needle. for:

[0119]

[0120] In the above formula, This represents the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. This represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. This represents the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0121] In one exemplary embodiment, based on the spatial transformation relationship from the optical device coordinate system to the first optical marker coordinate system... The spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system. Determine the spatial transformation relationship from the coordinate system of the first optical marker to the coordinate system of the surgical needle tip. The specific calculation formula is as follows:

[0122]

[0123] In one exemplary embodiment, after determining the spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system, it is determined whether the accuracy is met. The process includes: determining whether the surgical needle registration meets the preset accuracy threshold through a customized feature tool; if not, the rotation or translation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system is readjusted.

[0124] In one exemplary embodiment, determining whether the surgical needle registration meets a preset accuracy threshold using a customized feature tool includes:

[0125] Step 1: Based on the spatial transformation relationship from the robot coordinate system to the optical device coordinate system Spatial transformation relationship from the first optical marker coordinate system to the flange ring coordinate system Spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system Determine the spatial transformation relationship between the robot coordinate system and the flange ring coordinate system.

[0126] The second step is to apply this spatial transformation relationship. The robot is controlled to move the surgical needle, which has completed registration, to the target point; wherein, the target point is the upper circular hole on the customized feature tool;

[0127] The third step is to determine that the surgical needle registration meets the preset accuracy threshold if the position of the needle tip is within the range of the hole after the robot has completed its movement.

[0128] Fourth step: If the position of the needle tip is not within the range of the hole, it is determined that the registration of the surgical needle does not meet the preset accuracy threshold.

[0129] In addition, embodiments of the present invention provide a device for registering surgical needles for a surgical robot, which is similar to... Figure 1 The method embodiment shown corresponds to a device that can be specifically installed in various electronic devices. For example... Figure 3 As shown, it includes: a memory 300 and a processor 310; the memory stores computer programs, and the processor is used to call the computer programs in the memory to implement... Figure 1 The method shown, or the method for registering the surgical needle of the surgical robot as described in any of the above embodiments.

[0130] This application provides a surgical needle registration method and apparatus that is easy to operate, requires no modification to the surgical needle, has high registration accuracy, and does not disrupt the sterile environment.

[0131] Example 1

[0132] The process of determining the rotational relationship between the optical equipment coordinate system and the surgical needle tip coordinate system is as follows:

[0133] Step 11. Feature holes A, B, and C on the end effector are located on the same plane, denoted as FeaturePlane. Points are placed on feature holes A, B, and C respectively using probes, and the translation relationship from the optical device coordinate system to the feature hole coordinate system is indirectly obtained through optical devices, denoted as follows:

[0134] Step 12. The spatial vector formed by feature hole A and feature hole B is parallel to but opposite to the direction of needle puncture. This spatial vector is denoted as... Used The unit vectors in the same direction are used as the X-axis of the surgical needle tip coordinate system, denoted as . The calculation formula is as follows:

[0135]

[0136] Step 13. The spatial vector formed by feature hole A to feature hole C is denoted as... Calculate and The perpendicular vector is used as the Y-axis of the surgical needle tip coordinate system, denoted as... The vector must satisfy the following condition:

[0137] 1. On the FeaturePlane plane.

[0138] 2. exist Projection on and They are in the same direction.

[0139] The specific calculation formula is as follows:

[0140]

[0141] In the formula,

[0142]

[0143]

[0144] Step 14. Use and The normal vector between them is used as The calculation formula is as follows:

[0145]

[0146] Step 15. Based on the above calculation results, the rotation matrix from the optical device coordinate system to the surgical needle tip coordinate system can be obtained. The formula is as follows:

[0147]

[0148] It is a 3*1 column vector. It is a 3*3 matrix formed by merging the above 3 column vectors in column order, representing the rotational relationship from the optical device coordinate system to the surgical needle tip coordinate system.

[0149] Step 16. Based on the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system. The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Determine the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. Among them, the position data from the optical device to the tip of the surgical needle. for:

[0150]

[0151] In the above formula, This represents the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. This represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. This represents the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system.

[0152] Step 17. Based on the information obtained in advance by the optical equipment Data calculation The formula is as follows:

[0153]

[0154] This involves the spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system. This completes the initial registration of the surgical needle, meaning the spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system has been obtained. Furthermore, the surgical needle was not used throughout the entire process, and its sterile environment was not compromised.

[0155] Example 2

[0156] After the surgical needle is registered, the device is ready for use. However, due to the installation of the sterile barrier, the spatial transformation relationship between the coordinate system of the first optical marker and the coordinate system of the surgical needle tip may change slightly. Precise calibration is required at this point. The calibration process is as follows:

[0157] Step 21. Using the upper circular hole on the customized feature tool as the target point, control the robot to move the registered surgical needle to the target point. Record the robot's target pose data as follows: The calculation formula is as follows:

[0158]

[0159] In the formula The result of robot registration It is calculated based on the set target point and the resulting path.

[0160] Step 22. After the robot finishes its movement, if the position of the needle tip is within the range of the hole, it means that the overall accuracy meets the usage requirements, and the registration of the entire surgical needle is complete.

[0161] Step 23. If the needle tip is positioned beyond the area of ​​the hole, it indicates that the error is too large. Make fine adjustments.

[0162] Step 24. Make fine adjustments, following these principles:

[0163] It is known that

[0164]

[0165] Therefore, if the needle tip is misaligned, it needs to be adjusted according to the direction of the misalignment. The x, y, and z values; if the needle tip deviates from its direction, it needs to be adjusted according to the direction of the deviation. After adjustment, repeat steps 21-23 until the overall accuracy meets the usage requirements.

[0166] The embodiments of this application have the following technical effects:

[0167] 1. Simple to operate, no modification required to the surgical needle;

[0168] 2. High registration accuracy;

[0169] 3. It will not disrupt the sterile environment.

[0170] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for registering surgical needles for a surgical robot, characterized in that, The method for registering the surgical needle of the surgical robot is applied to a system including the surgical robot, optical equipment, end effector, guide block, and probe; the surgical robot includes a flange ring and a robotic arm, the flange ring being a connecting component connecting the last joint of the robotic arm and the end effector; a first optical marker is connected to the end effector, and the first optical marker and the end effector are rigidly connected; the guide block is disposed at the bottom of the end effector and is fixed by the gripper of the end effector; the probe is a rigid body with a second optical marker mounted on it; the tip of the probe is a sphere, the diameter of which is consistent with the diameter of a plurality of feature holes on the end effector; the surgical needle is mounted on the end effector, and the needle tip is flush with the bottom of the guide block; the method includes: The translational relationship between the optical device coordinate system and the surgical needle tip coordinate system, the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector, and the spatial transformation relationship between the optical device coordinate system and the first optical marker coordinate system are obtained through optical devices. The translation relationship from the optical device coordinate system to the surgical needle tip coordinate system is indirectly obtained by placing the probe at the bottom of the guide block and obtaining the translation relationship from the optical device coordinate system to the probe tip coordinate system through the optical device; the translation relationship from the optical device coordinate system to the coordinate system of each feature hole on the end effector is indirectly obtained by placing the probe on the corresponding feature hole and obtaining the translation relationship from the optical device coordinate system to the probe tip coordinate system through the optical device. The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined by the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes. The spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system is determined based on the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system and the rotation relationship between the optical device coordinate system and the surgical needle tip coordinate system. Based on the spatial transformation relationship from the optical device coordinate system to the first optical marker coordinate system and the spatial transformation relationship from the optical device coordinate system to the surgical needle tip coordinate system, the spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system is determined as follows: in, It represents the spatial transformation relationship from the coordinate system of the first optical marker to the coordinate system of the surgical needle tip. This represents the spatial transformation relationship from the coordinate system of the optical device to the coordinate system of the first optical marker. This represents the spatial transformation relationship from the optical device coordinate system to the surgical needle tip coordinate system.

2. The method for registering surgical needles for a surgical robot according to claim 1, characterized in that, The determination of the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes includes: The unit vector in the same direction as the spatial vector formed from the first feature hole to the second feature hole is taken as the X-axis of the surgical needle tip coordinate system. Based on the translation relationships from the optical device coordinate system to the first feature hole coordinate system and from the optical device coordinate system to the second feature hole coordinate system, the rotation relationship from the optical device coordinate system to the surgical needle tip coordinate system is determined using the X-axis calculation formula. Column vector; The formula for calculating the X-axis is as follows: In the above formula, The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Column vectors This represents the translation relationship from the optical device coordinate system to the first feature aperture coordinate system. This represents the translation relationship from the optical device coordinate system to the second feature aperture coordinate system. This is a normalization process for vectors; The spatial vector formed by the first feature hole and the second feature hole is a vector that is parallel to the direction of the surgical needle puncture but opposite in direction.

3. The method for registering surgical needles for a surgical robot according to claim 2, characterized in that, The determination of the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector includes: will with The column vectors perpendicular to each other serve as the Y-axis of the surgical needle tip coordinate system; Based on the translation relationship from the optical device coordinate system to the first feature aperture coordinate system, the translation relationship from the optical device coordinate system to the third feature aperture, and... The rotational relationship between the column vectors and the coordinate system of the optical device and the coordinate system of the surgical needle tip is determined using the Y-axis calculation formula. Column vector; The formula for calculating the Y-axis is as follows: In the above formula, The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Column vectors Let represent the translation relationship from the optical device coordinate system to the third feature aperture coordinate system; where, 。 4. The method for registering surgical needles for a surgical robot according to claim 3, characterized in that, The above and The column vector perpendicular to the vector is: on the plane defined by the multiple feature holes; the projection of the spatial vector formed by the first feature hole to the third feature hole onto this plane is taken as... The direction of the column vector.

5. The method for registering surgical needles for a surgical robot according to claim 4, characterized in that, The determination of the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system through the translational relationship between the optical device coordinate system and the coordinate systems of multiple feature holes on the end effector includes: Based on the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. The column vectors and the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. The column vectors are used to determine the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system using the Z-axis calculation formula. Column vector; The formula for calculating the Z-axis is as follows: ; In the above formula, The rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. Column vector.

6. The method for registering surgical needles for a surgical robot according to claim 5, characterized in that, The spatial transformation relationship between the optical device coordinate system and the surgical needle tip coordinate system for: ； In the above formula, This represents the spatial transformation relationship from the optical equipment coordinate system to the surgical needle tip coordinate system. This represents the rotational relationship between the optical device coordinate system and the surgical needle tip coordinate system. This represents the translation relationship between the optical device coordinate system and the surgical needle tip coordinate system.

7. The method for registering surgical needles for a surgical robot according to claim 6, characterized in that, After determining the spatial transformation relationship from the coordinate system of the first optical marker to the coordinate system of the surgical needle tip, the method further includes: The system uses a customized feature tool to determine whether the registration of the surgical needle meets a preset accuracy threshold. If the conditions are not met, the rotational or translational relationship between the first optical marker coordinate system and the surgical needle tip coordinate system is readjusted.

8. The method for registering surgical needles for a surgical robot according to claim 7, characterized in that, The step of determining whether the registration of the surgical needle meets a preset accuracy threshold using a customized feature tool includes: Based on the spatial transformation relationship from the robot coordinate system to the optical device coordinate system Spatial transformation relationship from the first optical marker coordinate system to the flange ring coordinate system Spatial transformation relationship from the first optical marker coordinate system to the surgical needle tip coordinate system Determine the spatial transformation relationship between the robot coordinate system and the flange ring coordinate system. ; According to this spatial transformation relationship The robot is controlled to move the surgical needle, which has completed registration, to the target point; wherein, the target point is the upper circular hole on the customized feature tool; Once the robot has completed its movement, if the needle tip is within the range of the hole, it is determined that the surgical needle registration meets the preset accuracy threshold. If the needle tip is not within the range of the hole, the surgical needle registration is determined to not meet the preset accuracy threshold.

9. An apparatus for registering a surgical needle for a surgical robot, the apparatus comprising: A memory and a processor; characterized in that the memory is used to store a program for registering surgical needles for a surgical robot, and the processor is used to read and execute the program for registering surgical needles for the surgical robot, performing the method according to any one of claims 1-8.

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