Space registration method and device, robot auxiliary system, equipment and medium

Abstract

The invention relates to a space registration method and device, a robot auxiliary system, equipment and a medium. The system comprises a medical image scanning device, a surgical robot, a scanning assembly and a registration assembly. The scanning assembly is mounted at the tail end of the surgical robot; the registration assembly is located in a scanning field of view of the medical image scanning equipment and the surgical robot, and the registration assembly comprises a plurality of positioning pieces; the method comprises the following steps: controlling medical image scanning equipment to scan a registration component to obtain first coordinate information of a plurality of positioning pieces on the registration component; controlling a scanning assembly on the surgical robot to scan the registration assembly to obtain second coordinate information of a plurality of positioning pieces on the registration assembly; and registering the first coordinate information and the second coordinate information to obtain a target transformation relation between the medical image coordinate system and a base coordinate system of the surgical robot. By adopting the method, the registration rate of the surgical robot and the medical image scanning equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of registration of surgical robots and imaging equipment, and in particular to a spatial registration method and device, a robot-assisted system, equipment and medium. Background Art

[0002] In the medical field, for image-guided surgical robots, it is usually necessary to align the surgical robot and the medical imaging scanning equipment (such as CT equipment), that is, to establish a transformation relationship between the base coordinate system of the surgical robot and the imaging system coordinate system corresponding to the medical imaging scanning equipment.

[0003] When registering the base coordinate system of the surgical robot with the image system coordinate system corresponding to the medical image scanning device, the traditional method is to first control the surgical robot to be in N different postures while ensuring that the base position of the surgical robot does not change, and then use the CT device to scan the registration object set on the end of the robotic arm of the surgical robot to obtain the coordinate point set A{P 1 ,P 2 ,……P N}; and the coordinate point set B{P 1 ',P 2 ',……P N Then, by registering the coordinate point set A and the coordinate point set B, the transformation matrix between the CT imaging system coordinate system and the surgical robot base coordinate system can be obtained.

[0004] However, the traditional method requires changing the posture of the surgical robot multiple times and requires multiple scans of the registration object at the end of the surgical robot in different postures through CT equipment, so the registration rate is low. Summary of the invention

[0005] Based on this, it is necessary to provide a spatial registration method and device, a robot-assisted system, a computer device, a computer-readable storage medium and a computer program product that can improve the registration rate between a surgical robot and a medical imaging scanning device in order to address the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a spatial registration method. The method is applied to a robot-assisted system, wherein the robot-assisted system includes a medical image scanning device, a surgical robot, a scanning component, and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located within the scanning field of view of the medical image scanning device and the surgical robot, and the registration component includes a plurality of positioning parts; the method includes:

[0007] Controlling the medical imaging scanning device to scan the registration component to obtain first coordinate information of a plurality of positioning elements on the registration component;

[0008] Controlling the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of multiple positioning components on the registration component;

[0009] The first coordinate information and the second coordinate information are registered to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

[0010] In one embodiment, controlling a scanning component on a surgical robot to scan a registration component to obtain second coordinate information of a plurality of positioning components on the registration component includes:

[0011] Controlling the scanning component on the surgical robot to scan the registration component to obtain initial coordinate information of multiple positioning components on the registration component;

[0012] Acquire a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot;

[0013] Based on the first transformation relationship, the initial coordinate information is transformed to obtain second coordinate information of the plurality of positioning members.

[0014] In one embodiment, obtaining a first transformation relationship from a coordinate system of a scanning component to a base coordinate system of a surgical robot includes:

[0015] Acquire an initial transformation relationship between a coordinate system of the scanning component in an initial position and a base coordinate system of the surgical robot;

[0016] Controlling the scanning component to switch from an initial posture to a first measurement posture, and obtaining a second transformation relationship between a coordinate system of the scanning component in the initial posture and a coordinate system of the scanning component in the first measurement posture; the first measurement posture is a posture when the scanning component scans the registration component;

[0017] According to the initial transformation relationship and the second transformation relationship, a first transformation relationship between the coordinate system of the scanning component in the first measurement posture and the base coordinate system of the surgical robot is determined.

[0018] In one embodiment, the surgical robot includes a first base and a mechanical arm, and the scanning assembly is disposed at the end of the mechanical arm; the method further includes:

[0019] Controlling the scanning component to switch from the first measurement posture to the second measurement posture, controlling the scanning component to scan the medical imaging scanning device in the second measurement posture, and obtaining first point cloud data corresponding to the medical imaging scanning device;

[0020] If the first base of the surgical robot moves from the initial position to the target position, the target relative posture between the scanning component and the base is controlled to be consistent with the initial relative posture between the scanning component and the base, and the scanning component is controlled to scan the medical imaging scanning device to obtain second point cloud data corresponding to the medical imaging scanning device; the initial relative posture is the relative posture between the scanning component and the base in the second measurement posture;

[0021] The target transformation relationship is updated according to the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0022] In one embodiment, the target transformation relationship is updated according to the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot, including:

[0023] Registering the first point cloud data and the second point cloud data to obtain a third transformation relationship;

[0024] According to the third transformation relationship and the target transformation relationship, a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot is obtained.

[0025] In one embodiment, the registration assembly further includes a second base and a plurality of connecting members disposed on the second base; a plurality of positioning members are respectively disposed at one end of each connecting member away from the second base;

[0026] The pixel value obtained by the positioning part after being scanned by the medical imaging scanning device is greater than or equal to the first preset pixel threshold; the pixel value obtained by the connecting part and the base after being scanned by the medical imaging scanning device is less than or equal to the second preset pixel threshold; the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than the preset difference threshold.

[0027] In the second aspect, the present application also provides a spatial registration device. It is applied to a robot-assisted system, which includes a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located in the scanning field of view of the medical image scanning device and the surgical robot, and the registration component includes a plurality of positioning parts; the device includes:

[0028] A first control module is used to control the medical imaging scanning device to scan the registration component to obtain first coordinate information of a plurality of positioning elements on the registration component;

[0029] A second control module is used to control the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of multiple positioning components on the registration component;

[0030] The registration module is used to register the first coordinate information and the second coordinate information to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

[0031] In a third aspect, the present application also provides a robot-assisted system. The robot-assisted system includes a medical imaging scanning device, a surgical robot, a scanning component, a registration component, and a controller; the scanning component is installed on the end of the surgical robot; the registration component is located within the scanning field of view of the medical imaging scanning device and the surgical robot, and the registration component includes a plurality of positioning parts;

[0032] A medical imaging scanning device, used to scan the registration component to obtain first coordinate information of a plurality of positioning elements on the registration component;

[0033] The surgical robot is used to control the scanning component to scan the registration component to obtain second coordinate information of multiple positioning components on the registration component;

[0034] The controller is used to align the first coordinate information and the second coordinate information to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

[0035] In a fourth aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the spatial registration method in the first aspect are implemented.

[0036] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the spatial registration method in the first aspect are implemented.

[0037] In a sixth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the spatial registration method in the first aspect are implemented.

[0038] The above-mentioned spatial registration method and device, robot-assisted system, computer equipment, storage medium and computer program product are applied to the robot-assisted system, which includes a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located in the scanning field of view of the medical image scanning device and the surgical robot, and the registration component includes multiple positioning parts; when performing registration between the medical image scanning device and the surgical robot, the registration component is scanned by controlling the medical image scanning device to obtain the first coordinate information of the multiple positioning parts on the registration component; and the scanning component on the surgical robot is controlled to scan the registration component to obtain the second coordinate information of the multiple positioning parts on the registration component; then, the first coordinate information and the second coordinate information are registered to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; wherein the medical image coordinate system is the coordinate system corresponding to the medical image scanning device. That is to say, in the spatial registration method of the present application, a registration component including multiple positioning parts, that is, multiple registration objects, is separately set up, and the registration component is set in the scanning field of view of the medical image scanning device and the surgical robot, so that the medical image scanning device and the surgical robot can respectively scan the multiple registration objects on the registration component, thereby obtaining the first coordinate information of the multiple registration objects in the medical image coordinate system and the second coordinate information in the surgical robot base coordinate system; then, the point cloud registration algorithm can be used to align the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; since the registration component includes multiple Therefore, during the entire registration process, there is no need to control the end of the surgical robot to perform multiple posture changes, nor is there a need for the medical imaging scanning device to scan the end of the robot more times. Even a single scan is sufficient, which greatly reduces the number of scans of the medical imaging scanning device, and can improve the scanning efficiency of the registration object, thereby improving the registration rate of the medical imaging scanning system and the surgical robot. In addition, when the medical imaging scanning device assists the surgical robot in image guidance, while reducing the number of scans of the medical imaging scanning device, it can also extend the service life of the medical imaging scanning device, especially extend the service life of the tube in the medical imaging scanning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A diagram of an application environment of a spatial registration method in an embodiment;

[0040] Figure 2 is a schematic structural diagram of a registration component in one embodiment;

[0041] Figure 3 is a schematic flow chart of a spatial registration method in one embodiment;

[0042] Figure 4 is a schematic flow chart of a spatial registration method in another embodiment;

[0043] Figure 5 A schematic diagram of the structure of a scanning component in one embodiment;

[0044] Figure 6 A schematic diagram of determining a coordinate system of a scanning component in one embodiment;

[0045] Figure 7 is a schematic flow chart of a spatial registration method in another embodiment;

[0046] Figure 8 is a schematic structural diagram of a surgical robot in an initial position according to an embodiment;

[0047] Fig. 9 is a schematic structural diagram of a surgical robot in a first measurement posture in one embodiment;

[0048] Fig.10 is a schematic flow chart of a spatial registration method in another embodiment;

[0049] Fig.11 A schematic diagram of a scanning component scanning a medical imaging scanning device in one embodiment;

[0050] Fig.12 A schematic diagram of the relationship between the current registration and the first registration in one embodiment;

[0051] Fig.13 is a structural block diagram of a spatial registration device in one embodiment;

[0052] Fig.14 is a structural block diagram of a robot-assisted system in one embodiment;

[0053] Fig.15 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In the medical field, with the development of surgical robots, completing surgical operations with the assistance of surgical robots has gradually become an efficient surgical method. For image-guided surgical robots, the surgical operation environment needs to be completed in combination with medical imaging scanning equipment and surgical robots; for example: in CT image-guided robot-assisted interventional surgery, the surgical patient is placed on the scanning bed of the CT imaging scanning device, and the patient is scanned by the CT imaging scanning device to obtain the patient's scanned image, and the surgical robot performs the surgical operation on the patient in combination with the patient's scanned image.

[0056] For image-guided surgical robots, during the operation, it is necessary to align the surgical robot with the medical imaging scanning device, that is, to establish a transformation relationship between the robot base coordinate system and the medical imaging coordinate system corresponding to the medical imaging scanning device; so that based on this transformation relationship, the interventional puncture needle point and target point planned in the imaging system can be converted into Cartesian coordinates in the robot base coordinate system, and then converted into the angles that each joint needs to rotate.

[0057] A common registration method between a robot and a medical imaging system is as follows: a registration object, i.e., a registration feature (such as a registration point), is set at the end of the robot's robotic arm, the robot is controlled to be in N different terminal postures, and for each terminal posture, a medical imaging scanning device is controlled to scan the registration feature on the end of the robotic arm to obtain a series of coordinate points {P1, P2, ... PN} of the registration feature in the medical imaging coordinate system; the coordinate points {P1', P2', ... PN'} of the configuration features in the N different terminal postures in the robot base coordinate system are known; then, a point cloud registration algorithm (such as the Kabsch algorithm) is used to register the coordinate points {P1, P2, ... PN} and the coordinate points {P1', P2', ... PN'} to obtain a transformation matrix from the medical imaging coordinate system to the robot base coordinate system.

[0058] However, the above registration methods have the following limitations:

[0059] 1. The material of the registration features at the end of the robot cannot have artifacts in medical images. If there are artifacts, it will affect the quality of the scanned image, causing inaccurate position coordinates of the end of the robot arm in the medical image coordinate system, which will affect the registration accuracy or even cause direct registration failure. In order to avoid artifact problems, the end of the robot can generally only use aluminum alloy or engineering plastic registration features.

[0060] 2. The registration speed is slow. In order to ensure the registration accuracy, the robot needs to change multiple postures, and the spatial positions of the registration features in different postures should be as far as possible. It often takes more than a few minutes to complete a set of registration processes, and the registration time is long.

[0061] 3. The tube exposure life of medical imaging scanning equipment is consumed quickly. During registration, the end of the robotic arm needs to be scanned in multiple positions in sequence. One registration process consumes at least 10 seconds of the tube life, which is equivalent to scanning 4 to 5 or even more preoperative images, which has a great impact on the tube life.

[0062] Based on this, an embodiment of the present application proposes a spatial registration method that can quickly and accurately complete the registration operation between the surgical robot and the medical imaging scanning device.

[0063] The spatial registration method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the robot-assisted system 10 includes a medical image scanning device 11, a surgical robot 12, a scanning component 13 and a registration component 14; the scanning component 13 is installed on the end of the surgical robot 12; the registration component 14 is located in the scanning field of view of the medical image scanning device 11 and the surgical robot 12, and the registration component 14 includes a plurality of positioning parts 141.

[0064] Optionally, the positioning member 141 is used as a registration feature, and may include but is not limited to a registration body (or registration point) of any structure such as a registration ball, a registration block, etc. A registration component 14 may include multiple positioning members 141 at different spatial positions, and multiple positioning members 141 may serve as registration features at multiple different spatial positions.

[0065] refer to Figure 2 As shown, it shows a schematic diagram of the structure of a registration component 14. The registration component 14 may include a plurality of spherical positioning members 141, a second base 142, and a plurality of connecting members 143 arranged on the second base 142; the plurality of positioning members 141 are respectively arranged at one end of each connecting member 143 away from the second base 142. Among them, each connecting member 143 is respectively arranged at a different position on the second base 142, and the length of each connecting member 143 may be different; thereby, a plurality of positioning members 141 located at different spatial positions can be obtained. It should be noted that in the embodiment of the present application, the shape of the registration component, the shape and number of the positioning members on the registration component are not specifically limited.

[0066] In one implementation, the pixel value obtained by the positioning member 141 after being scanned by the medical imaging scanning device 11 may be greater than or equal to the first preset pixel threshold; the pixel value obtained by the connecting member 143 and the second base 142 after being scanned by the medical imaging scanning device 11 may be less than or equal to the second preset pixel threshold; wherein the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than the preset difference threshold. In other words, for the registration component 14, the positioning member 141 (i.e., the registration feature) should use a material with a higher pixel value and no artifacts, such as silicon nitride, as a spherical registration feature; and the connecting member 143 and the second base 142 of the registration component 14 should use a material with a lower pixel value, such as acrylic (PMMA); in this way, each positioning member 141 can be accurately located from the scanned image, thereby accurately extracting the registration feature to obtain more accurate coordinate information of each positioning member 141.

[0067] In addition, the medical imaging scanning equipment 11 includes but is not limited to computer tomography (CT) equipment, magnetic resonance imaging (MRI) equipment, computer radiography (CR) equipment, direct digital radiography (DR) equipment, digital subtraction angiography (DSA) equipment, etc.

[0068] The scanning component 13 may include but is not limited to a three-dimensional scanner, a depth scanner, a depth camera, a photosensitive camera, etc. It should be noted that the type of the scanning component 13 is not specifically limited in the embodiment of the present application, and the configuration of the surgical robot 12 is not specifically limited.

[0069] In one embodiment, Figure 3 As shown, a spatial registration method is provided, which is applied to Figure 1 The robot-assisted system in the example is used to illustrate, including the following steps:

[0070] Step 301: Control a medical imaging scanning device to scan a registration component to obtain first coordinate information of a plurality of positioning elements on the registration component.

[0071] Exemplarily, the registration component can be arranged in the scanning field of view of the medical image scanning device, so that the medical image scanning device can perform image scanning on the registration component, thereby obtaining a scanned image of the registration component. Then, by performing image analysis on the scanned image of the registration component, each locating element on the registration component in the scanned image can be identified, and the first coordinate information of each locating element can be determined; the first coordinate information of the locating element is the position coordinate information of the locating element in the medical image coordinate system, and the medical image coordinate system is the coordinate system corresponding to the medical image scanning device.

[0072] In one implementation, when the robot-assisted system identifies each positioning member in a scanned image, it can first determine the position coordinate information of each positioning member on the scanned image, and then, based on the position coordinate information of each positioning member on the scanned image and a first preset coordinate transformation relationship, convert the position coordinate information of each positioning member on the scanned image into the first coordinate information of each positioning member in the medical image coordinate system; wherein the first preset coordinate transformation relationship is used to characterize the transformation relationship between the coordinate system corresponding to the scanned image and the medical image coordinate system.

[0073] In another implementation, the coordinate system corresponding to the scanned image may also be a medical imaging coordinate system, based on which the robot-assisted system may use the position coordinate information of each positioning component obtained from the scanned image as the first coordinate information of each positioning component.

[0074] Optionally, for the registration component, when the number of positioning members on the registration component is sufficient, such as when the number of registration features required for registration is reached, the medical image scanning device only needs to scan the registration component once to obtain the first coordinate information of the registration features at multiple different spatial positions required for registration; of course, when the number of positioning members on the registration component is not large, the medical image scanning device can also be controlled to scan the registration component multiple times, such as two scans, three scans, etc.; during each scan, it is only necessary to move the registration component to a different spatial position within the scanning field of view of the medical image scanning device; in this case, although it is necessary The medical imaging scanning device needs to perform multiple scanning processes. However, since the registration component itself includes multiple positioning parts, compared with the traditional method of setting a registration feature at the end of the robotic arm and controlling the change of the posture of the end of the robotic arm, this solution can also reduce the number of scans of the medical imaging scanning device to a certain extent. Furthermore, for the traditional solution, even if the number of registration features at the end of the robotic arm is increased, it is not more convenient to control the movement of the registration component by controlling the movement of the robotic arm to change the posture of the end of the robotic arm. Moreover, when increasing the number of registration features at the end of the robotic arm, it is necessary to ensure that each registration feature is located at a different spatial position, and the feasibility is poor.

[0075] Step 302: Control the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of multiple positioning components on the registration component.

[0076] Exemplarily, the robot-assisted system can control the scanning component on the surgical robot to scan the registration component, thereby obtaining scanning data of the registration component; then, the second coordinate information of each positioning component on the registration component is obtained from the scanning data of the registration component; the second coordinate information of the positioning component is the position coordinate information of the positioning component in the base coordinate system of the surgical robot.

[0077] In one implementation, the robot-assisted system can first determine the position coordinate information of each positioning component from the scanning data of the alignment component, where the position coordinate information of the positioning component is the position coordinate information of the positioning component in the coordinate system corresponding to the scanning component; then, based on the position coordinate information of each positioning component in the coordinate system corresponding to the scanning component and the second preset coordinate conversion relationship, the position coordinate information of each positioning component in the coordinate system corresponding to the scanning component is converted into the second coordinate information of each positioning component in the base coordinate system of the surgical robot; wherein the second preset coordinate conversion relationship is used to characterize the conversion relationship between the coordinate system corresponding to the scanning component and the base coordinate system of the surgical robot.

[0078] In addition, when the registration component is scanned by the scanning component, since the scanning component is arranged at the end of the surgical robot, the scanning component can scan the registration component when the end of the robot is in any posture; accordingly, for the second preset coordinate transformation relationship, when the scanning component is located at the end of the robot and the end of the robot is in different postures, the second preset coordinate transformation relationship is different. Furthermore, the second preset coordinate transformation relationship can be obtained by calibrating the end of the surgical robot.

[0079] In addition, it should be noted that when the registration component is scanned by the scanning component, the position of the registration component is consistent with the position when the registration component is scanned by the medical imaging scanning device. That is to say, the registration component at the same position in the space is scanned by the medical imaging scanning device and the scanning component on the surgical robot respectively, so as to obtain the coordinate information of each positioning part on the registration component at the same position in the medical imaging coordinate system and the base coordinate system of the surgical robot respectively.

[0080] For example, when the medical imaging scanning device needs to scan the registration component multiple times, the registration component should be scanned separately by the scanning components on the medical imaging scanning device and the surgical robot during each scan to obtain the first coordinate information and the second coordinate information of the registration component at the same position; thereafter, the registration component is moved to another spatial position under the scanning field of view to perform the next scan.

[0081] Step 303: align the first coordinate information and the second coordinate information to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0082] Exemplarily, a conventional point cloud registration algorithm may be used to perform registration processing on the first coordinate information and the second coordinate information, thereby obtaining a target transformation relationship between the medical image coordinate system and the surgical robot base coordinate system.

[0083] The above-mentioned spatial registration method is applied to a robot-assisted system, which includes a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located in the scanning field of view of the medical image scanning device and the surgical robot, and the registration component includes multiple positioning parts; when performing registration between the medical image scanning device and the surgical robot, the registration component is scanned by controlling the medical image scanning device to obtain first coordinate information of multiple positioning parts on the registration component; and the scanning component on the surgical robot is controlled to scan the registration component to obtain second coordinate information of multiple positioning parts on the registration component; then, the first coordinate information and the second coordinate information are registered to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; wherein the medical image coordinate system is the coordinate system corresponding to the medical image scanning device. That is to say, in the spatial registration method of the present application, a registration component including multiple positioning parts, that is, multiple registration objects, is separately set up, and the registration component is set in the scanning field of view of the medical image scanning device and the surgical robot, so that the medical image scanning device and the surgical robot can respectively scan the multiple registration objects on the registration component, thereby obtaining the first coordinate information of the multiple registration objects in the medical image coordinate system and the second coordinate information in the surgical robot base coordinate system; then, the point cloud registration algorithm can be used to align the first coordinate information and the second coordinate information to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; since the registration component includes multiple Therefore, during the entire registration process, there is no need to control the end of the surgical robot to perform multiple posture changes, nor is there a need for the medical imaging scanning device to scan the end of the robot more times. Even a single scan is sufficient, which greatly reduces the number of scans of the medical imaging scanning device, and can improve the scanning efficiency of the registration object, thereby improving the registration rate of the medical imaging scanning system and the surgical robot. In addition, when the medical imaging scanning device assists the surgical robot in image guidance, while reducing the number of scans of the medical imaging scanning device, it can also extend the service life of the medical imaging scanning device, especially extend the service life of the tube in the medical imaging scanning device.

[0084] Figure 4FIG. 2 is a flow chart of a spatial registration method in another embodiment. This embodiment involves an optional implementation process of controlling a scanning component on a surgical robot to scan a registration component to obtain second coordinate information of multiple positioning components on the registration component. Based on the above embodiment, Figure 4 As shown, the above step 302 includes:

[0085] Step 401, controlling the scanning component on the surgical robot to scan the registration component to obtain initial coordinate information of multiple positioning components on the registration component.

[0086] The initial coordinate information of the positioning member is the position coordinate information of the positioning member in the coordinate system of the scanning component.

[0087] Step 402: Acquire a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot.

[0088] Among them, the base coordinate system of the surgical robot may be a coordinate system corresponding to the base of the surgical robot; the surgical robot may include a first base and a robotic arm.

[0089] In one implementation, the scanning component can be set on the end of the robotic arm of the surgical robot. When the coordinate system of the scanning component is consistent with the coordinate system corresponding to the end of the robotic arm of the surgical robot, the transformation relationship between the end of the robotic arm of the surgical robot and the base of the surgical robot can be obtained by calibrating the end of the robotic arm of the surgical robot, and the transformation relationship is used as the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot. In this embodiment, the calibration method of the end of the robotic arm can be implemented by using a related calibration method and calibration algorithm, which will not be described in detail.

[0090] In another implementation, the scanning component is set at the end of the robotic arm of the surgical robot, but the coordinate system of the scanning component is inconsistent with the coordinate system corresponding to the end of the robotic arm of the surgical robot, that is, the origin of the coordinate system of the scanning component is not at the end point of the robotic arm.

[0091] refer to Figure 5 As shown, the scanning component 13 may include a flange 131 and a scanner body 132, and the scanning component 13 is connected to the end of the robotic arm of the surgical robot through the flange 131; in this case, the coordinate system of the scanning component 13 is actually the coordinate system corresponding to the scanner body 132, and the coordinate system corresponding to the flange 131 can be considered to be consistent with the coordinate system corresponding to the end of the robotic arm.

[0092] At this time, the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot is The transformation relationship between the scanner body 132 and the flange 131 can be The transformation relationship between the flange 131 and the surgical robot base To determine, as shown in formula (1).

[0093]

[0094] Among them, the transformation relationship between the flange 131 and the surgical robot base is It can be obtained by calibrating the end of the robotic arm of the surgical robot.

[0095] The transformation relationship between the scanner body 132 and the flange 131 Exemplarily, the determination may be performed in the following manner. Figure 6 As shown, it shows a schematic diagram of the structure between the scanner body coordinate system, the flange coordinate system and the calibration sphere. When calibrating between the scanner body and the flange, the calibration process may include:

[0096] 1. Fix the calibration ball and scanning assembly on the platform, such as Figure 6 As shown;

[0097] 2. Use an external measuring device to measure the calibration sphere and obtain the first coordinate (x1, y1, z1) of the center of the calibration sphere in the coordinate system of the measuring device; the external measuring device may include but is not limited to a measuring arm, a laser tracker, etc.;

[0098] 3. Use the measuring device to measure the center point of the flange surface of the scanning component, and obtain the second coordinate (x2, y2, z2) of the center point of the flange surface in the coordinate system of the measuring device;

[0099] 4. Use the scanner on the scanning component to measure the calibration ball and obtain the third coordinate (x3, y3, z3) of the center of the calibration ball in the scanner body coordinate system;

[0100] 5. It can be assumed that the coordinate axes of the scanner body coordinate system and the flange surface coordinate system are parallel. Then, according to the first coordinate (x1, y1, z1), the second coordinate (x2, y2, z2) and the third coordinate (x3, y3, z3) measured in steps 2, 3 and 4, the transformation relationship between the scanner body coordinate system and the flange coordinate system can be calculated. Right now

[0101]

[0102] Based on this, the transformation relationship between the scanner body coordinate system and the flange coordinate system is determined through the above steps 1-5. And determine the transformation relationship between the flange coordinate system and the surgical robot base coordinate system by calibration In the case of, the above formula (1) can be used to calculate the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot:

[0103] Step 403: Based on the first transformation relationship, coordinate transformation is performed on the initial coordinate information to obtain second coordinate information of the plurality of positioning components.

[0104] Exemplarily, when the initial coordinate information of each positioning component in the coordinate system of the scanning component is obtained through the above step 401, and when the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot is obtained through the above step 402, the initial coordinate information of each positioning component can be transformed based on the first transformation relationship to obtain the second coordinate information of each positioning component in the base coordinate system of the surgical robot.

[0105] In this embodiment, the scanning component on the surgical robot is controlled to scan the registration component to obtain the initial coordinate information of multiple positioning components on the registration component; the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot is obtained; based on the first transformation relationship, the initial coordinate information is transformed to obtain the second coordinate information of the multiple positioning components. The method proposed in this embodiment can obtain the position coordinate information of the positioning components in the robot base coordinate system, thereby improving the accuracy of the coordinate information of the registration component in the robot base coordinate system.

[0106] In one embodiment, for the two situations mentioned above in which the transformation relationship is obtained by calibration, the specific calibration process can be implemented by the following steps.

[0107] First, for the first case, that is, when the coordinate system of the scanning component is consistent with the coordinate system corresponding to the end of the robotic arm of the surgical robot, the first transformation relationship between the scanning component and the base of the surgical robot is obtained by calibrating the end of the robotic arm of the surgical robot, such as Figure 7 As shown, the above step 402 may include:

[0108] Step 701: Acquire the initial transformation relationship between the coordinate system of the scanning component in the initial position and the base coordinate system of the surgical robot.

[0109] Among them, the initial posture can indicate that the robotic arm of the surgical robot is in a zero posture, such as Figure 8 As shown, that is, the robotic arm of the surgical robot is not extended at all in the zero position.

[0110] Exemplarily, a robot calibration algorithm can be used to calibrate the robot in zero-position to obtain the transformation relationship from the robot end to the surgical robot base in zero-position, which serves as the initial transformation relationship between the coordinate system of the scanning component in the initial position and the base coordinate system of the surgical robot.

[0111] Step 702: Control the scanning component to switch from the initial posture to the first measurement posture, and obtain a second transformation relationship between the coordinate system of the scanning component in the initial posture and the coordinate system of the scanning component in the first measurement posture.

[0112] The first measurement posture is the posture when the scanning component scans the registration component.

[0113] For example, when the registration component is scanned by the scanning component, since the registration component is usually arranged in the scanning field of view of the medical imaging scanning device, that is, arranged at the center position of the circular scanning frame of the medical imaging scanning device; at this time, in order to facilitate the scanning component arranged at the end of the surgical robot to conveniently and accurately scan the registration component, thereby obtaining the second coordinate information of each positioning member on the registration component, the end of the surgical robot can be extended to adjust the end of the surgical robot to be in the first measurement posture, such as Fig. 9 shown.

[0114] Since the coordinate system of the scanning component in the first measurement posture has changed compared to the coordinate system of the scanning component in the initial posture, it is necessary to determine the second transformation relationship between the coordinate system of the scanning component in the initial posture and the coordinate system of the scanning component in the first measurement posture.

[0115] Exemplarily, when the scanning component is switched from an initial position to a first measurement position by controlling the movement of the end of the robotic arm, a second transformation relationship between a coordinate system of the scanning component in the initial position and a coordinate system of the scanning component in the first measurement position can be obtained; optionally, the second transformation relationship can be determined according to the joint angles of each joint of the robotic arm of the surgical robot, or according to the position coordinates of the scanning component in the initial position and the position coordinates of the scanning component in the first measurement position, etc.

[0116] Step 703: Determine a first transformation relationship between a coordinate system of the scanning component in the first measurement posture and a base coordinate system of the surgical robot according to the initial transformation relationship and the second transformation relationship.

[0117] Exemplarily, the first transformation relationship between the coordinate system of the scanning component in the first measurement posture and the base coordinate system of the surgical robot can be calculated according to the product of the initial transformation relationship and the second transformation relationship.

[0118] Next, for the second case, that is, when the scanning assembly includes a flange and a scanner body, the coordinate system of the scanning assembly is the coordinate system corresponding to the scanner body, which is inconsistent with the coordinate system corresponding to the end of the robotic arm (or flange) of the surgical robot; at this time, refer to the above Figure 6 The corresponding related content can be obtained based on the transformation relationship between the flange coordinate system and the surgical robot base coordinate system. The transformation relationship between the scanner body coordinate system and the flange coordinate system To calculate the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot.

[0119] This involves obtaining the transformation relationship between the flange coordinate system and the surgical robot base coordinate system through calibration For the calibration process, you can also refer to the above Figure 7 The corresponding related content is to calculate the transformation relationship between the coordinate system of the flange (i.e., the end of the robotic arm) in the first measurement posture and the base coordinate system of the surgical robot by obtaining the initial transformation relationship between the coordinate system of the flange (i.e., the end of the robotic arm) in the initial posture and the base coordinate system of the surgical robot, and obtaining the second transformation relationship between the coordinate system of the flange (i.e., the end of the robotic arm) in the initial posture and the coordinate system of the flange (i.e., the end of the robotic arm) in the first measurement posture, The specific implementation process can refer to the above Figure 7 The corresponding implementation contents will not be repeated here.

[0120] In this embodiment, by determining the initial transformation relationship between the coordinate system of the end of the robot arm in the initial posture and the base coordinate system of the surgical robot, and the second transformation relationship between the coordinate system of the end of the robot arm in the initial posture and the coordinate system of the end of the robot arm in the first measurement posture after the end of the robot arm switches from the initial posture to the first measurement posture, and determining the transformation relationship between the coordinate system of the end of the robot arm in the first measurement posture and the base coordinate system of the surgical robot based on the initial transformation relationship and the second transformation relationship, the end of the robot arm is calibrated; using this method, the end of the robot arm can be accurately calibrated, thereby improving the accuracy of the transformation relationship between the end of the robot arm and the base. Based on this, regardless of whether the coordinate system of the scanning component is consistent with the coordinate system of the end of the robot arm, a more accurate first transformation relationship from the coordinate system of the scanning component to the base coordinate system of the surgical robot can be obtained.

[0121] In one embodiment, after the above-mentioned embodiment is used to align the surgical robot and the medical image scanning equipment to obtain the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot, the interventional puncture needle entry point, target point, etc. planned in the medical scanning image can be converted into Cartesian coordinates in the robot base coordinate system according to the target transformation relationship, and then converted into the angles that each joint of the surgical robot needs to rotate, and the various joints of the surgical robot are controlled to rotate, so that the end of the surgical robot can be accurately positioned at the needle entry point or target point to start the surgical operation.

[0122] During the surgical operation, the surgical robot should remain motionless so that the surgical robot can accurately position the end of the robotic arm according to the marking points in the medical scan image based on the target transformation relationship between the medical image coordinate system obtained by pre-registration and the base coordinate system of the surgical robot. However, during the actual surgical operation, or during the next surgical operation, the actual position of the surgical robot may deviate from the position of the surgical robot during registration, and when the position of the surgical robot changes, the base coordinate system of the surgical robot will also change, which will cause the target transformation relationship between the base coordinate system of the surgical robot and the medical image coordinate system to change.

[0123] At this time, it is necessary to re-register the surgical robot and the medical imaging scanning device to obtain a new target transformation relationship between the base coordinate system of the surgical robot and the medical imaging coordinate system.

[0124] In one embodiment, a method is proposed for updating the target transformation relationship obtained by the previous registration to obtain a new target transformation relationship when the position of the surgical robot changes. With this implementation method, there is no need to re-execute the various steps of the spatial registration method in the above-mentioned embodiments. Instead, the target transformation relationship is updated by registering the point cloud data of the medical imaging scanning device. This can improve the registration efficiency of determining the new target transformation relationship between the base coordinate system of the surgical robot and the medical imaging coordinate system when the position of the surgical robot changes.

[0125] For example, based on the above embodiment, Fig.10 As shown, the above method may also include:

[0126] Step 1001: Control the scanning component to switch from a first measurement posture to a second measurement posture, and control the scanning component to scan a medical imaging scanning device in the second measurement posture to obtain first point cloud data corresponding to the medical imaging scanning device.

[0127] The second measured posture is the posture when the medical imaging scanning device is scanned by the scanning component, referring to Fig.11 As shown; illustratively, scanning the medical imaging scanning device may be scanning the entire medical imaging scanning device or a portion of the medical imaging scanning device; for example: the scanning frame of the medical imaging scanning device may be scanned, or the scanning bed of the medical imaging scanning device may be scanned, or the entire medical imaging scanning device may be scanned, etc.

[0128] Exemplarily, when scanning the scanning frame of a medical imaging scanning device, the second measurement posture can be a posture that enables the scanning component to completely scan the scanning frame; based on this, after controlling the scanning component to switch from the first measurement posture to the second measurement posture, the scanning component can be controlled to scan the scanning frame of the medical imaging scanning device, thereby obtaining the first point cloud data corresponding to the scanning frame of the medical imaging scanning device; optionally, the first point cloud data can include point cloud data corresponding to the outer contour of the scanning frame. Of course, the first point cloud data can also include point cloud data of other parts of the scanning frame, such as point cloud data of the inner contour of the scanning frame, etc. The embodiment of the present application does not make specific limitations on this.

[0129] Step 1002, when the first base of the surgical robot moves from the initial position to the target position, the target relative posture between the scanning component and the base is controlled to remain consistent with the initial relative posture between the scanning component and the base, and the scanning component is controlled to scan the medical imaging scanning device to obtain second point cloud data corresponding to the medical imaging scanning device.

[0130] The initial relative posture is the relative posture between the scanning component and the base in the second measurement posture.

[0131] That is to say, when the position of the surgical robot changes, the terminal posture of the surgical robot is controlled to be adjusted to the above-mentioned second measurement posture, that is, to ensure that the relative posture between the terminal of the surgical robot and the first base of the surgical robot after the position change occurs is consistent with the relative posture between the terminal of the surgical robot and the first base when the medical imaging scanning device is scanned before the position change occurs; Fig.12 As shown, it is ensured that the end position of the surgical robot is consistent when the point cloud data of the medical imaging scanning device is collected twice; even when the end position is ensured to be consistent, the postures of the joints of the robotic arm can also be ensured to be completely consistent, so as to more accurately ensure that the end position of the two scans is consistent.

[0132] At this time, when the position of the surgical robot has changed and the end posture of the surgical robot has been adjusted to the above-mentioned second measurement posture, the scanning component on the end of the surgical robot can be controlled to scan the medical imaging scanning device, thereby obtaining the second point cloud data corresponding to the medical imaging scanning device.

[0133] Based on the above example, the scanning component can be controlled to scan the scanning frame of the medical imaging scanning device, so as to obtain the second point cloud data of the scanning frame; wherein the second point cloud data may include the outer contour point cloud data of the scanning frame.

[0134] Step 1003: Update the target transformation relationship according to the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

[0135] Exemplarily, the first point cloud data and the second point cloud data can be registered to obtain a third transformation relationship; then, based on the third transformation relationship and the target transformation relationship, a new target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot can be obtained.

[0136] Optionally, a point cloud registration algorithm may be used to register the first point cloud data and the second point cloud data to obtain the third transformation relationship; the third transformation relationship may be used to characterize the transformation relationship between the coordinate system of the scanning component during this registration after the position of the surgical robot changes to the coordinate system of the scanning component during the first registration when the position does not change, and may be expressed as T Offset ; Then the relationship between the first point cloud data, the second point cloud data and the third transformation can be expressed as: C = T Offset ·C ′ , where C represents the first point cloud data and C' represents the second point cloud data.

[0137] For the first registration, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system can be shown as formula (2).

[0138]

[0139] in, represents the target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot after the first registration, P CT represents the position coordinates of any spatial point in the medical imaging coordinate system, P Robot-first Represents the position coordinates of any spatial point in the base coordinate system of the surgical robot during the first registration.

[0140] After the position of the surgical robot changes, it is assumed that the medical imaging scanning device has not changed, that is, it can be considered that the position coordinates of the first point cloud data of the medical imaging scanning device in the medical imaging coordinate system remain unchanged, and the posture of the robotic arm when the scanning component measures the medical imaging scanning device during the first alignment is consistent with the posture of the robotic arm during this measurement; therefore, it can be considered that during this alignment, if the base coordinate system {Robot-next} of the surgical robot is moved by T Offset, which can be coincident with the base coordinate system {Robot-first} of the surgical robot during the first registration. That is, {Robot-first} = T Offset ·{Robot-next}.

[0141] Then, the coordinate transformation relationship between the base coordinate system of the current surgical robot and the base coordinate system of the first surgical robot can be expressed as formula (3).

[0142] P Robot-first =T Offset ·P Robot-next (3)

[0143] Among them, P Robot-nest Represents the position coordinates of any spatial point in the base coordinate system of the surgical robot during this registration.

[0144] From the above formula (2) and formula (3), we can get:

[0145]

[0146] According to the definition of the registration matrix, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system after this registration can be expressed as:

[0147]

[0148] in, It represents the new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot after this registration.

[0149] From the above formula (4) and formula (5), we can get the new target transformation relationship after this registration:

[0150]

[0151] That is to say, after the position of the surgical robot changes, the new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot can be expressed as the product of the inverse of the third transformation relationship and the target transformation relationship of the first registration, where the third transformation relationship is the transformation relationship from the coordinate system of the scanning component during this registration to the coordinate system of the scanning component during the first registration.

[0152] In this embodiment, after the surgical robot and the medical imaging scanning device are first registered, the surgical robot should not be moved first, that is, it is ensured that the surgical robot is still in the position at the time of the first registration, the registration component and the bed can be removed, and the end position of the surgical robot is controlled to switch from the first measurement position to the second measurement position; at this time, the scanning component is controlled to scan the outer contour of the scanning frame of the medical imaging scanning device, so as to obtain the first point cloud data of the outer contour; then, when it is determined that the position of the surgical robot has changed, the end position of the surgical robot is adjusted to the second measurement position that is the same as that at the time of the first registration, that is, it is ensured that when the surgical robot is in the current position, the posture of its robotic arm is the same as the robotic arm position at the first registration position. The posture remains consistent; then, the scanning component is controlled to scan the outer contour of the scanning frame of the medical imaging scanning device again, so as to obtain the second point cloud data of the outer contour; at this time, according to the first point cloud data, the second point cloud data and the target transformation relationship after the first registration, the target transformation relationship after the first registration can be updated, so as to quickly and accurately obtain the new target transformation relationship from the medical imaging coordinate system to the base coordinate system of the surgical robot after the position change, so as to realize the rapid registration of the surgical robot and the medical imaging scanning device when the position of the surgical robot changes; there is no need to perform the registration process between the surgical robot and the medical imaging scanning device through the registration component, thereby improving the registration efficiency.

[0153] In one embodiment, a complete process of first registration is provided, including the following steps:

[0154] 1. When the robot is in zero position, an external measuring device is used to calibrate the initial transformation matrix from the 3D scanner coordinate system to the robot base coordinate system, that is,

[0155] 2. Adjust the robot from the zero position to the first measurement position. At this time, the content of step 702 is used to obtain the robot's spinor transformation matrix, that is, the second transformation relationship T Pose_Reg At this time, the first transformation relationship from the 3D scanner coordinate system to the robot base coordinate system can be expressed as:

[0156]

[0157] 3. Place the registration component in the scanning field of view of the medical imaging scanning device for scanning. Eight registration features can be set on the registration component. After one scanning exposure, the first coordinate point set A = {P1, P2, ..., P8} of the eight registration features in the medical imaging coordinate system can be obtained.

[0158] 4. Control the scanning component to scan the registration component in the first measurement posture to obtain a coordinate point set B = {P1', P2', ..., P8'} of 8 registration features in the 3D scanner coordinate system.

[0159] 5. According to the first transformation relationship from the 3D scanner coordinate system to the robot base coordinate system, coordinate transformation is performed on the coordinate point set B, and a second coordinate point set B' of the 8 registration features in the robot base coordinate system is calculated.

[0160]

[0161] 6. Use the point cloud registration algorithm to register the first coordinate point set A and the second coordinate point set B' to obtain the target transformation relationship from the medical image coordinate system to the base coordinate system of the surgical robot. Complete the first registration task.

[0162] According to the definition of the registration matrix, after the first registration, the coordinate transformation relationship from the medical image coordinate system to the surgical robot base coordinate system can be shown as the above formula (2), that is,

[0163]

[0164] Among them, P CT represents the position coordinates of any spatial point in the medical imaging coordinate system, P Robot-first Represents the position coordinates of any spatial point in the base coordinate system of the surgical robot during the first registration.

[0165] By adopting the spatial registration method proposed in this embodiment, only one scanning exposure is required to complete the registration between the medical image scanning device and the surgical robot, and the registration speed is fast; in addition, there is no restriction on low image artifacts for the material at the end of the robotic arm. In addition, by adopting this method, once the registration of the surgical robot and the medical image scanning device is completed once, if the position of the surgical robot changes subsequently, the target transformation relationship can be re-corrected by scanning the medical image scanning device with a three-dimensional scanner, without the need for image exposure again.

[0166] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0167] Based on the same inventive concept, the embodiment of the present application also provides a spatial registration device for implementing the spatial registration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more spatial registration device embodiments provided below can refer to the limitations of the spatial registration method above, and will not be repeated here.

[0168] In one embodiment, Fig.13 As shown, a spatial registration device is provided, which is applied to a robot-assisted system. The robot-assisted system includes a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located in the scanning field of view of the medical image scanning device and the surgical robot, and the registration component includes a plurality of positioning parts; including: a first control module 1301, a second control module 1302 and a registration module 1303, wherein:

[0169] The first control module 1301 is used to control the medical image scanning device to scan the registration component to obtain first coordinate information of multiple positioning components on the registration component.

[0170] The second control module 1302 is used to control the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of multiple positioning components on the registration component.

[0171] The registration module 1303 is used to register the first coordinate information and the second coordinate information to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

[0172] In one embodiment, the second control module 1302 includes a control submodule, an acquisition submodule and a coordinate transformation submodule; wherein the control submodule is used to control the scanning component on the surgical robot to scan the registration component to obtain the initial coordinate information of multiple positioning parts on the registration component; the acquisition submodule is used to obtain the first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; the coordinate transformation submodule is used to perform coordinate transformation on the initial coordinate information based on the first transformation relationship to obtain the second coordinate information of multiple positioning parts.

[0173] In one embodiment, the acquisition submodule includes a first acquisition unit, a second acquisition unit and a determination unit; wherein the first acquisition unit is used to acquire the initial transformation relationship between the coordinate system of the scanning component in the initial posture and the base coordinate system of the surgical robot; the second acquisition unit is used to control the scanning component to switch from the initial posture to the first measurement posture, and acquire the second transformation relationship between the coordinate system of the scanning component in the initial posture and the coordinate system of the scanning component in the first measurement posture; the first measurement posture is the posture of the scanning component when scanning the alignment component; the determination unit is used to determine the first transformation relationship between the coordinate system of the scanning component in the first measurement posture and the base coordinate system of the surgical robot according to the initial transformation relationship and the second transformation relationship.

[0174] In one embodiment, the surgical robot includes a first base and a robotic arm, and a scanning component is arranged on the end of the robotic arm; the device also includes a third control module, a fourth control module and an update module; wherein the third control module is used to control the scanning component to switch from the first measurement posture to the second measurement posture, and control the scanning component to scan the medical imaging scanning device in the second measurement posture to obtain the first point cloud data corresponding to the medical imaging scanning device; the fourth control module is used to control the target relative posture between the scanning component and the base to be consistent with the initial relative posture between the scanning component and the base when the first base of the surgical robot moves from an initial position to a target position, and control the scanning component to scan the medical imaging scanning device to obtain the second point cloud data corresponding to the medical imaging scanning device; the initial relative posture is the relative posture between the scanning component and the base in the second measurement posture; the update module is used to update the target transformation relationship according to the first point cloud data and the second point cloud data, and obtain a new target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot.

[0175] In one embodiment, the update module includes a registration submodule and an update submodule; wherein the registration submodule is used to register the first point cloud data and the second point cloud data to obtain a third transformation relationship; and the update submodule is used to obtain a new target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot according to the third transformation relationship and the target transformation relationship.

[0176] In one embodiment, the alignment component also includes a second base and a plurality of connecting members arranged on the second base; a plurality of positioning members are respectively arranged at one end of each connecting member away from the second base; a pixel value obtained by the positioning member after being scanned by a medical imaging scanning device is greater than or equal to a first preset pixel threshold; a pixel value obtained by the connecting member and the base after being scanned by the medical imaging scanning device is less than or equal to a second preset pixel threshold; the second preset pixel threshold is less than the first preset pixel threshold, and the difference between the second preset pixel threshold and the first preset pixel threshold is greater than a preset difference threshold.

[0177] Each module in the above-mentioned spatial registration device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0178] In one embodiment, Fig.14 As shown, a robot-assisted system is provided, which includes a medical image scanning device 1401, a surgical robot 1402, a scanning component 1403, a registration component 1404 and a controller 1405; the scanning component 1403 is installed on the end of the surgical robot 1402; the registration component 1404 is located in the scanning field of view of the medical image scanning device 1401 and the surgical robot 1402, and the registration component 1404 includes a plurality of positioning parts.

[0179] The medical image scanning device 1401 is used to scan the registration component 1404 to obtain first coordinate information of multiple positioning components on the registration component 1404.

[0180] The surgical robot 1402 is used to control the scanning component 1403 to scan the registration component 1404 to obtain second coordinate information of multiple positioning components on the registration component 1404.

[0181] Exemplarily, the surgical robot 1402 can control the end of the robotic arm to be in a first measurement position to control the scanning component 1403 to move to the measurement position; then, the scanning component 1403 can scan the alignment component 1404 under the control of the controller 1405, and send the scanning data to the controller 1405, so that the controller 1405 obtains the second coordinate information of multiple positioning parts on the alignment component 1404 from the scanning data.

[0182] The controller 1405 is used to align the first coordinate information and the second coordinate information to obtain a target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot; wherein the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

[0183] The robot-assisted system in this embodiment separately sets up a registration component including multiple positioning parts, that is, multiple registration objects, and sets the registration component in the scanning field of view of the medical image scanning device and the surgical robot, so that the medical image scanning device and the surgical robot can respectively scan the multiple registration objects on the registration component, thereby obtaining the first coordinate information of the multiple registration objects in the medical image coordinate system and the second coordinate information in the base coordinate system of the surgical robot; then, the point cloud registration algorithm can be used to align the first coordinate information and the second coordinate information to obtain the object coordinate system between the medical image coordinate system and the base coordinate system of the surgical robot. standard transformation relationship; since the registration component includes multiple positioning parts and the registration component is independently set, during the entire registration process, there is no need to control the end of the surgical robot to perform multiple posture changes, and there is no need for the medical imaging scanning equipment to scan the end of the robot more times, and even one scan is sufficient, which greatly reduces the number of scans of the medical imaging scanning equipment, can improve the scanning efficiency of the registration object, and then improve the registration rate of the medical imaging scanning system and the surgical robot; in addition, while reducing the number of scans of the medical imaging scanning equipment, it can also reduce damage to the tube in the medical imaging scanning equipment and increase the service life of the tube.

[0184] In one embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.15 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store at least one of the first coordinate information, the second coordinate information, the initial transformation relationship, the first transformation relationship, the second transformation relationship, the target transformation relationship, the first point cloud data and the second point cloud data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a spatial registration method is implemented.

[0185] Exemplarily, in the case where the computer device is a terminal, the computer device may also include a display screen and an input device (not shown in the figure). The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0186] Those skilled in the art will understand that Fig.15 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0187] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the spatial registration method in any of the above embodiments are implemented.

[0188] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the spatial registration method in any of the above embodiments are implemented.

[0189] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the spatial registration method in any of the above embodiments.

[0190] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0191] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A spatial registration method, characterized in that: The invention is applied to a robot-assisted system, wherein the robot-assisted system comprises a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is installed on the end of the surgical robot; the registration component is located within the scanning field of view of the medical image scanning device and the surgical robot, and the registration component comprises a plurality of positioning members; the method comprises: Controlling the medical imaging scanning device to scan the registration component to obtain first coordinate information of the plurality of positioning elements on the registration component; Controlling the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of the plurality of positioning elements on the registration component; The first coordinate information and the second coordinate information are registered to obtain a target transformation relationship between a medical image coordinate system and a base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

2. The method according to claim 1, characterized in that The controlling the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of the plurality of positioning elements on the registration component includes: Controlling the scanning component on the surgical robot to scan the registration component to obtain initial coordinate information of the multiple positioning components on the registration component; Acquire a first transformation relationship between the coordinate system of the scanning component and the base coordinate system of the surgical robot; Based on the first transformation relationship, coordinate transformation is performed on the initial coordinate information to obtain second coordinate information of the plurality of positioning elements.

3. The method according to claim 2, characterized in that The step of acquiring a first transformation relationship from the coordinate system of the scanning component to the base coordinate system of the surgical robot includes: Acquire an initial transformation relationship between a coordinate system of the scanning component in an initial position and a base coordinate system of the surgical robot; Controlling the scanning component to switch from the initial posture to a first measurement posture, and obtaining a second transformation relationship between a coordinate system of the scanning component in the initial posture and a coordinate system of the scanning component in the first measurement posture; the first measurement posture is a posture of the scanning component when scanning the registration component; A first transformation relationship between the coordinate system of the scanning component in the first measurement posture and the base coordinate system of the surgical robot is determined according to the initial transformation relationship and the second transformation relationship.

4. The method according to claim 2, characterized in that: The surgical robot comprises a first base and a mechanical arm, and the scanning assembly is arranged at the end of the mechanical arm; the method further comprises: Controlling the scanning component to switch from the first measurement posture to a second measurement posture, and controlling the scanning component to scan the medical imaging scanning device in the second measurement posture to obtain first point cloud data corresponding to the medical imaging scanning device; If the first base of the surgical robot moves from the initial position to the target position, the target relative posture between the scanning component and the base is controlled to be consistent with the initial relative posture between the scanning component and the base, and the scanning component is controlled to scan the medical imaging scanning device to obtain second point cloud data corresponding to the medical imaging scanning device; the initial relative posture is the relative posture between the scanning component and the base in the second measurement posture; The target transformation relationship is updated according to the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot.

5. The method according to claim 4, characterized in that The updating of the target transformation relationship according to the first point cloud data and the second point cloud data to obtain a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot includes: Registering the first point cloud data and the second point cloud data to obtain a third transformation relationship; According to the third transformation relationship and the target transformation relationship, a new target transformation relationship between the medical image coordinate system and the base coordinate system of the surgical robot is obtained.

6. The method according to any one of claims 1 to 5, characterized in that The registration assembly further comprises a second base and a plurality of connecting members arranged on the second base; the plurality of positioning members are respectively arranged at one end of each of the connecting members away from the second base; The pixel value of the positioning member after being scanned by the medical imaging scanning device is greater than or equal to a first preset pixel threshold; the pixel values ​​of the connecting member and the second base after being scanned by the medical imaging scanning device are less than or equal to a second preset pixel threshold; The second preset pixel threshold is smaller than the first preset pixel threshold, and a difference between the second preset pixel threshold and the first preset pixel threshold is larger than a preset difference threshold.

7. A spatial registration device, characterized in that: Applied to a robot-assisted system, the robot-assisted system comprises a medical image scanning device, a surgical robot, a scanning component and a registration component; the scanning component is mounted on the end of the surgical robot; the registration component is located within the scanning field of view of the medical image scanning device and the surgical robot, and the registration component comprises a plurality of positioning members; the device comprises: A first control module, used for controlling the medical image scanning device to scan the registration component to obtain first coordinate information of the plurality of positioning elements on the registration component; A second control module is used to control the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of the multiple positioning components on the registration component; A registration module is used to align the first coordinate information and the second coordinate information to obtain a target transformation relationship between a medical image coordinate system and a base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

8. A robot-assisted system, characterized in that: The robot-assisted system comprises a medical image scanning device, a surgical robot, a scanning component, a registration component and a controller; the scanning component is mounted on the end of the surgical robot; the registration component is located within the scanning field of view of the medical image scanning device and the surgical robot, and the registration component comprises a plurality of positioning members; The medical image scanning device is used to scan the registration component to obtain first coordinate information of the multiple positioning elements on the registration component; The surgical robot is used to control the scanning component to scan the registration component to obtain second coordinate information of the multiple positioning elements on the registration component; The controller is used to align the first coordinate information and the second coordinate information to obtain a target transformation relationship between a medical image coordinate system and a base coordinate system of the surgical robot; the medical image coordinate system is a coordinate system corresponding to the medical image scanning device.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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