Osteotomy guide plate calibration method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of calibration methods, devices, electronic equipment and storage medium of osteotomy guide plate, the method includes obtaining first conversion matrix and second conversion matrix;Obtain the image obtained by camera to optical calibration device photographing;According to image, determine the third conversion matrix corresponding to each preset placement point;Determine the direction vector of each coordinate axis of osteotomy guide plate coordinate system based on calibration coordinates, second conversion matrix and the third conversion matrix corresponding to all preset placement points;Determine the fourth conversion matrix based on the direction vector of all coordinate axes of osteotomy guide plate coordinate system and the coordinates of origin under the reference coordinate system;The fifth conversion matrix is obtained by left multiplication of first conversion matrix and fourth conversion matrix.This application can calibrate osteotomy guide plate when osteotomy guide plate and mechanical arm are actually assembled by determining the third conversion matrix of camera coordinate system to optical calibration device coordinate system corresponding to each preset placement point according to image, and can improve the accuracy of calibration.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a calibration method, device, electronic equipment and storage medium for an osteotomy guide plate. Background Art

[0002] In robotic-assisted surgery, especially high tibial osteotomy, the robotic arm is a crucial surgical aid. An osteotomy guide, mounted on the end of the robotic arm, is used to perform osteotomy on the patient's bones during surgery. Therefore, precise positioning of the osteotomy guide is crucial to ensure that the location and angle of the surgical incision meet preoperative planning requirements. To achieve this, the osteotomy guide's position must be accurately calibrated.

[0003] At present, the commonly used method is to use the flange coordinate system as the reference coordinate system in mechanical design software (such as SolidWorks), and obtain the coordinates of the tool center point (TCP) of the osteotomy guide in the flange coordinate system through modeling calculation to calibrate the tool center point of the osteotomy guide.

[0004] However, existing methods ignore the various error factors that may be introduced during the design of osteotomy guides, actual production, installation, and even use, including but not limited to manufacturing tolerances, installation errors, and wear caused by long-term use. The accumulation of these errors often affects the final calibration accuracy. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present application provides a calibration method, device, electronic device and storage medium for an osteotomy guide. By determining the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the coordinate system of the optical calibration device based on the image, and then determining the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system, the osteotomy guide can be calibrated when the osteotomy guide is actually assembled with the robotic arm. Compared with the method of calibrating the osteotomy guide in the mechanical design software, the calibration accuracy can be improved.

[0006] In order to solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a calibration method for an osteotomy guide plate, wherein the osteotomy guide plate is mounted on a flange at the end of a robotic arm, and the calibration method comprises:

[0008] Obtain a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is ​​a conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​a conversion matrix from the camera coordinate system to the reference coordinate system;

[0009] Whenever the optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture, an image obtained by photographing the optical calibration device with a camera is acquired;

[0010] Determining, according to the image, a third transformation matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each of the preset placement points, wherein the number of the preset placement points is greater than or equal to 3;

[0011] Determine the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points;

[0012] Determine a fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, wherein the fourth transformation matrix is ​​a transformation matrix from the reference coordinate system to the osteotomy guide coordinate system;

[0013] The first transformation matrix is ​​multiplied on the left by the fourth transformation matrix to obtain a fifth transformation matrix, wherein the fifth transformation matrix is ​​a transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

[0014] In some embodiments, determining the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points includes:

[0015] Calculate the coordinates of each of the preset placement points in the reference coordinate system based on the calibration coordinates, the second transformation matrix, and a third transformation matrix corresponding to each of the preset placement points;

[0016] The direction vector of the positive direction of each coordinate axis of the osteotomy guide plate coordinate system in the reference coordinate system is determined based on the coordinates of all the preset placement points in the reference coordinate system.

[0017] In some embodiments, calculating the coordinates of each of the preset placement points in the reference coordinate system based on the calibration coordinates, the second transformation matrix, and a third transformation matrix corresponding to each of the preset placement points includes:

[0018] For each of the preset placement points, the inverse matrix of the second transformation matrix is ​​multiplied on the left by the third transformation matrix corresponding to the preset placement point and multiplied on the left by the calibration coordinate to obtain the coordinates of the preset placement point in the reference coordinate system.

[0019] In some embodiments, the preset placement points include a first preset placement point, a second preset placement point, and a third preset placement point, a first line connecting the first preset placement point and the second preset placement point is perpendicular to a second line connecting the first preset placement point and the third preset placement point, a direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and a direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

[0020] In some embodiments, one of the first preset placement point, the second preset placement point, and the third preset placement point is the origin of the osteotomy guide coordinate system.

[0021] In some embodiments, determining the fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system includes:

[0022] Determine a rotation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system;

[0023] Determine a translation vector based on the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system;

[0024] The fourth transformation matrix is ​​determined based on the rotation matrix and the translation vector.

[0025] In some embodiments, the preset placement point includes a first preset placement point, a second preset placement point, and a third preset placement point, a first line connecting the first preset placement point and the second preset placement point is perpendicular to a second line connecting the first preset placement point and the third preset placement point, a direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, a direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system, the coordinates of the first preset placement point in the reference coordinate system are the first coordinates, the coordinates of the second preset placement point in the reference coordinate system are the second coordinates, and the coordinates of the third preset placement point in the reference coordinate system are the third coordinates.

[0026] The step of determining the direction vector of the positive direction of each coordinate axis of the osteotomy guide plate coordinate system in the reference coordinate system based on the coordinates of all the preset placement points in the reference coordinate system includes:

[0027] Determine a first direction vector of the positive direction of the first coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the second coordinate;

[0028] Determine a second direction vector of the positive direction of the second coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the third coordinate;

[0029] The first direction vector is cross-multiplied by the second direction vector to obtain a third direction vector of the positive direction of the third coordinate axis of the osteotomy guide coordinate system in the reference coordinate system.

[0030] In a second aspect, an embodiment of the present application provides a calibration device for an osteotomy guide plate, wherein the osteotomy guide plate is mounted on a flange at the end of a robotic arm, and the calibration device includes an acquisition module and a processing module;

[0031] The acquisition module is used to acquire a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is ​​a conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​a conversion matrix from the camera coordinate system to the reference coordinate system;

[0032] The acquisition module is further configured to acquire an image of the optical calibration device taken by a camera whenever the optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture;

[0033] The processing module is used to determine, according to the image, a third transformation matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each preset placement point, wherein the number of the preset placement points is more than 3;

[0034] Determine the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points;

[0035] Determine a fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, wherein the fourth transformation matrix is ​​a transformation matrix from the reference coordinate system to the osteotomy guide coordinate system;

[0036] The first transformation matrix is ​​multiplied on the left by the fourth transformation matrix to obtain a fifth transformation matrix, wherein the fifth transformation matrix is ​​a transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

[0037] In a third aspect, an embodiment of the present application provides an electronic device, comprising:

[0038] at least one processor; and,

[0039] a memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the osteotomy guide plate calibration method according to the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the calibration method of the osteotomy guide plate as described in the first aspect.

[0042] The present application provides a calibration method, device, electronic device and storage medium for an osteotomy guide. The present application determines the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the coordinate system of the optical calibration device based on the image, and then determines the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system. The osteotomy guide can be calibrated when the osteotomy guide is actually assembled with the robotic arm. Compared with the method of calibrating the osteotomy guide in the mechanical design software, the calibration accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is an application scenario diagram of the osteotomy guide plate calibration method provided in an embodiment of the present application.

[0044] Figure 2 It is a flow chart of the calibration method of the osteotomy guide provided in an embodiment of the present application.

[0045] Figure 3 Schematic diagram of an optical calibration device provided in an embodiment of the present application.

[0046] Figure 4 It is a front view of the first embodiment of the osteotomy guide provided in an embodiment of the present application.

[0047] Figure 5 It is a front view of the second embodiment of the osteotomy guide provided in the embodiment of the present application.

[0048] Figure 6 It is a front view of the third embodiment of the osteotomy guide provided in the embodiment of the present application.

[0049] Figure 7 It is a front view of the fourth embodiment of the osteotomy guide provided in the embodiment of the present application.

[0050] Figure 8 yes Figure 2 Detailed flow chart of step S400.

[0051] Figure 9 It is a structural schematic diagram of the calibration device of the osteotomy guide provided in an embodiment of the present application.

[0052] Figure 10 This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0053] Figure 11 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0056] The present application provides a calibration method, device, electronic device and storage medium for an osteotomy guide. By determining the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the coordinate system of the optical calibration device based on the image, and then determining the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system, the osteotomy guide can be calibrated when the osteotomy guide is actually assembled with the robotic arm. Compared with the method of calibrating the osteotomy guide in the mechanical design software, the calibration accuracy can be improved.

[0057] The calibration method of the osteotomy guide provided in this application will be described in detail below with reference to the accompanying drawings.

[0058] See also Figure 1 , Figure 1 This is an application scenario diagram of the calibration method of the osteotomy guide provided in the embodiment of the present application. Figure 1 As shown, in some embodiments, the osteotomy guide plate 20 is mounted on the flange 11 at the end of the robotic arm 10. The flange is a common mechanical accessory used to connect two mechanical devices and achieve a sealing effect.

[0059] like Figure 1 As shown, in some embodiments, a reference array 12 is further mounted at the end of the robotic arm 10. In some embodiments, the reference array 12 includes a bracket disposed at the end of the robotic arm and five positioning members disposed on the bracket.

[0060] Optionally, the five positioning members are arranged according to a first positional relationship.

[0061] Optionally, the positioning elements are reflective markers, and each positioning element has a reflective center.

[0062] Exemplarily, the reflective marker is a reflective ball, and the center of the reflective ball is the reflective center.

[0063] like Figure 1 As shown, in some embodiments, a camera coordinate system 30 is preset in the optical positioning camera, and the optical positioning camera can obtain the coordinates of the object in the captured image in the camera coordinate system.

[0064] In some embodiments, determining a transformation matrix from a camera coordinate system to a reference coordinate system includes the following steps (1.1) to (1.3).

[0065] (1.1) Obtain an image obtained by an optical positioning camera taking a picture of the end of the robotic arm on which the reference array is installed.

[0066] (1.2) Determine the direction vector of the positive direction of each coordinate axis of the reference coordinate system in the camera coordinate system based on the coordinates of the reflective centers of the multiple positioning parts in the image in (1.1) in the camera coordinate system.

[0067] Optionally, the origin of the reference coordinate system is the tool center point (TCP) of the reference array.

[0068] In some embodiments, the reflective center of the first positioning element is selected as the origin of the reference coordinate system, the direction vector from the second positioning element to the reflective center of the third positioning element is the direction vector of the first coordinate axis of the reference coordinate system, the result vector of the cross-product of the direction vector of the first coordinate axis with the direction vector of the reflective center of the fourth positioning element to the fifth positioning element is the direction vector of the second coordinate axis of the reference coordinate system, and the direction vector of the third coordinate axis of the reference coordinate system is obtained by cross-producting the direction vector of the first coordinate axis with the direction vector of the second coordinate axis. The first, second, third, fourth, and fifth positioning elements are different positioning elements.

[0069] (1.3) A second transformation matrix is ​​determined based on the direction vectors of all coordinate axes of the reference coordinate system and the coordinates of the origin of the reference coordinate system in the camera coordinate system.

[0070] The second transformation matrix is ​​a transformation matrix from the camera coordinate system to the reference coordinate system.

[0071] The content of step (1.3) refers to the following method for determining the fourth conversion matrix and will not be repeated here.

[0072] like Figure 1 As shown, in some embodiments, the reference coordinate system 120 of the reference array 12 includes a coordinate axis X1, a coordinate axis Y1, and a coordinate axis Z1.

[0073] like Figure 1 As shown, in some embodiments, the relative position of the flange 11 and the reference array 12 is fixed, so the relative position of the TCP of the flange 11 and the TCP of the reference array 12 is also fixed, and the position of the reference array 12 can be used to determine the position of the flange 11.

[0074] like Figure 1 As shown, in some embodiments, a flange coordinate system 110 of the flange 11 is established. The flange coordinate system 110 includes a coordinate axis X2, a coordinate axis Y2, and a coordinate axis Z2. The origin of the flange coordinate system 110 is the TCP of the flange 11.

[0075] In some embodiments, the coordinates of the TCP of the flange 11 in the flange coordinate system 110 are predetermined.

[0076] In some embodiments, a first transformation matrix is ​​calculated based on multiple sets of transformation matrices from the robot base coordinate system to the flange coordinate system and the camera coordinate system to the reference coordinate system, wherein the first transformation matrix is ​​a transformation matrix from the flange coordinate system to the reference coordinate system.

[0077] like Figure 1 As shown, in some embodiments, during use, an optical positioning camera is used to photograph the reference array 12, and the coordinates of the TCP of the reference array 12 in the camera coordinate system are obtained based on the image. After determining the flange coordinate system 110 of the flange 11, the first transformation matrix, and the second transformation matrix, the coordinates of the TCP of the flange 11 in the flange coordinate system 110 are obtained by multiplying the inverse of the first transformation matrix by the coordinates of the TCP of the flange 11 in the reference coordinate system. In this way, the coordinates of the TCP of the reference array and the TCP of the flange can be obtained in the same coordinate system, thereby determining the coordinates of the TCP of the flange based on the coordinates of the TCP of the reference array.

[0078] like Figure 1 As shown, in some embodiments, the osteotomy guide 20 is mounted on the flange 11 at the end of the robotic arm 10. The osteotomy guide 20 is used to allow an osteotomy tool to be inserted to perform osteotomy on the bone of the target object.

[0079] like Figure 1 As shown, in some embodiments, an osteotomy guide coordinate system 21 of the osteotomy guide 20 is established, the origin O of the osteotomy guide coordinate system 21 is the TCP of the osteotomy guide, and the osteotomy guide coordinate system 21 includes coordinate axis X3, coordinate axis Y3 and coordinate axis Z3.

[0080] In some embodiments, a transformation matrix is ​​calculated from the flange coordinate system to the osteotomy guide coordinate system to calibrate the TCP of the osteotomy guide. In this way, the real-time position of the osteotomy guide can be determined by the real-time position of the flange, providing a reference for surgery.

[0081] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a calibration method for an osteotomy guide plate provided in an embodiment of the present application. Figure 2 As shown, the osteotomy guide plate calibration method includes: steps S100 to S600.

[0082] Step S100: Acquire a first conversion matrix and a second conversion matrix.

[0083] The first conversion matrix is ​​the conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​the conversion matrix from the camera coordinate system to the reference coordinate system.

[0084] In this method, the first conversion matrix and the second conversion matrix are directly obtained, and the manner of determining the first conversion matrix and the second conversion matrix will not be described in detail.

[0085] During the calibration process, the optical positioning camera, robotic arm, flange, and osteotomy guide do not move.

[0086] Step S200: Whenever the optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture, an image obtained by photographing the optical calibration device with a camera is acquired.

[0087] See also Figure 3 , Figure 3 Schematic diagram of the optical calibration device provided in the embodiment of the present application. Figure 3 As shown, in some embodiments, the optical calibration device 40 includes a calibration point 41 and a plurality of positioning members 42, each positioning member 42 having a reflective center.

[0088] Optionally, the positioning member 42 is a reflective marker. Optionally, the reflective marker is a reflective ball.

[0089] In some embodiments, the plurality of positioning members of the optical calibration device are arranged according to a second positional relationship.

[0090] Optionally, the first positional relationship and the second positional relationship are different. In this way, a first pattern formed by the multiple reflective centers of the reference array in the image can be made different from a second pattern formed by the multiple reflective centers of the optical calibration device, thereby enabling the reference array and the optical calibration device to be distinguished by the first pattern and the second pattern.

[0091] See also Figure 4 , Figure 4 1 is a front view of the first embodiment of the osteotomy guide provided in the embodiment of the present application. Figure 4 As shown, the osteotomy guide plate 20 includes a fixing portion 23 , which is used to mount the osteotomy guide plate 20 on the flange 11 at the end of the robotic arm 11 .

[0092] like Figure 1 and Figure 4 As shown, in some embodiments, a calibration structure for image calibration is provided on the osteotomy guide plate 20 , and the calibration structure includes a preset placement point 22 .

[0093] Optionally, the preset placement point 22 is a groove point that matches the calibration point 41 of the optical calibration device 40. The preset placement point 22 is used to place the calibration point 41.

[0094] In some embodiments, the optical calibration device is an optical probe, the calibration point is the tip point of the optical probe, and the preset placement point is the groove point of the optical probe.

[0095] In some embodiments, the number of preset placement points is greater than 3. For example, the number of preset placement points is 3, 4, 5, or 6.

[0096] In some embodiments, the preset posture of the optical calibration device is: the calibration point of the optical calibration device is placed at a preset placement point on the osteotomy guide, the line connecting the TCP of the optical calibration device and the calibration point is in the vertical direction, and the multiple positioning parts thereon are facing the optical positioning camera.

[0097] In some embodiments, whenever the optical calibration device is placed at a preset placement point on the osteotomy guide in a preset posture, an image of the optical calibration device is obtained by taking a picture of the optical calibration device by a camera, and the image includes a second pattern formed by multiple reflective centers of the optical calibration device.

[0098] In some embodiments, the plurality of preset placement points on the osteotomy guide are arranged according to a preset positional relationship.

[0099] In some embodiments, the number of preset placement points is 3.

[0100] like Figure 4As shown, in some embodiments, the preset placement points 22 include a first preset placement point 221, a second preset placement point 222, and a third preset placement point 223. A first connecting line L1 between the first preset placement point 221 and the second preset placement point 222 is perpendicular to a second connecting line L2 between the first preset placement point 221 and the third preset placement point 223.

[0101] Optionally, the direction from the first preset placement point 221 to the second preset placement point 222 is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the first preset placement point 221 to the third preset placement point 223 is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

[0102] In some embodiments, the coordinates of the origin of the osteotomy guide coordinate system are predetermined in the osteotomy guide coordinate system.

[0103] In some embodiments, the origin of the osteotomy guide coordinate system is predetermined.

[0104] In some embodiments, one of the plurality of preset placement points is the origin of the osteotomy guide coordinate system.

[0105] In some embodiments, the preset placement point among the first preset placement point, the second preset placement point, and the third preset placement point is the origin of the osteotomy guide coordinate system.

[0106] See also Figure 5 , Figure 5 1 is a front view of the second embodiment of the osteotomy guide provided in the embodiment of the present application. Figure 5 As shown, in some embodiments, the preset placement point 22 includes a first preset placement point 221 , a third preset placement point 223 , and a fourth preset placement point 224 .

[0107] like Figure 5 As shown, in some embodiments, the line connecting the third preset placement point 223 and the fourth preset placement point 224 is the third line L3, and the intersection H1 of the perpendicular line L4 from the first preset placement point 221 to the third line L3 and the third line L3 is the origin of the osteotomy guide coordinate system.

[0108] In some embodiments, the direction from the first preset placement point 221 to the intersection H1 is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the fourth preset placement point 224 to the third preset placement point 223 is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

[0109] In some embodiments, the number of preset placement points is 4.

[0110] See also Figure 6 , Figure 6: is a front view of the third embodiment of the osteotomy guide provided in the embodiment of the present application. Figure 6 As shown, in some embodiments, the preset placement point 22 includes a first preset placement point 221 , a third preset placement point 223 , a fourth preset placement point 224 and a fifth preset placement point 225 .

[0111] like Figure 6 As shown, in some embodiments, the third connecting line L3 is perpendicular to the fifth connecting line L5 between the third preset placement point 223 and the fourth preset placement point 224 .

[0112] In some embodiments, the direction from the first preset placement point 221 to the fifth preset placement point 225 is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the fourth preset placement point 224 to the third preset placement point 223 is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

[0113] like Figure 6 As shown, in some embodiments, the intersection H2 of the third line L3 and the fifth line L5 is the origin of the osteotomy guide coordinate system.

[0114] In some embodiments, the number of preset placement points is 5.

[0115] See also Figure 7 , Figure 7 : is a front view of the fourth embodiment of the osteotomy guide provided in the embodiment of the present application. Figure 7 As shown, in some embodiments, the preset placement point 22 includes a first preset placement point 221 , a third preset placement point 223 , a fourth preset placement point 224 , a fifth preset placement point 225 and a sixth preset placement point 226 .

[0116] like Figure 7 As shown, in some embodiments, the third line L3 is perpendicular to the fifth line L5, and the sixth preset placement point 226 coincides with the intersection of the third line L3 and the fifth line L5.

[0117] In some embodiments, the direction from the first preset placement point 221 to the fifth preset placement point 225 is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the fourth preset placement point 224 to the third preset placement point 223 is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

[0118] Optionally, the sixth preset placement point 226 is the origin of the osteotomy guide coordinate system.

[0119] In some embodiments, the osteotomy guide includes a first side and a second side opposite the first side, each side including an osteotomy groove.

[0120] like Figures 4 to 7 As shown, in some embodiments, an identification mark 24 is provided on the osteotomy guide plate 20, and the identification mark 24 is used to indicate whether the osteotomy groove corresponding to the side is used for osteotomy of the bone on the left side of the target object's body or for osteotomy of the bone on the right side of the target object's body.

[0121] like Figures 4 to 7 As shown, in some embodiments, the mark 24 is "R", indicating that the osteotomy groove corresponding to the side where the mark 24 is located is used to perform osteotomy on the bones on the right side of the target object's body.

[0122] In some embodiments, the mark is "L", indicating that the osteotomy groove corresponding to the side where the mark is located is used to perform osteotomy on the bones on the right side of the target subject's body.

[0123] In some embodiments, a plurality of preset placement points are provided on the two sides of the osteotomy guide according to the above-described embodiments. In this way, the osteotomy guide can be calibrated when using any side of the osteotomy guide.

[0124] Optionally, a pattern formed by the plurality of preset placement points on the first side portion is axisymmetric to a pattern formed by the plurality of preset placement points on the second side portion.

[0125] Step S300: determining a third transformation matrix from the camera coordinate system corresponding to each preset placement point to the optical calibration device coordinate system according to the image.

[0126] In some embodiments, step S300 includes steps (300.1) to (300.2).

[0127] (300.1) Determine the direction vector of the positive direction of each coordinate axis of the optical calibration device coordinate system in the camera coordinate system based on the coordinates of multiple reflective centers of the optical calibration device in the image corresponding to each preset placement point in the camera coordinate system.

[0128] The content of step (300.1) refers to the description of step (1.2) above.

[0129] (300.2) Determine a third transformation matrix corresponding to the preset placement point based on the direction vectors of all coordinate axes of the optical calibration device coordinate system and the coordinates of the origin of the reference coordinate system in the camera coordinate system.

[0130] The content of step (300.2) refers to the following method for determining the fourth conversion matrix, which will not be repeated here.

[0131] In some embodiments, each time the optical positioning camera takes a picture, a preset program is used to calculate the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the optical calibration device coordinate system based on the image corresponding to each preset placement point.

[0132] In some embodiments, a third transformation matrix from the camera coordinate system corresponding to each preset placement point to the optical calibration device coordinate system is directly obtained.

[0133] Step S400: Determine the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix and the third transformation matrix corresponding to all preset placement points.

[0134] See also Figure 8 , Figure 8 yes Figure 2 Detailed flow chart of step S400 in FIG. Figure 8 As shown, in some embodiments, step S400 includes step S410 and step S420.

[0135] Step S410: Calculate the coordinates of each preset placement point in the reference coordinate system based on the calibration coordinates, the second transformation matrix, and the third transformation matrix corresponding to each preset placement point.

[0136] In some embodiments, the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system are predetermined.

[0137] In some embodiments, for each preset placement point, the inverse matrix of the second transformation matrix is ​​multiplied on the left by the third transformation matrix corresponding to the preset placement point and multiplied on the left by the calibration coordinate to obtain the coordinates of the preset placement point in the reference coordinate system.

[0138] Optionally, the calculation formula for the coordinates of the preset placement point in the reference coordinate system is:

[0139] ni=A-1Bip,

[0140] Among them, ni represents the vector composed of the coordinates of the i-th preset placement point in the reference coordinate system, A-1 represents the inverse matrix of the second transformation matrix, Bi represents the third transformation matrix corresponding to the i-th preset placement point, and p represents the vector composed of the calibration coordinates.

[0141] Step S420: Determine the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the coordinates of all preset placement points in the reference coordinate system.

[0142] In some embodiments, the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system are determined based on the coordinates of the preset placement point in the reference coordinate system.

[0143] As described above, in some embodiments, one of the first, second, and third preset placement points is the origin of the osteotomy guide coordinate system. Therefore, the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system are the coordinates of the first, second, or third preset placement points in the reference coordinate system.

[0144] In some embodiments, the coordinates of the first preset placement point in the reference coordinate system are first coordinates, the coordinates of the second preset placement point in the reference coordinate system are second coordinates, and the coordinates of the third preset placement point in the reference coordinate system are third coordinates.

[0145] exist Figure 4 In the illustrated embodiment, step S420 includes steps (420.1) to (420.3).

[0146] (420.1) Determine a first direction vector of the positive direction of the first coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the second coordinate.

[0147] In some embodiments, the calculation formula of the first direction vector is: in, Represents the first direction vector, n2 represents the vector composed of the second coordinates, n1 represents the vector composed of the first coordinates, and n2-n1 represents the modulus of the result vector of the second coordinate vector minus the first coordinate vector.

[0148] (420.2) Determine a second direction vector of the positive direction of the second coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the direction vector obtained by subtracting the first coordinate from the third coordinate.

[0149] In some embodiments, the calculation formula of the second direction vector is: in, Represents the second direction vector, n3 represents the vector composed of the third coordinates, n1 represents the vector composed of the first coordinates, and n3-n1 represents the modulus of the result vector of the vector composed of the third coordinates minus the vector composed of the first coordinates.

[0150] (420.3) The first direction vector is cross-multiplied by the second direction vector to obtain a third direction vector of the positive direction of the third coordinate axis of the osteotomy guide coordinate system in the reference coordinate system.

[0151] In some embodiments, the calculation formula of the third direction vector is: in, represents the third direction vector, and × represents the vector cross product.

[0152] like Figure 1 As shown, in some embodiments, the first direction vector is the direction vector of the positive direction of the coordinate axis Z3 in the reference coordinate system 120, the second direction vector is the direction vector of the positive direction of the coordinate axis X3 in the reference coordinate system 120, and the third direction vector is the direction vector of the positive direction of the coordinate axis Y3 in the reference coordinate system 120.

[0153] By configuring the preset placement points to include a first preset placement point, a second preset placement point and a third preset placement point, the first connecting line between the first preset placement point and the second preset placement point is perpendicular to the second connecting line between the first preset placement point and the third preset placement point, the direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system, the direction vector of the positive direction of the coordinate axis in the reference coordinate system can be directly determined by the direction vector determined by the two preset placement points, thereby simplifying the calculation process.

[0154] In some embodiments, the coordinates of the fourth preset placement point in the reference coordinate system are fourth coordinates, the coordinates of the fifth preset placement point in the reference coordinate system are fifth coordinates, and the coordinates of the sixth preset placement point in the reference coordinate system are sixth coordinates.

[0155] exist Figure 5 In the illustrated embodiment, step S420 includes steps (420.4) to (420.6).

[0156] (420.4) Determine a first direction vector of the positive direction of the first coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the coordinate of the intersection point H1 in the reference coordinate system.

[0157] (420.5) Determine a second direction vector of the positive direction of the second coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the direction vector obtained by subtracting the fourth coordinate from the third coordinate.

[0158] (420.6) The first direction vector is cross-multiplied by the second direction vector to obtain a third direction vector of the positive direction of the third coordinate axis of the osteotomy guide coordinate system in the reference coordinate system.

[0159] pass Figure 5 The embodiment shown, relative to Figure 4 The embodiment shown can improve the accuracy of the first direction vector, thereby improving the accuracy of calibration, when the first line connecting the first preset placement point and the second preset placement point is not completely perpendicular to the second line connecting the first preset placement point and the third preset placement point due to manufacturing errors.

[0160] exist Figure 6 or Figure 7 In the illustrated embodiment, step S420 includes steps (420.7) to (420.9).

[0161] (420.7) Determine a first direction vector of the positive direction of the first coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the direction vector obtained by subtracting the first coordinate from the fifth coordinate.

[0162] (420.8) Determine a second direction vector of the positive direction of the second coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on the direction vector obtained by subtracting the fourth coordinate from the third coordinate.

[0163] (420.9) The first direction vector is cross-multiplied by the second direction vector to obtain a third direction vector of the positive direction of the third coordinate axis of the osteotomy guide coordinate system in the reference coordinate system.

[0164] The method of calculating the first direction vector, the second direction vector and the third direction vector is as described above.

[0165] pass Figure 6 or Figure 7 The embodiment shown, relative to Figure 4 or Figure 5 In the illustrated embodiment, a large number of preset placement points can reduce calibration errors caused by manufacturing errors of a single preset placement point, thereby improving calibration accuracy.

[0166] Step S500: determining a fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system.

[0167] In some embodiments, step S500 includes steps (500.1) to (500.3).

[0168] (500.1) A rotation matrix is ​​determined based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system.

[0169] In some embodiments, the rotation matrix includes direction vectors of all coordinate axes, and each direction vector is a column vector of the rotation matrix.

[0170] In some embodiments, the calculation formula of the rotation matrix is:

[0171]

[0172] Where R represents the rotation matrix, express The first value of express The first value of express The first value of , and so on.

[0173] (500.2) Determine the translation vector based on the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system.

[0174] In some embodiments, the vector formed by the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system is a translation vector.

[0175] In some embodiments, the translation vector is calculated as: Where t represents the translation vector, Represents the vector formed by the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, express The first value of , and so on.

[0176] (500.3) Determine a fourth transformation matrix based on the rotation matrix and the translation vector.

[0177] The fourth transformation matrix is ​​a transformation matrix from the reference coordinate system to the osteotomy guide coordinate system.

[0178] In some embodiments, the calculation formula of the fourth conversion matrix is:

[0179]

[0180] Wherein, T4 represents the fourth transformation matrix.

[0181] Step S600: multiplying the first conversion matrix by the fourth conversion matrix to obtain a fifth conversion matrix.

[0182] The fifth transformation matrix is ​​a transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

[0183] In some embodiments, after obtaining the fifth transformation matrix, the coordinates of positions in the camera coordinate system, the reference coordinate system, the flange coordinate system, and the osteotomy guide coordinate system can be converted to each other based on the first transformation matrix, the second transformation matrix, the fourth transformation matrix, and the fifth transformation matrix. During surgery, the coordinates of the reference array TCP, the flange TCP, and the osteotomy guide TCP in the same coordinate system can be determined based on the images captured by the optical positioning camera, thereby calibrating the osteotomy guide.

[0184] In some embodiments, any coordinate system is selected as a reference coordinate system, and the coordinates of the TCP of the osteotomy guide in the reference coordinate system are determined, thereby positioning the osteotomy guide during surgery.

[0185] In some embodiments, a camera coordinate system is selected as a reference coordinate system, and a second transformation matrix is ​​determined based on an image captured by an optical positioning camera. The second transformation matrix determined at this time is multiplied by the inverse matrix of the first transformation matrix and the fifth transformation matrix, and the coordinates of the TCP of the osteotomy guide in the osteotomy guide coordinate system are obtained.

[0186] In some embodiments, the coordinates of the TCP of the osteotomy guide in the osteotomy guide coordinate system are obtained by multiplying the second transformation matrix by the fourth transformation matrix.

[0187] In summary, the osteotomy guide plate calibration method provided in the embodiments of the present application has the following advantages:

[0188] 1. By determining the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the coordinate system of the optical calibration device based on the image, and then determining the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system, the osteotomy guide can be calibrated when it is actually assembled with the robotic arm. Compared with the method of calibrating the osteotomy guide in the mechanical design software, the calibration accuracy can be improved.

[0189] 2. The preset placement points include a first preset placement point, a second preset placement point and a third preset placement point, the first connecting line between the first preset placement point and the second preset placement point is perpendicular to the second connecting line between the first preset placement point and the third preset placement point, the direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system. In this way, the direction vector of the positive direction of the coordinate axis in the reference coordinate system can be directly determined by the direction vector determined by the two preset placement points, thereby simplifying the calculation process.

[0190] 3. Pass Figure 5 The embodiment shown, relative to Figure 4 The embodiment shown can improve the accuracy of the first direction vector, thereby improving the accuracy of calibration, when the first line connecting the first preset placement point and the second preset placement point is not completely perpendicular to the second line connecting the first preset placement point and the third preset placement point due to manufacturing errors.

[0191] 4. Pass Figure 6 or Figure 7 The embodiment shown, relative to Figure 4 or Figure 5 In the illustrated embodiment, a large number of preset placement points can reduce calibration errors caused by manufacturing errors of a single preset placement point, thereby improving calibration accuracy.

[0192] See also Figure 9 , Figure 9 Schematic diagram of the structure of the calibration device of the osteotomy guide provided in the embodiment of the present application. Figure 9 As shown, in some embodiments, the calibration device 300 for the osteotomy guide plate includes an acquisition module 310 and a processing module 320 .

[0193] In some embodiments, the acquisition module 310 is used to acquire a first transformation matrix and a second transformation matrix, wherein the first transformation matrix is ​​a transformation matrix from the flange coordinate system to the reference coordinate system, and the second transformation matrix is ​​a transformation matrix from the camera coordinate system to the reference coordinate system.

[0194] In some embodiments, the acquisition module 310 is further configured to acquire an image of the optical calibration device taken by a camera whenever the optical calibration device is placed at a preset placement point on the osteotomy guide in a preset posture.

[0195] In some embodiments, the processing module 320 is used to determine the third transformation matrix from the camera coordinate system corresponding to each preset placement point to the optical calibration device coordinate system based on the image; wherein the number of preset placement points is more than 3; based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix and the third transformation matrix corresponding to all preset placement points, determine the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system; based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, determine the fourth transformation matrix, wherein the fourth transformation matrix is ​​the transformation matrix from the reference coordinate system to the osteotomy guide coordinate system; multiply the first transformation matrix by the fourth transformation matrix to obtain the fifth transformation matrix, wherein the fifth transformation matrix is ​​the transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

[0196] See also Figure 10 , Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 10 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420, Figure 10 A processor 410 is taken as an example.

[0197] In some embodiments, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 10 The bus connection is taken as an example.

[0198] In some embodiments, the processor 410 is used to obtain a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is ​​a conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​a conversion matrix from the camera coordinate system to the reference coordinate system; whenever the optical calibration device is placed at a preset placement point on the osteotomy guide in a preset posture, an image obtained by taking a photo of the optical calibration device by the camera is obtained; a third conversion matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each preset placement point is determined based on the image; wherein the number of preset placement points is more than 3; based on the calibration points of the optical calibration device in the optical The calibration coordinates in the calibration device coordinate system, the second transformation matrix and the third transformation matrix corresponding to all preset placement points determine the direction vector of the positive direction of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system; based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, the fourth transformation matrix is ​​determined, wherein the fourth transformation matrix is ​​the transformation matrix from the reference coordinate system to the osteotomy guide coordinate system; the first transformation matrix is ​​multiplied by the fourth transformation matrix on the left to obtain the fifth transformation matrix, wherein the fifth transformation matrix is ​​the transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

[0199] In some embodiments, the memory 420, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules for the osteotomy guide calibration method in the embodiments of the present application. The processor 410 executes the non-volatile software programs, instructions, and modules stored in the memory 420 to execute various functional applications and data processing of the electronic device 400, thereby implementing the osteotomy guide calibration method in the above-described method embodiment.

[0200] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device 400, etc. In addition, the memory 420 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely located relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0201] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the calibration method of the osteotomy guide plate in any of the above method embodiments is executed, for example, the calibration method described above is executed. Figure 2 Method steps S100 to S600.

[0202] Please refer to Figure 11 , Figure 11 The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the osteotomy guide plate calibration method described in the above method embodiment.

[0203] The computer-readable storage medium 500 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 500 has storage space for program code that executes any of the steps in the osteotomy guide calibration method described above. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable format.

[0204] In summary, the present application provides a calibration method, device, electronic device and storage medium for an osteotomy guide plate, wherein the calibration method for the osteotomy guide plate includes obtaining a first transformation matrix and a second transformation matrix, wherein the first transformation matrix is ​​a transformation matrix from a flange coordinate system to a reference coordinate system, and the second transformation matrix is ​​a transformation matrix from a camera coordinate system to a reference coordinate system; whenever an optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture, an image obtained by photographing the optical calibration device by a camera is obtained; a third transformation matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each preset placement point is determined based on the image; wherein the number of preset placement points is more than 3; based on The calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second conversion matrix, and the third conversion matrix corresponding to all preset placement points determine the direction vector of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system; based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, a fourth conversion matrix is ​​determined, wherein the fourth conversion matrix is ​​the conversion matrix from the reference coordinate system to the osteotomy guide coordinate system; the first conversion matrix is ​​multiplied by the fourth conversion matrix on the left to obtain a fifth conversion matrix, wherein the fifth conversion matrix is ​​the conversion matrix from the flange coordinate system to the osteotomy guide coordinate system. The present application determines the third conversion matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each preset placement point according to the image, and then determines the direction vector of each coordinate axis of the osteotomy guide coordinate system in the reference coordinate system. This allows the osteotomy guide to be calibrated when it is actually assembled with the robotic arm, which can improve the accuracy of calibration compared to the method of calibrating the osteotomy guide in the mechanical design software.

[0205] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calibrating an osteotomy guide, characterized in that: The osteotomy guide is mounted on a flange at the end of the robotic arm, and the calibration method includes: Obtain a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is ​​a conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​a conversion matrix from the camera coordinate system to the reference coordinate system; Whenever the optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture, an image obtained by photographing the optical calibration device with a camera is acquired; Determining, according to the image, a third transformation matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each of the preset placement points, wherein the number of the preset placement points is greater than or equal to 3; Determine the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points; Determine a fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, wherein the fourth transformation matrix is ​​a transformation matrix from the reference coordinate system to the osteotomy guide coordinate system; The first transformation matrix is ​​multiplied on the left by the fourth transformation matrix to obtain a fifth transformation matrix, wherein the fifth transformation matrix is ​​a transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

2. The osteotomy guide plate calibration method according to claim 1, characterized in that: The step of determining the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points includes: Calculate the coordinates of each of the preset placement points in the reference coordinate system based on the calibration coordinates, the second transformation matrix, and a third transformation matrix corresponding to each of the preset placement points; The direction vector of the positive direction of each coordinate axis of the osteotomy guide plate coordinate system in the reference coordinate system is determined based on the coordinates of all the preset placement points in the reference coordinate system.

3. The osteotomy guide plate calibration method according to claim 2, characterized in that: The calculating the coordinates of each of the preset placement points in the reference coordinate system based on the calibration coordinates, the second transformation matrix, and the third transformation matrix corresponding to each of the preset placement points includes: For each of the preset placement points, the inverse matrix of the second transformation matrix is ​​multiplied on the left by the third transformation matrix corresponding to the preset placement point and multiplied on the left by the calibration coordinate to obtain the coordinates of the preset placement point in the reference coordinate system.

4. The osteotomy guide plate calibration method according to any one of claims 1 to 3, characterized in that: The preset placement points include a first preset placement point, a second preset placement point and a third preset placement point. The first line connecting the first preset placement point and the second preset placement point is perpendicular to the second line connecting the first preset placement point and the third preset placement point. The direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, and the direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system.

5. The osteotomy guide plate calibration method according to claim 4, characterized in that: One of the first preset placement point, the second preset placement point, and the third preset placement point is the origin of the osteotomy guide coordinate system.

6. The osteotomy guide plate calibration method according to claim 5, characterized in that: The determining of the fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system includes: Determine a rotation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system; Determine a translation vector based on the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system; The fourth transformation matrix is ​​determined based on the rotation matrix and the translation vector.

7. The osteotomy guide plate calibration method according to claim 2, characterized in that: The preset placement points include a first preset placement point, a second preset placement point and a third preset placement point, a first connecting line between the first preset placement point and the second preset placement point is perpendicular to a second connecting line between the first preset placement point and the third preset placement point, a direction from the first preset placement point to the second preset placement point is the positive direction of the first coordinate axis of the osteotomy guide coordinate system, a direction from the first preset placement point to the third preset placement point is the positive direction of the second coordinate axis of the osteotomy guide coordinate system, the coordinates of the first preset placement point in the reference coordinate system are the first coordinates, the coordinates of the second preset placement point in the reference coordinate system are the second coordinates, and the coordinates of the third preset placement point in the reference coordinate system are the third coordinates. The step of determining the direction vector of the positive direction of each coordinate axis of the osteotomy guide plate coordinate system in the reference coordinate system based on the coordinates of all the preset placement points in the reference coordinate system includes: Determine a first direction vector of the positive direction of the first coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the second coordinate; Determine a second direction vector of the positive direction of the second coordinate axis of the osteotomy guide coordinate system in the reference coordinate system based on a direction vector obtained by subtracting the first coordinate from the third coordinate; The first direction vector is cross-multiplied by the second direction vector to obtain a third direction vector of the positive direction of the third coordinate axis of the osteotomy guide coordinate system in the reference coordinate system.

8. A calibration device for an osteotomy guide plate, characterized in that: The osteotomy guide is mounted on a flange at the end of the robotic arm, and the calibration device includes an acquisition module and a processing module; The acquisition module is used to acquire a first conversion matrix and a second conversion matrix, wherein the first conversion matrix is ​​a conversion matrix from the flange coordinate system to the reference coordinate system, and the second conversion matrix is ​​a conversion matrix from the camera coordinate system to the reference coordinate system; The acquisition module is further configured to acquire an image of the optical calibration device taken by a camera whenever the optical calibration device is placed at a preset placement point on the osteotomy guide plate in a preset posture; The processing module is used to determine, according to the image, a third transformation matrix from the camera coordinate system to the optical calibration device coordinate system corresponding to each preset placement point, wherein the number of the preset placement points is more than 3; Determine the direction vector of each coordinate axis of the osteotomy guide coordinate system of the osteotomy guide in the reference coordinate system based on the calibration coordinates of the calibration points of the optical calibration device in the optical calibration device coordinate system, the second transformation matrix, and the third transformation matrix corresponding to all the preset placement points; Determine a fourth transformation matrix based on the direction vectors of all coordinate axes of the osteotomy guide coordinate system and the coordinates of the origin of the osteotomy guide coordinate system in the reference coordinate system, wherein the fourth transformation matrix is ​​a transformation matrix from the reference coordinate system to the osteotomy guide coordinate system; The first transformation matrix is ​​multiplied on the left by the fourth transformation matrix to obtain a fifth transformation matrix, wherein the fifth transformation matrix is ​​a transformation matrix from the flange coordinate system to the osteotomy guide coordinate system.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the osteotomy guide plate calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the calibration method of the osteotomy guide plate according to any one of claims 1 to 7.

Images