Registration verification method, system and device, robot and storage medium

Abstract

The invention relates to a registration verification method, system and device, a robot and a storage medium. The method comprises the steps that a registered mechanical arm is controlled to take a target position on a reference object as a moving target, a navigation needle passage on the mechanical arm is driven to move towards the target position of the reference object, a laser generator is controlled to emit laser along the navigation needle passage under the condition that the movement of the mechanical arm is finished, and the illumination position of the laser on the reference object is obtained; and determining a registration verification result according to the target position and the illumination position. In the method, the robot can control the mechanical arm to drive the navigation needle passage to move so as to obtain the target position representing the expected position and the illumination position representing the actual position, and then the registration verification result is determined according to the target position and the illumination position, so that autonomous registration verification of the robot is realized, and the accuracy of registration verification is improved. And the process of controlling the movement of the mechanical arm and determining the registration verification result is not influenced by human subjectivity, so that the accuracy of the verification result is improved.

Description

Technical Field

[0001] The present application relates to the medical field, and in particular to a registration verification method, system, device, robot and storage medium. Background Art

[0002] With the development of science and technology, more and more intelligent robots are being used in various industries. Take the neurosurgery robot (hereinafter referred to as "neurosurgical robot") used in the medical industry as an example. Neurosurgical robots can assist medical personnel in completing high-precision operations.

[0003] Before a neurosurgery robot performs surgery on a patient, it usually needs to be registered and aligned to determine the positional relationship between the patient and the robot's mechanical arm. The robot can then locate the operating position based on this positional relationship to perform the surgery. To ensure the accuracy of the alignment, in related technologies, after the neurosurgery robot completes the registration and alignment, it is also necessary to manually observe the alignment error to verify the aforementioned alignment process.

[0004] However, the registration verification method in the related art is greatly affected by human subjectivity, and the accuracy of the verification result is poor. Summary of the invention

[0005] Based on this, it is necessary to provide a registration verification method, system, device, robot and storage medium to address the above technical problems.

[0006] In a first aspect, the present application provides a registration verification method, comprising:

[0007] Control the registered robotic arm to move the target position on the reference object as the moving target, and drive the navigation needle track on the robotic arm to move toward the target position;

[0008] When the movement of the robot arm is finished, the laser generator is controlled to emit laser along the navigation needle track, and the illumination position of the laser on the reference object is obtained;

[0009] The registration verification result is determined based on the target position and the illumination position.

[0010] In one embodiment, a fiber optic bundle is provided at the target position; obtaining the illumination position of the laser on the reference object comprises:

[0011] Determine the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle;

[0012] The center of the circle is fitted according to the illumination area, and the position of the center of the circle is obtained as the illumination position.

[0013] In one embodiment, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle includes:

[0014] Determine the target optical fiber in the optical fiber bundle that is irradiated by the laser according to the illumination intensity of each optical fiber in the optical fiber bundle;

[0015] Determine the illumination area formed by the laser on the end face of the fiber bundle according to the target fiber.

[0016] In one embodiment, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the target optical fiber includes:

[0017] Obtaining the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle;

[0018] Determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram;

[0019] The illumination area is formed according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0020] In one embodiment, determining a registration verification result according to a target position and an illumination position includes:

[0021] Get the distance deviation between the target position and the illumination position;

[0022] If the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be passed;

[0023] If the distance deviation is greater than the distance threshold, the registration verification result is determined to be verification failure.

[0024] In a second aspect, the present application further provides a registration verification system, comprising: a robot and an optical fiber bundle communicating with each other; the robot comprises a mechanical arm, a laser generator and a navigation needle track, the navigation needle track is arranged at the end of the mechanical arm, and the laser generator is arranged at a position corresponding to the navigation needle track; the optical fiber bundle is arranged at a target position of a reference object;

[0025] A laser generator is used to emit laser light that passes through the navigation needle track; an optical fiber bundle is used to conduct laser light; a robot is used to control the aligned robotic arm to use the optical fiber bundle on the reference object as a moving target, thereby driving the navigation needle track on the robotic arm to move toward the optical fiber bundle; the laser generator is controlled to emit laser light along the navigation needle track and obtain the illumination position of the laser light on the optical fiber bundle; and the alignment verification result is determined based on the target position and the illumination position.

[0026] In one embodiment, the registration verification system further includes: a light intensity detector; the light intensity detector is respectively connected to the optical fiber bundle and the robot for communication;

[0027] The light intensity detector is used to detect the light intensity of each optical fiber in the optical fiber bundle.

[0028] In a third aspect, the present application also provides a registration verification device, comprising:

[0029] The position moving module is used to control the registered robotic arm to move the target position on the reference object as the moving target, and drive the navigation needle track on the robotic arm to move to the target position;

[0030] A laser irradiation module is used to control the laser generator to emit laser along the navigation needle track and obtain the illumination position of the laser on the reference object;

[0031] The result determination module is used to determine the registration verification result according to the target position and the illumination position.

[0032] In a fourth aspect, the present application further provides a robot comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above-mentioned registration and verification methods when executing the computer program.

[0033] In a fifth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above-mentioned alignment and verification methods are implemented.

[0034] In the above-mentioned registration verification method, system, device, robot and storage medium, the registered manipulator is controlled to use the target position on the reference object as the moving target, and the navigation needle track on the manipulator is driven to move toward the target position of the reference object, so that when the manipulator ends its movement, the laser generator is controlled to emit laser along the navigation needle track, and the illumination position of the laser on the reference object is obtained, and then the registration verification result is determined according to the target position and the illumination position. In the above-mentioned method, the robot can control the manipulator to drive the navigation needle track to move, so as to obtain the target position representing the expected position and the illumination position representing the actual position, and then the registration verification result is determined according to the target position and the illumination position, so that the robot can autonomously perform the registration verification, and the process of controlling the movement of the manipulator and determining the registration verification result is not affected by human subjectivity, thereby improving the accuracy of the verification result. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of the structure of a robot in one embodiment;

[0036] Figure 2 A schematic diagram of a flow chart of a registration verification method in an embodiment;

[0037] Figure 3 A schematic diagram of a process for determining an illumination position in one embodiment;

[0038] Figure 4 is a schematic diagram of an irradiation area and an illumination area in one embodiment;

[0039] Figure 5 is a schematic diagram of an irradiation area and an illumination area in another embodiment;

[0040] Figure 6 A schematic diagram of a process for determining an illumination area in one embodiment;

[0041] Figure 7 A schematic diagram of a process for determining an illumination area in another embodiment;

[0042] Figure 8 is a schematic diagram of an optical fiber arrangement diagram in one embodiment;

[0043] Fig. 9 A schematic diagram of a process for determining a registration verification result in one embodiment;

[0044] Fig.10 is a structural schematic diagram of a registration and verification system in one embodiment;

[0045] Fig.11 is a structural schematic diagram of a registration and verification system in another embodiment;

[0046] Fig.12 is a structural block diagram of a registration verification device in one embodiment;

[0047] Fig.13 1 is a diagram showing the internal structure of a robot in one embodiment. DETAILED DESCRIPTION

[0048] 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.

[0049] The registration verification method provided in the embodiment of the present application can be applied to Figure 1 In the robot shown. The robot 100 includes a mechanical arm 101, a laser generator 102 and a navigation needle track 103. The navigation needle track 103 is located at the end of the mechanical arm 101. The setting position of the laser generator 102 corresponds to the position of the navigation needle track 102. The surface of the reference object is provided with a target position. The robot 100 controls the mechanical arm 101 to move the navigation needle track 102 on the mechanical arm 101 to the target position with the target position on the reference object as the moving target, and when the mechanical arm 101 ends moving, controls the laser generator 200 to emit laser along the navigation needle track 102, and obtains the illumination position of the laser on the surface of the reference object, so as to determine the registration verification result according to the target position and the illumination position.

[0050] In one embodiment, Figure 2 As shown, a registration verification method is provided, which is applied to Figure 1 The robot in the example is used to illustrate the following steps:

[0051] S210, controlling the registered robotic arm to move the target position on the reference object as the moving target, and driving the navigation needle track on the robotic arm to move toward the target position.

[0052] The robot arm is relatively fixed to the navigation needle track, and the robot arm can be used to move under the control of the robot and drive the navigation needle track to move. The navigation needle track can be used to install medical devices, such as scalpels, puncture needles, etc. The reference object is any object in the real space scene, such as a wall, a bed, or a patient preparing for surgery. The target position on the target object is any position point on the surface of the target object, and the target position can be pre-set.

[0053] It should be noted that before the robot controls the movement of the mechanical arm, it needs to align the mechanical arm with the real space scene to obtain the positional relationship between the mechanical arm and the reference object. The robot can subsequently control the mechanical arm to move as needed based on this positional relationship. The alignment verification method provided in this embodiment is to verify the accuracy of this positional relationship.

[0054] Optionally, after the registration is completed, the robot can obtain the target position on the reference object, and control the movement of the robotic arm with the target position as the moving target, and the robotic arm drives the navigation needle track to move toward the target position while moving.

[0055] There are many ways to obtain the target position on the reference object. For example, the robot can directly receive the coordinate position of a point on the reference object input by the user, and use the coordinate position of the point as the target position on the reference object; if a target point is set on the surface of the reference object, the robot can identify the target point to obtain the coordinate position of the target point as the target position on the reference object.

[0056] Optionally, after obtaining the target position on the reference object, the robot may use the target position as a moving target to control the robotic arm to drive the navigation needle track to move toward the target position according to the positional relationship between the robotic arm and the reference object obtained by alignment.

[0057] S220. When the movement of the robot arm is completed, control the laser generator to emit laser along the navigation needle track, and obtain the illumination position of the laser on the reference object.

[0058] The robot also includes a laser generator whose position corresponds to the position of the navigation needle path. The laser generator can be used to emit a laser that passes through the navigation needle path under the control of the robot. The optical path of the laser has a collimation feature and can be used to simulate the operation of medical devices.

[0059] Optionally, when the robot arm ends its movement, the robot can control the laser generator to emit laser light along the navigation needle path, and the laser light can form an irradiation area (i.e., a light spot) on the surface of the reference object, and the robot can obtain the geometric center of the irradiation area as the irradiation position of the laser light on the reference object. Usually, the irradiation area is approximately circular, and the robot can obtain the center position of the irradiation area as the irradiation position.

[0060] It should be noted that the movement error of the registered robotic arm is small, and the surface size of the reference object is large enough relative to the movement error. Therefore, after the registered robotic arm moves with the target position on the reference object as the moving target, the laser emitted by the laser generator that passes through the navigation needle path will definitely irradiate the surface of the reference object.

[0061] There are multiple ways to determine that the robot arm has finished moving. For example, when the robot detects that the robot arm has not moved within a preset time, it can determine that the robot arm has finished moving; if the robot has feedback capability, the robot can determine that the robot arm has finished moving if it receives a movement end instruction sent by the robot arm.

[0062] S230: Determine the registration verification result according to the target position and the illumination position.

[0063] The target position is used to represent the expected position that the robot expects the navigation needle path to reach, and the illumination position is used to represent the actual position that the robot controls the navigation needle path to reach after the registration. The registration verification result is used to represent whether the position relationship obtained by the above registration is accurate.

[0064] Optionally, the robot may compare the target position and the illumination position to determine the expected position and the actual position, and determine whether the positional relationship obtained by the aforementioned registration is accurate or whether it meets the required registration verification result according to the comparison result. Wherein, if the comparison result is that the target position and the illumination position match, then the registration verification result is determined to be that the positional relationship obtained by the aforementioned registration is accurate; conversely, if the comparison result is that the target position and the illumination position do not match, then the registration verification result is determined to be that the positional relationship obtained by the aforementioned registration is inaccurate.

[0065] In this embodiment, the robot arm after registration is controlled to move the target position on the reference object as the moving target, and the navigation needle track on the robot arm is driven to move toward the target position of the reference object, so that when the movement of the robot arm is completed, the laser generator is controlled to emit laser along the navigation needle track, and the illumination position of the laser on the reference object is obtained, and then the registration verification result is determined according to the target position and the illumination position. In the above method, the robot can control the robot arm to drive the navigation needle track to move, so as to obtain the target position representing the expected position and the illumination position representing the actual position, and then determine the registration verification result according to the target position and the illumination position, so that the robot can autonomously perform the registration verification, and the process of controlling the movement of the robot arm and determining the registration verification result is not affected by human subjectivity, thereby improving the accuracy of the verification result.

[0066] In order to improve the accuracy of the determined illumination position, an optical fiber bundle may be pre-arranged at the target position of the reference object, so as to determine the illumination position according to the actual illumination of the end face of the optical fiber bundle by the laser. Figure 3 As shown, the step of obtaining the illumination position of the laser on the reference object in S220 includes:

[0067] S310, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle.

[0068] Among them, optical fiber (full name "optical fiber") is a light transmission tool that can transmit the irradiated light incident on the end face of the optical fiber. The optical fiber bundle is a structure obtained by processing multiple optical fibers into a bundle. The optical fiber bundle has a center point. When the optical fiber bundle is set at the target position of the reference object, the center point of the optical fiber bundle coincides with the target position. The light intensity of the optical fiber is the light intensity irradiated to the end face of the optical fiber. The light intensity of each optical fiber in the optical fiber bundle is affected by the irradiation position of the laser. The light intensity of the optical fiber irradiated by the laser is greater than the light intensity of the optical fiber not irradiated by the laser. The end face of the optical fiber is the incident surface of the laser on the optical fiber.

[0069] Optionally, when the robot is directly connected to the optical fiber bundle, a light intensity detection module is provided inside the robot, and each optical fiber in the optical fiber bundle can transmit the irradiated light to the light intensity detection module, and the light intensity detection module determines the light intensity of each optical fiber, and the robot can directly obtain the light intensity of each optical fiber in the optical fiber bundle determined based on the light intensity detection module. When the optical fiber bundle is connected to an independent light intensity detector for communication, and the light intensity detector is connected to the robot for communication, each optical fiber in the optical fiber bundle can transmit the irradiated light to the light intensity detector, and the light intensity detector detects the light intensity of each optical fiber in the optical fiber bundle, and feeds back the light intensity of each optical fiber in the optical fiber bundle to the robot.

[0070] Optionally, the robot can determine the optical fiber irradiated by the laser in the optical fiber bundle based on the light intensity of each optical fiber in the optical fiber bundle, and obtain the pre-stored arrangement information of each optical fiber in the optical fiber bundle to determine the illumination area formed by the optical fiber irradiated by the laser on the end face of the optical fiber bundle based on the arrangement information.

[0071] S320, fitting a circle center according to the illumination area, and obtaining the position of the circle center as the illumination position.

[0072] As mentioned above, under normal circumstances, the irradiation area (i.e., light spot) formed by light irradiation is approximately circular, and the irradiation area formed by the laser on the end face of the optical fiber bundle may be a partial area of ​​the irradiation area, or it may be the irradiation area. When the end face of the optical fiber bundle is circular, the laser forms an irradiation area S on the surface of the reference object, and forms an irradiation area s on the end face of the optical fiber bundle, such as Figure 4 As shown, the illumination area s is a partial area in the illumination area S, such as Figure 5 As shown, the illuminated area s is completely consistent with the irradiated area S.

[0073] Optionally, after determining the illumination area formed by the laser on the end face of the optical fiber bundle, the robot can fit the circle formed by the illumination area based on the illumination area, and obtain the center position of the circle as the illumination position. The circle formed by the illumination area is the illumination area formed by the laser on the surface of the reference object. Figure 4 As shown, the center o1 is obtained by fitting, and the position of the center o1 is the illumination position of the laser under the corresponding illumination condition; Figure 5 As shown, the center o2 is obtained by fitting, and the position of the center o2 is the illumination position of the laser under the corresponding illumination condition.

[0074] In this embodiment, the illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle, and then the center of the circle is fitted according to the illumination area, and the position of the center of the circle is obtained as the illumination position. The illumination intensity of each optical fiber in the optical fiber bundle can objectively reflect the actual illumination condition of the laser on the end face of the optical fiber bundle, and the illumination area can be accurately determined based on the actual illumination condition, thereby improving the accuracy of the illumination position determined based on the illumination area.

[0075] In practical applications, the illumination area can usually be determined based on the optical fibers in the optical fiber bundle that are irradiated by the laser and the optical fiber arrangement diagram of the corresponding optical fiber bundle. Based on this, in one embodiment, Figure 6 As shown, the above S310, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle, includes:

[0076] S610, determining a target optical fiber in the optical fiber bundle that is irradiated by the laser according to the illumination intensity of each optical fiber in the optical fiber bundle.

[0077] It should be noted that, affected by ambient light, each optical fiber in the optical fiber bundle has a relatively small light intensity, and the light intensity increases after being irradiated by laser.

[0078] The robot can analyze the illumination intensity of each optical fiber in the optical fiber bundle to determine the target optical fiber in the optical fiber bundle that is irradiated by the laser. Exemplarily, the robot can compare the illumination intensity of each optical fiber with the light intensity threshold, and determine that the optical fiber whose corresponding illumination intensity is greater than or equal to the light intensity threshold is the optical fiber irradiated by the laser, that is, the target optical fiber; conversely, the optical fiber whose corresponding illumination intensity is less than the light intensity threshold is the optical fiber not irradiated by the laser. The robot can also obtain the intensity change value of the illumination intensity of each optical fiber, and compare the intensity change value with the change threshold, and determine that the optical fiber whose corresponding intensity change value is greater than or equal to the change threshold is the optical fiber irradiated by the laser, that is, the target optical fiber; conversely, the optical fiber whose corresponding intensity change value is less than the change threshold is the optical fiber not irradiated by the laser.

[0079] S620, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the target optical fiber.

[0080] Optionally, after determining the target optical fiber in the optical fiber bundle, the robot can determine the illumination area according to the area where the target optical fiber is located on the end face of the optical fiber bundle. For example, the area where the target optical fiber is located on the end face of the optical fiber bundle is directly determined as the illumination area.

[0081] In an optional embodiment, if Figure 7 As shown, the above S620, determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the target optical fiber, includes:

[0082] S710: Obtain the target optical fiber serial number and the optical fiber arrangement diagram of the optical fiber bundle.

[0083] The optical fiber arrangement diagram is used to represent the arrangement information of each optical fiber in the optical fiber bundle, and includes the number and position of each optical fiber in the optical fiber bundle.

[0084] Optionally, when the robot is directly connected to the optical fiber bundle, the robot and the optical fiber bundle can be debugged in advance to obtain the arrangement information of each optical fiber in the optical fiber bundle, generate a corresponding optical fiber arrangement diagram, and determine the number of each optical fiber while determining the illumination intensity of each optical fiber, thereby obtaining the number of each target optical fiber. When the optical fiber bundle is connected to the light intensity tester, and the robot is connected to the light intensity tester, the robot can receive the optical fiber arrangement diagram and the number of the target optical fiber sent by the light intensity tester.

[0085] S720: Determine the position of the target optical fiber in the optical fiber arrangement diagram according to the target optical fiber number and the optical fiber arrangement diagram.

[0086] Optionally, when the number of the target optical fiber and the optical fiber arrangement diagram are obtained, the robot may match the number of the target optical fiber with the number of each optical fiber in the optical fiber arrangement diagram to determine the position of the target optical fiber in the optical fiber arrangement diagram. Figure 8 The optical fiber arrangement diagram shown includes several optical fibers, wherein the black optical fiber represents the target optical fiber, and the corresponding position is the position of the target optical fiber in the optical fiber arrangement diagram.

[0087] S730, forming an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0088] Optionally, the robot may use the area corresponding to the position of the target optical fiber in the optical fiber arrangement diagram as the illumination area, and may also determine the minimum area including all target optical fibers according to the position of the target optical fiber in the optical fiber arrangement diagram, and determine the minimum area as the illumination area. Figure 8 The shaded area in is the minimum area including all target optical fibers, i.e., the illuminated area.

[0089] In this embodiment, the target optical fiber irradiated by the laser in the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle, and the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle are obtained, so as to determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram, and then form an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram. In the above method, the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle, and the target optical fiber irradiated by the laser in the optical fiber bundle can be accurately determined based on the illumination intensity of the optical fiber, and the position of the target optical fiber in the optical fiber arrangement diagram can be accurately determined in combination with the number of the target optical fiber, thereby improving the accuracy of the illumination area determined based on the position of the target optical fiber.

[0090] The distance deviation between the target position and the illumination position can be used to characterize the registration verification result. Fig. 9 As shown, the above S230, determining the registration verification result according to the target position and the illumination position, includes:

[0091] S910: Obtain a distance deviation between a target position and an illumination position.

[0092] Optionally, when the coordinate systems between the target position and the illumination position are not unified, the robot unifies the coordinate systems of the target position and the illumination position to determine the spatial distance between the two based on the target position and the illumination position in the same coordinate system as the above-mentioned distance deviation.

[0093] S920: If the distance deviation is less than or equal to the distance threshold, determine that the registration verification result is passed.

[0094] S930: If the distance deviation is greater than the distance threshold, determine that the registration verification result is verification failure.

[0095] Optionally, the robot compares the obtained distance deviation with the deviation threshold to determine the registration verification result for the positional relationship obtained by the registration according to the comparison result. Wherein, when the distance deviation is greater than the deviation threshold, the robot may determine that the registration spatial relationship is inaccurate or does not meet the requirements, and determine that the registration verification result is verification failure; conversely, when the position deviation is less than or equal to the deviation threshold, the robot may determine that the registration spatial relationship is accurate or meets the requirements, and determine that the registration verification result is verification pass.

[0096] In this embodiment, the distance deviation between the target position and the illumination position is obtained, and when the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be a verification pass, and when the distance deviation is greater than the distance threshold, the registration verification result is determined to be a verification failure. In the above method, the target position is the expected position, and the illumination position is the actual position reached after the registration. The distance deviation between the target position and the illumination position can accurately reflect the registration accuracy, and the accuracy of the registration verification result determined based on the distance deviation is correspondingly improved.

[0097] 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.

[0098] In one embodiment, this embodiment also provides a registration verification system, such as Fig.10 As shown, the registration verification system includes a robot 100 and an optical fiber bundle 200 that communicate with each other.

[0099] The robot 100 includes a mechanical arm 101, a laser generator 102 and a navigation needle track 103. The navigation needle track 103 is arranged at the end of the mechanical arm 101, the laser generator 102 is arranged at a position corresponding to the navigation needle track 103, and the optical fiber bundle 200 is arranged at a target position of a reference object.

[0100] The laser generator 102 is used to emit laser light that passes through the navigation needle track 103; the optical fiber bundle 200 is used to conduct the laser light; the robot 100 is used to control the aligned robotic arm 101 to use the optical fiber bundle 200 on the reference object as a moving target, and drive the navigation needle track 103 on the robotic arm 101 to move toward the optical fiber bundle 200; control the laser generator 102 to emit laser light along the navigation needle track 103, and obtain the illumination position of the laser light on the optical fiber bundle 200; determine the alignment verification result according to the target position and the illumination position.

[0101] Optionally, the laser generator 102 and the navigation needle track 103 are coaxially arranged, and the center line of the optical path of the laser emitted by the laser generator 102 coincides with the center line of the navigation needle track 103 .

[0102] The optical fibers in the optical fiber bundle 200 are used to conduct laser light. The end face of the optical fiber bundle 200 may be circular, rectangular, or any other shape with a center point.

[0103] A light intensity detection module is provided inside the robot 100. Each optical fiber in the optical fiber bundle 200 can transmit the irradiated light to the light intensity detection module in the robot 100, and the light intensity detection module determines the light intensity of each optical fiber. The robot 100 can directly obtain the light intensity of each optical fiber in the optical fiber bundle 200 determined by the light intensity detection module to perform alignment inspection.

[0104] Alternatively, the reference object may be a patient who is about to undergo surgery, and the target position may be a position on the patient's head.

[0105] Optionally, the end surface of the optical fiber bundle is flat, which improves the simultaneity of the optical fibers in the optical fiber bundle receiving light.

[0106] In one embodiment, if Fig.11 As shown, the registration verification system further includes: a light intensity detector 300. The light intensity detector 300 is connected to the optical fiber bundle 200 and the robot 100 for communication.

[0107] The light intensity detector 300 is used to detect the light intensity of each optical fiber in the optical fiber bundle 200 .

[0108] Optionally, the light intensity detector 300 is connected to the optical fiber bundle 200 via an optical fiber connection line. The light intensity detector 300 and the robot 100 can be connected to each other wirelessly or by wire.

[0109] Each optical fiber in the optical fiber bundle 200 can transmit the irradiated light to the light intensity detector 300, which detects the light intensity of each optical fiber on the optical fiber bundle 200 and feeds back the light intensity of each optical fiber on the optical fiber bundle 200 to the robot 100 for the robot 100 to perform alignment inspection.

[0110] It should be noted that the functions of the various components in the above-mentioned registration and verification system are detailed in the various embodiments of the above-mentioned registration and verification method, and will not be repeated here.

[0111] Based on the same inventive concept, the embodiment of the present application also provides a registration verification device for implementing the registration verification method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more registration verification device embodiments provided below can refer to the limitations on the registration verification method above, and will not be repeated here.

[0112] In one embodiment, this embodiment also provides a registration verification device, such as Fig.12 As shown, it includes: a position moving module 1201, a laser irradiation module 1202 and a result determination module 1203.

[0113] The position movement module 1201 is used to control the registered manipulator to move the target position on the reference object as the moving target, and drive the navigation needle track on the manipulator to move toward the target position;

[0114] The laser irradiation module 1202 is used to control the laser generator to emit laser along the navigation needle track and obtain the illumination position of the laser on the reference object;

[0115] The result determination module 1203 is used to determine the registration verification result according to the target position and the illumination position.

[0116] In one embodiment, a fiber optic bundle is provided at the target location; the laser irradiation module 1202 comprises:

[0117] An illumination submodule, used to determine the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle;

[0118] The fitting submodule is used to fit the center of the circle according to the illumination area and obtain the position of the center of the circle as the illumination position.

[0119] In one embodiment, the illumination submodule includes:

[0120] A target optical fiber unit, used to determine the target optical fiber irradiated by the laser in the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle;

[0121] The illumination area unit is used to determine the illumination area formed by the laser on the end face of the optical fiber bundle according to the target optical fiber.

[0122] In one embodiment, the illumination area unit comprises:

[0123] An information acquisition subunit, used to acquire the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle;

[0124] A position determination subunit, used to determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram;

[0125] The area forming subunit is used to form an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0126] In one embodiment, the result determination module 1203 includes:

[0127] A deviation determination submodule, used to obtain the distance deviation between the target position and the illumination position;

[0128] A first verification submodule, configured to determine that the registration verification result is a verification pass when the distance deviation is less than or equal to the distance threshold;

[0129] The second verification submodule is used to determine that the registration verification result is verification failure when the distance deviation is greater than the distance threshold.

[0130] Each module in the above-mentioned registration verification device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0131] In one embodiment, a robot is provided, the internal structure diagram of the robot can be as follows: Fig.13 As shown. The robot includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the robot is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the robot is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a registration verification method is implemented. The display screen of the robot can be a liquid crystal display screen or an electronic ink display screen, and the input device of the robot can be a touch layer covering the display screen, or a button, trackball or touchpad set on the robot shell, or an external keyboard, touchpad or mouse, etc.

[0132] Those skilled in the art will understand that Fig.13The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the robot to which the scheme of the present application is applied. The specific robot may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0133] In one embodiment, a robot 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 following steps are implemented:

[0134] The aligned robotic arm is controlled to move the target position on the reference object as the moving target, and the navigation pin track on the robotic arm is driven to move toward the target position; when the robotic arm moves to the end, the laser generator is controlled to emit laser along the navigation pin track, and the illumination position of the laser on the reference object is obtained; the alignment verification result is determined according to the target position and the illumination position.

[0135] In one embodiment, an optical fiber bundle is provided at the target location; when the processor executes the computer program, the following steps are also implemented:

[0136] The illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; the center of the circle is fitted according to the illumination area, and the position of the center of the circle is obtained as the illumination position.

[0137] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0138] The target optical fiber irradiated by the laser in the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; and the illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the target optical fiber.

[0139] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0140] Obtain the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle; determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram; and form an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0141] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0142] The distance deviation between the target position and the illumination position is obtained; if the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be passed; if the distance deviation is greater than the distance threshold, the registration verification result is determined to be failed.

[0143] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0144] The aligned robotic arm is controlled to move the target position on the reference object as the moving target, and the navigation pin track on the robotic arm is driven to move toward the target position; when the robotic arm moves to the end, the laser generator is controlled to emit laser along the navigation pin track, and the illumination position of the laser on the reference object is obtained; the alignment verification result is determined according to the target position and the illumination position.

[0145] In one embodiment, a fiber bundle is provided at the target location; when the computer program is executed by the processor, the following steps are also implemented:

[0146] The illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; the center of the circle is fitted according to the illumination area, and the position of the center of the circle is obtained as the illumination position.

[0147] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0148] The target optical fiber irradiated by the laser in the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; and the illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the target optical fiber.

[0149] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0150] Obtain the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle; determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram; and form an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0151] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0152] The distance deviation between the target position and the illumination position is obtained; if the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be passed; if the distance deviation is greater than the distance threshold, the registration verification result is determined to be failed.

[0153] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0154] The aligned robotic arm is controlled to move the target position on the reference object as the moving target, and the navigation pin track on the robotic arm is driven to move toward the target position; when the robotic arm moves to the end, the laser generator is controlled to emit laser along the navigation pin track, and the illumination position of the laser on the reference object is obtained; the alignment verification result is determined according to the target position and the illumination position.

[0155] In one embodiment, a fiber bundle is provided at the target location; when the computer program is executed by the processor, the following steps are also implemented:

[0156] The illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; the center of the circle is fitted according to the illumination area, and the position of the center of the circle is obtained as the illumination position.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] The target optical fiber irradiated by the laser in the optical fiber bundle is determined according to the illumination intensity of each optical fiber in the optical fiber bundle; and the illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the target optical fiber.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0160] Obtain the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle; determine the position of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram; and form an illumination area according to the position of the target optical fiber in the optical fiber arrangement diagram.

[0161] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0162] The distance deviation between the target position and the illumination position is obtained; if the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be passed; if the distance deviation is greater than the distance threshold, the registration verification result is determined to be failed.

[0163] 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.

[0164] 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.

[0165] 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 registration verification method, characterized in that: The method comprises: Controlling the registered robotic arm to move the target position on the reference object as a moving target, and driving the navigation needle track on the robotic arm to move toward the target position; When the movement of the robot arm is finished, controlling the laser generator to emit laser along the navigation needle track, and obtaining the illumination position of the laser on the reference object; A registration verification result is determined according to the target position and the illumination position.

2. The method according to claim 1, characterized in that The target position is provided with an optical fiber bundle; and obtaining the illumination position of the laser on the reference object comprises: Determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle; A circle center is fitted according to the illumination area, and the position of the circle center is obtained as the illumination position.

3. The method according to claim 2, characterized in that The step of determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the illumination intensity of each optical fiber in the optical fiber bundle comprises: Determining a target optical fiber in the optical fiber bundle that is irradiated by the laser according to the illumination intensity of each optical fiber in the optical fiber bundle; The illumination area formed by the laser on the end face of the optical fiber bundle is determined according to the target optical fiber.

4. The method according to claim 3, characterized in that The step of determining the illumination area formed by the laser on the end face of the optical fiber bundle according to the target optical fiber comprises: Obtaining the number of the target optical fiber and the optical fiber arrangement diagram of the optical fiber bundle; wherein the optical fiber arrangement diagram includes the number and position of each optical fiber in the optical fiber bundle; Determining the location of the target optical fiber in the optical fiber arrangement diagram according to the number of the target optical fiber and the optical fiber arrangement diagram; The illumination area is formed according to the position of the target optical fiber in the optical fiber arrangement diagram.

5. The method according to any one of claims 1 to 4, characterized in that The determining the registration verification result according to the target position and the illumination position includes: Obtaining a distance deviation between the target position and the illumination position; If the distance deviation is less than or equal to the distance threshold, determining that the registration verification result is verification passed; If the distance deviation is greater than the distance threshold, it is determined that the registration verification result is verification failure.

6. A registration verification system, characterized in that: include: A robot and an optical fiber bundle communicating with each other; the robot comprises a mechanical arm, a laser generator and a navigation needle track, the navigation needle track is arranged at the end of the mechanical arm, the laser generator is arranged at a position corresponding to the navigation needle track; the optical fiber bundle is arranged at a target position of a reference object; The laser generator is used to emit laser light passing through the navigation needle track; the optical fiber bundle is used to conduct the laser light; the robot is used to control the aligned robotic arm to use the optical fiber bundle on the reference object as a moving target, and drive the navigation needle track on the robotic arm to move toward the optical fiber bundle; control the laser generator to emit laser light along the navigation needle track, and obtain the illumination position of the laser light on the optical fiber bundle; determine the alignment verification result according to the target position and the illumination position.

7. The system according to claim 6, characterized in that The registration verification system further comprises: a light intensity detector; the light intensity detector is respectively connected to the optical fiber bundle and the robot for communication; The light intensity detector is used to detect the light intensity of each optical fiber in the optical fiber bundle.

8. A registration verification device, characterized in that: The device comprises: A position moving module is used to control the registered mechanical arm to move the target position on the reference object as the moving target, and drive the navigation needle track on the mechanical arm to move toward the target position; A laser irradiation module, used to control a laser generator to emit laser light along the navigation needle track and obtain an irradiation position of the laser light on the reference object; A result determination module is used to determine the registration verification result according to the target position and the illumination position.

9. A robot 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 5 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 5 are implemented.

Images