Registration and verification methods, systems, devices, robots, and storage media

Abstract

This application relates to a registration and verification method, system, apparatus, robot, and storage medium. The method includes: controlling a registered robotic arm to move towards a target position on a reference object, using the target position as the moving target; moving a navigation needle track on the robotic arm towards the target position on the reference object; and, upon completion of the robotic arm movement, controlling a laser generator to emit a laser along the navigation needle track and acquiring the illumination position of the laser on the reference object. The registration and verification result is then determined based on the target position and the illumination position. In this method, the robot can control the robotic arm to move the navigation needle track to acquire the target position representing the desired position and the illumination position representing the actual position. The registration and verification result is then determined based on the target position and the illumination position. This enables the robot to autonomously perform registration and verification, and the process of controlling the movement of the robotic arm and determining the registration and verification result is not affected by human subjectivity, thereby improving the accuracy of the verification result.

Description

Technical Field

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

[0002] With the development of technology, more and more intelligent robots are being applied to various industries. Taking neurosurgical robots (hereinafter referred to as "neurosurgery robots") applied in the medical industry as an example, neurosurgical robots can assist medical personnel in performing high-precision surgeries.

[0003] Before performing surgery on a patient using a neurosurgical robot, registration and alignment are typically required to determine the positional relationship between the patient and the robot's robotic arm. The neurosurgical robot can then use this relationship to locate the surgical position and perform the surgery. To ensure registration accuracy, in related technologies, after registration and alignment are completed, the neurosurgical robot also requires manual observation of the registration error to verify the aforementioned registration process.

[0004] However, the registration and verification methods in related technologies are greatly affected by human subjectivity, resulting in poor accuracy of the verification results. Summary of the Invention

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

[0006] Firstly, this application provides a registration verification method, including:

[0007] After registration, the robotic arm moves towards the target position by using the target position on the reference object as the moving target;

[0008] When the robotic arm finishes moving, control the laser generator to emit laser along the navigation needle path and obtain the illumination position of the laser on the reference object;

[0009] The registration verification results are determined based on the target location and the illumination location.

[0010] In one embodiment, an optical fiber bundle is provided at the target location; obtaining the illumination position of the laser on the reference object includes:

[0011] The illumination area formed by the laser on the end face of the fiber bundle is determined based on the illumination intensity of each fiber in the fiber bundle.

[0012] Fit the center of the circle based on the illuminated area, and obtain the position of the center as the illumination position.

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

[0014] The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle.

[0015] The illumination area formed by the laser on the end face of the fiber bundle is determined based on the target fiber.

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

[0017] Obtain the target fiber's identification number and the fiber arrangement diagram of the fiber bundle; the fiber arrangement diagram includes the identification number and position of each fiber in the fiber bundle;

[0018] The position of the target fiber in the fiber layout diagram is determined based on the target fiber number and the fiber layout diagram.

[0019] The illumination area is formed based on the position of the target fiber in the fiber optic layout diagram.

[0020] In one embodiment, determining the registration verification result based on the target location and the illumination location includes:

[0021] Obtain the distance deviation between the target location and the illumination location;

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

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

[0024] Secondly, this application also provides a registration and verification system, including: a robot and an optical fiber bundle that communicate with each other; the robot includes a robotic arm, a laser generator and a navigation needle track, the navigation needle track is disposed at the end of the robotic arm, the laser generator is disposed at the position corresponding to the navigation needle track; the optical fiber bundle is disposed at the target position of the reference object;

[0025] A laser generator is used to emit laser light through the navigation needle track; an optical fiber bundle is used to conduct the laser light; a robot is used to control the registered robotic arm to move towards the optical fiber bundle on the reference object; the laser generator is controlled to emit laser light along the navigation needle track and the illumination position of the laser light on the optical fiber bundle is obtained; the registration and verification results are determined based on the target position and the illumination position.

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

[0027] A light intensity meter is used to detect the light intensity of each optical fiber in a fiber bundle.

[0028] Thirdly, this application also provides a registration verification device, comprising:

[0029] The position movement module is used to control the registered robotic arm to move towards the target position on the reference object.

[0030] The laser illumination module is used to control the laser generator to emit laser along the navigation needle path and to obtain the illumination position of the laser on the reference object.

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

[0032] Fourthly, this application also provides a robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-mentioned registration and verification methods.

[0033] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-described registration and verification methods.

[0034] In the aforementioned registration and verification method, system, device, robot, and storage medium, the registered robotic arm is controlled to move towards the target position on the reference object, using the target position as the moving target. The navigation needle on the robotic arm moves towards the target position on the reference object. After the robotic arm finishes moving, a laser generator is controlled to emit laser light along the navigation needle, and the illumination position of the laser on the reference object is obtained. The registration and verification result is then determined based on the target position and the illumination position. In this method, the robot can control the robotic arm to move the navigation needle to obtain the target position representing the desired position and the illumination position representing the actual position. The registration and verification result is then determined based on the target position and the illumination position. This enables the robot to perform registration and verification autonomously. The process of controlling the movement of the robotic arm and determining the registration and verification result is not affected by human subjectivity, thereby improving the accuracy of the verification result. Attached Figure Description

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

[0036] Figure 2 This is a flowchart illustrating the registration and verification method in one embodiment;

[0037] Figure 3 This is a flowchart illustrating the process of determining the illumination position in one embodiment;

[0038] Figure 4 This is a schematic diagram of the illumination area and the light-receiving area in one embodiment;

[0039] Figure 5 This is a schematic diagram of the illumination area and the light-receiving area in another embodiment;

[0040] Figure 6 This is a flowchart illustrating the process of determining the illumination area in one embodiment;

[0041] Figure 7 This is a flowchart illustrating the process of determining the illumination area in another embodiment;

[0042] Figure 8 This is a schematic diagram of the fiber optic arrangement in one embodiment;

[0043] Figure 9 This is a flowchart illustrating the process of determining the registration verification result in one embodiment;

[0044] Figure 10 This is a schematic diagram of the registration and verification system in one embodiment;

[0045] Figure 11 This is a schematic diagram of the registration and verification system in another embodiment;

[0046] Figure 12 This is a structural block diagram of the registration and verification device in one embodiment;

[0047] Figure 13 This is a diagram of the internal structure of a robot in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] The registration and verification method provided in this application can be applied to, for example... Figure 1 The robot shown includes a robotic arm 100, a laser generator 102, and a navigation needle track 103. The navigation needle track 103 is located at the end of the robotic arm 101. The laser generator 102 is positioned corresponding to the navigation needle track 102. A target position is set on the surface of a reference object. The robot 100 controls the robotic arm 101 to move towards the target position on the reference object, moving the navigation needle track 102 on the robotic arm 101 towards the target position. After the robotic arm 101 finishes moving, the robot controls the laser generator 200 to emit a laser along the navigation needle track 102 and acquire the illumination position of the laser on the surface of the reference object. The registration and verification results are then determined based on the target position and the illumination position.

[0050] In one embodiment, such as Figure 2 As shown, a registration verification method is provided, which is applied to... Figure 1 Taking the robot in the example, the following steps are included:

[0051] S210. Control the registered robotic arm to move towards the target position by taking the target position on the reference object as the moving target.

[0052] The robotic arm is fixed relative to the navigation needle track. The robotic arm can move under the robot's control, driving the navigation needle track. The navigation needle track can be used to install medical instruments, such as scalpels and puncture needles. The reference object is any object in the real-world scene, such as a wall, a hospital bed, or a patient preparing for surgery. The target position on the target object is any point on its surface, which can be preset.

[0053] It should be noted that before controlling the robotic arm to move, the robot needs to register the robotic arm with the real-world scene to obtain the positional relationship between the robotic arm and the reference object. The robot can then control the robotic arm to move as needed based on this positional relationship. The registration verification method provided in this embodiment is for verifying the accuracy of this positional relationship.

[0054] Optionally, after registration, the robot can obtain the target position on the reference object and control the robotic arm to move with the target position as the moving target. While moving, the robotic arm drives the navigation needle to move towards the target position.

[0055] There are several ways to obtain the target position on a reference object. For example, the robot can directly receive the coordinates of a point on the reference object input by the user and use the coordinates of that 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 and obtain its coordinates as the target position on the reference object.

[0056] Optionally, after obtaining the target position on the reference object, the robot can use the target position as the moving target, and control the robot arm to move the navigation needle towards the target position according to the positional relationship between the registered robot arm and the reference object.

[0057] S220. When the robotic arm finishes moving, control the laser generator to emit laser along the navigation needle path and obtain the illumination position of the laser on the reference object.

[0058] The robot also includes a laser generator positioned corresponding to the navigation needle path. Under the robot's control, the laser generator emits a laser beam that passes through the navigation needle path. The laser's optical path has collimation characteristics, which can be used to simulate the operation of medical devices.

[0059] Optionally, after the robotic arm finishes moving, the robot can control a laser generator to emit a laser along the navigation needle path. This laser can form an illumination area (i.e., a light spot) on the surface of a reference object. The robot can obtain the geometric center of this illumination area as the illumination position of the laser on the reference object. Typically, this illumination area is approximately circular, and the robot can obtain the center position of this illumination area as the illumination 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 this 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 will definitely illuminate the surface of the reference object.

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

[0062] S230. Determine the registration verification result based on the target location and illumination location.

[0063] The target position represents the desired position that the robot expects the navigation needle to reach, while the illumination position represents the actual position reached by the robot after registration. The registration verification result is used to determine whether the positional relationship obtained from the aforementioned registration is accurate.

[0064] Optionally, the robot can compare the target position and the illumination position to determine the desired position and the actual position, and determine whether the positional relationship obtained by the aforementioned registration is accurate or meets the required registration verification result based on the comparison result. Specifically, if the comparison result shows that the target position and the illumination position match, the registration verification result is determined to be that the positional relationship obtained by the aforementioned registration is accurate; conversely, if the comparison result shows that the target position and the illumination position do not match, the registration verification result is determined to be that the positional relationship obtained by the aforementioned registration is inaccurate.

[0065] In this embodiment, the registered robotic arm is controlled to move towards the target position on the reference object, using the target position as the moving target. The navigation needle on the robotic arm moves towards the target position on the reference object. After the robotic arm finishes moving, a laser generator is controlled to emit a laser along the navigation needle, and the illumination position of the laser on the reference object is obtained. The registration verification result is then determined based on the target position and the illumination position. In this method, the robot can control the robotic arm to move the navigation needle to obtain the target position representing the desired position and the illumination position representing the actual position. The registration verification result is then determined based on the target position and the illumination position. This enables the robot to perform registration verification autonomously. The process of controlling the movement of the robotic arm and determining the registration verification result is not affected by human subjectivity, thereby improving the accuracy of the verification result.

[0066] To improve the accuracy of the determined illumination position, an optical fiber bundle can be pre-positioned at the target location of the reference object to determine the illumination position based on the actual illumination of the fiber bundle end face by the laser. Based on this, in one embodiment, such as... Figure 3 As shown, obtaining the illumination position of the laser on the reference object in S220 above includes:

[0067] S310. Determine the illumination area formed by the laser on the end face of the fiber bundle based on the illumination intensity of each fiber in the fiber bundle.

[0068] Optical fiber (also known as optical waveguide fiber) is a light transmission tool that transmits light incident on its end face. An optical fiber bundle is a structure obtained by processing multiple optical fibers into a bundle. The bundle has a center point; when the bundle is positioned at the target location of a reference object, the center point of the bundle coincides with the target location. The light intensity of an optical fiber is the intensity of light incident on its end face. The light intensity of each fiber in the bundle is affected by the laser's irradiation position; the light intensity of fibers irradiated by the laser is greater than that of fibers not irradiated by the laser. The end face of the optical fiber is the incident surface of the laser on the fiber.

[0069] Optionally, when the robot is directly connected to the fiber optic bundle, the robot is equipped with a light intensity detection module. Each fiber in the bundle transmits the illuminated light to the light intensity detection module, which then determines the light intensity of each fiber. The robot can directly obtain the light intensity of each fiber in the bundle based on the light intensity detection module. Alternatively, when the fiber optic bundle is connected to an independent light intensity detector, and the detector is connected to the robot, each fiber in the bundle transmits the illuminated light to the detector, which detects the light intensity of each fiber and feeds it back to the robot.

[0070] Optionally, the robot can determine the fiber in the fiber bundle that is illuminated by the laser based on the light intensity of each fiber in the fiber bundle, and obtain the arrangement information of each fiber in the fiber bundle that is stored in advance, so as to determine the illumination area formed by the laser-illuminated fiber on the end face of the fiber bundle based on the arrangement information.

[0071] S320. 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.

[0072] As mentioned earlier, under normal circumstances, the irradiated area (i.e., the light spot) formed by light illumination is approximately circular. The irradiated area formed by the laser on the end face of the fiber optic bundle may be a portion of the irradiated area, or it may be the entire irradiated area. When the end face of the fiber optic bundle is circular, the laser forms an irradiated area S on the surface of the reference object, and an irradiated area s on the end face of the fiber optic bundle, as shown below. Figure 4 As shown, the illuminated area s is a portion of the illuminated area S, such as... Figure 5 As shown, the illuminated area s and the irradiated area S completely coincide.

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

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

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

[0076] S610. Determine the target fiber in the fiber bundle that is irradiated by the laser based on the light intensity of each fiber in the fiber bundle.

[0077] It should be noted that due to the influence of ambient light, each fiber in the fiber bundle has a relatively low light intensity, but the light intensity increases after being irradiated by a laser.

[0078] The robot can analyze the light intensity of each fiber in a fiber bundle to identify the target fiber illuminated by the laser. For example, the robot can compare the light intensity of each fiber with a light intensity threshold and determine that the fiber with a light intensity greater than or equal to the threshold is the laser-illuminated fiber, i.e., the target fiber; conversely, the fiber with a light intensity less than the threshold is the fiber not illuminated by the laser. The robot can also acquire the intensity variation value of each fiber and compare it with a variation threshold, determining that the fiber with an intensity variation value greater than or equal to the threshold is the laser-illuminated fiber, i.e., the target fiber; conversely, the fiber with an intensity variation value less than the threshold is the fiber not illuminated by the laser.

[0079] S620. Determine the illumination area formed by the laser on the end face of the fiber bundle based on the target fiber.

[0080] Optionally, after identifying the target fiber in the fiber bundle, the robot can determine the illumination area based on the region where the target fiber is located on the end face of the fiber bundle. For example, the region where the target fiber is located on the end face of the fiber bundle can be directly identified as the illumination area.

[0081] In an alternative embodiment, such as Figure 7 As shown, S620 above, determining the illumination area formed by the laser on the end face of the fiber bundle based on the target fiber, includes:

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

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

[0084] Optionally, when the robot is directly connected to the fiber optic bundle, the robot and the fiber optic bundle can be pre-calibrated to obtain the arrangement information of each fiber in the bundle and generate a corresponding fiber arrangement diagram. Simultaneously, the illumination intensity of each fiber is determined, and the fiber number is assigned, thus obtaining the number of each target fiber. When the fiber optic bundle is connected to a light intensity meter, and the robot is connected to the light intensity meter, the robot can receive the fiber arrangement diagram and the target fiber number sent by the light intensity meter.

[0085] S720. Determine the position of the target optical fiber in the optical fiber layout diagram based on the target optical fiber number and the optical fiber layout diagram.

[0086] Optionally, given the target fiber's identification number and fiber arrangement diagram, the robot can match the target fiber's identification number with the identification numbers of each fiber in the fiber arrangement diagram to determine the target fiber's position in the diagram. For example, Figure 8 The fiber optic layout diagram shown includes several optical fibers, where the black optical fibers represent the target optical fibers, and the corresponding positions are the positions of the target optical fibers in the fiber optic layout diagram.

[0087] S730. Form an illumination area based on the position of the target fiber in the fiber optic layout diagram.

[0088] Optionally, the robot can use the area corresponding to the target fiber's position in the fiber optic layout diagram as the illumination area. Alternatively, it can determine a minimum region encompassing all target fibers based on the target fiber's position in the fiber optic layout diagram, and define this minimum region as the illumination area. Continuing with the above distance... Figure 8 The shaded area in the diagram is the smallest area that includes all the target optical fibers, i.e., the illuminated area.

[0089] In this embodiment, the target fiber irradiated by the laser in the fiber bundle is determined based on the light intensity of each fiber in the fiber bundle. The number of the target fiber and the fiber arrangement diagram of the fiber bundle are obtained. The position of the target fiber in the fiber arrangement diagram is then determined based on the target fiber's number and the fiber arrangement diagram, and an illumination area is formed based on the position of the target fiber in the fiber arrangement diagram. In the above method, the fiber arrangement diagram includes the number and position of each fiber in the fiber bundle. The light intensity of the fiber can accurately determine the target fiber irradiated by the laser in the fiber bundle. Combining the target fiber's number with the position of the target fiber in the fiber arrangement diagram accurately determines the position of the target fiber, thereby improving the accuracy of the illumination area determined based on the position of the target fiber.

[0090] The distance deviation between the target position and the illumination position can be used to characterize the registration verification result. Therefore, in one embodiment, such as Figure 9 As shown, S230 above, determining the registration verification result based on the target position and illumination position, includes:

[0091] S910, Obtain the distance deviation between the target position and the illumination position.

[0092] Optionally, if the coordinate systems of 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 them based on the target position and the illumination position in the same coordinate system, which is used as the aforementioned distance deviation.

[0093] S920. If the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be a successful verification.

[0094] S930. If the distance deviation is greater than the distance threshold, the registration verification result is determined to be verification failure.

[0095] Optionally, the robot compares the obtained distance deviation with a deviation threshold to determine the registration verification result for the registered positional relationship based on the comparison result. Specifically, if the distance deviation is greater than the deviation threshold, the robot can determine that the registered spatial relationship is inaccurate or does not meet the requirements, and the registration verification result is determined to be verification failed; conversely, if the position deviation is less than or equal to the deviation threshold, the robot can determine that the registered spatial relationship is accurate or meets the requirements, and the registration verification result is determined to be verification passed.

[0096] In this embodiment, the distance deviation between the target position and the illumination position is obtained. If the distance deviation is less than or equal to a distance threshold, the registration verification result is determined to be successful; if the distance deviation is greater than the distance threshold, the registration verification result is determined to be unsuccessful. In the above method, the target position is the desired position, and the illumination position is the actual position reached after registration. The distance deviation between the target position and the illumination position can accurately reflect the registration accuracy, thereby improving the accuracy of the registration verification result determined based on this distance deviation.

[0097] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

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

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

[0100] The laser generator 102 is used to emit laser light through the navigation needle track 103; the fiber optic bundle 200 is used to conduct the laser light; the robot 100 is used to control the registered robotic arm 101 to move the navigation needle track 103 on the robotic arm 101 toward the fiber optic bundle 200 with the fiber optic bundle 200 on the reference object as the moving target; 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 fiber optic bundle 200; and determine the registration verification result based on 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 fiber bundle 200 are used to conduct laser light. The end face of the fiber bundle 200 can be circular, rectangular, or any other shape with a central point.

[0103] The robot 100 is equipped with a light intensity detection module. Each optical fiber in the 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 fiber bundle 200 based on the light intensity detection module for registration verification.

[0104] Optionally, the reference object can be the patient who is about to undergo surgery, and the target location can be the position on the patient's head.

[0105] Optionally, the fiber bundle hanger end face is flat, which improves the simultaneity of light reception in the fiber bundle.

[0106] In one embodiment, such as Figure 11 As shown, the registration and verification system also includes a light intensity detector 300. The light intensity detector 300 is communicatively connected to the fiber optic bundle 200 and the robot 100.

[0107] Among them, 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 and the fiber optic bundle 200 are connected via a fiber optic cable. The light intensity detector 300 and the robot 100 can communicate wirelessly or via a wired connection.

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

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

[0111] Based on the same inventive concept, this application also provides a registration and verification device for implementing the registration and verification method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more registration and verification device embodiments provided below can be found in the limitations of the registration and verification method described above, and will not be repeated here.

[0112] In one embodiment, this embodiment also provides a registration verification device, such as... Figure 12 As shown, it includes: a position movement 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 robotic arm to move towards the target position with the target position on the reference object as the moving target;

[0114] The laser illumination module 1202 is used to control the laser generator to emit laser along the navigation needle path and to 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 based on the target position and the illumination position.

[0116] In one embodiment, an optical fiber bundle is provided at the target location; the laser irradiation module 1202 includes:

[0117] The illumination submodule is used to determine the illumination area formed by the laser on the end face of the fiber bundle based on the illumination intensity of each fiber in the fiber bundle.

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

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

[0120] The target fiber unit is used to determine the target fiber in the fiber bundle that is illuminated by the laser based on the light intensity of each fiber in the fiber bundle.

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

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

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

[0124] The location determination subunit is used to determine the position of the target fiber in the fiber layout diagram based on the target fiber number and the fiber layout diagram.

[0125] The region forming sub-unit is used to form an illumination area based on the position of the target fiber in the fiber layout diagram.

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

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

[0128] The first verification submodule is used to determine that the registration verification result is passed when the distance deviation is less than or equal to the distance threshold.

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

[0130] Each module in the aforementioned registration and verification device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0131] In one embodiment, a robot is provided, the internal structure of which can be as follows: Figure 13 As shown, the robot includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The robot's processor provides computing and control capabilities. The robot's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The robot's communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a registration and verification method. The robot's display screen can be an LCD screen or an e-ink screen. The robot's input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad located on the robot's shell, or an external keyboard, touchpad, or mouse.

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

[0133] In one embodiment, a robot is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps:

[0134] After registration, the robotic arm is controlled to move towards the target position on the reference object, and the navigation needle on the robotic arm moves towards the target position. When the robotic arm finishes moving, the laser generator is controlled to emit a laser along the navigation needle and the illumination position of the laser on the reference object is obtained. The registration verification result is determined based on the target position and the illumination position.

[0135] In one embodiment, a fiber optic bundle is provided at the target location; the processor, when executing the computer program, also performs the following steps:

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

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

[0138] The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle; the illumination area formed by the laser on the end face of the fiber bundle is determined based on the target fiber.

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

[0140] Obtain the target fiber's identification number and the fiber arrangement diagram of the fiber bundle; the fiber arrangement diagram includes the identification number and position of each fiber in the fiber bundle; determine the position of the target fiber in the fiber arrangement diagram based on the target fiber's identification number and the fiber arrangement diagram; form an illumination area based on the position of the target fiber in the fiber arrangement diagram.

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

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

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

[0144] After registration, the robotic arm is controlled to move towards the target position on the reference object, and the navigation needle on the robotic arm moves towards the target position. When the robotic arm finishes moving, the laser generator is controlled to emit a laser along the navigation needle and the illumination position of the laser on the reference object is obtained. The registration verification result is determined based on the target position and the illumination position.

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

[0146] The illumination area formed by the laser on the end face of the fiber bundle is determined based on the illumination intensity of each fiber in the fiber bundle; the center of the circle is fitted based on 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 the processor, it further performs the following steps:

[0148] The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle; the illumination area formed by the laser on the end face of the fiber bundle is determined based on the target fiber.

[0149] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0150] Obtain the target fiber's identification number and the fiber arrangement diagram of the fiber bundle; the fiber arrangement diagram includes the identification number and position of each fiber in the fiber bundle; determine the position of the target fiber in the fiber arrangement diagram based on the target fiber's identification number and the fiber arrangement diagram; form an illumination area based on the position of the target fiber in the fiber arrangement diagram.

[0151] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

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

[0153] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0154] After registration, the robotic arm is controlled to move towards the target position on the reference object, and the navigation needle on the robotic arm moves towards the target position. When the robotic arm finishes moving, the laser generator is controlled to emit a laser along the navigation needle and the illumination position of the laser on the reference object is obtained. The registration verification result is determined based on the target position and the illumination position.

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

[0156] The illumination area formed by the laser on the end face of the fiber bundle is determined based on the illumination intensity of each fiber in the fiber bundle; the center of the circle is fitted based on 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 the processor, it further performs the following steps:

[0158] The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle; the illumination area formed by the laser on the end face of the fiber bundle is determined based on the target fiber.

[0159] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0160] Obtain the target fiber's identification number and the fiber arrangement diagram of the fiber bundle; the fiber arrangement diagram includes the identification number and position of each fiber in the fiber bundle; determine the position of the target fiber in the fiber arrangement diagram based on the target fiber's identification number and the fiber arrangement diagram; form an illumination area based on the position of the target fiber in the fiber arrangement diagram.

[0161] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

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

[0163] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0164] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A registration verification method, characterized in that, The method includes: After registration, the robotic arm is controlled to move towards the target position on the reference object, and the navigation needle on the robotic arm is moved towards the target position; the target position is provided with an optical fiber bundle. When the robotic arm finishes moving, the laser generator is controlled to emit a laser along the navigation needle path, and the illumination area formed by the laser on the end face of the fiber bundle is determined according to the light intensity of each fiber in the fiber bundle. Fit the center of a circle based on the illumination area, and obtain the position of the center of the circle as the illumination position; Obtain the distance deviation between the target position and the illumination position; If the distance deviation is less than or equal to the distance threshold, the registration verification result is determined to be a successful verification. If the distance deviation is greater than the distance threshold, the registration verification result is determined to be a verification failure.

2. The method according to claim 1, characterized in that, Determining the illumination area formed by the laser on the end face of the fiber bundle based on the illumination intensity of each fiber in the fiber bundle includes: The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle. The illumination area formed by the laser on the end face of the fiber bundle is determined based on the target optical fiber.

3. The method according to claim 2, characterized in that, Determining the illumination area formed by the laser on the end face of the fiber bundle based on the target optical fiber includes: Obtain the number of the target optical fiber and the optical fiber layout diagram of the optical fiber bundle; wherein, the optical fiber layout diagram includes the number and position of each optical fiber in the optical fiber bundle; The location of the target optical fiber in the optical fiber layout diagram is determined based on the target optical fiber number and the optical fiber layout diagram. The illumination area is formed according to the location of the target optical fiber in the optical fiber layout diagram.

4. A registration and verification system, characterized in that, include: A robot and an optical fiber bundle that communicate with each other; the robot includes a robotic arm, a laser generator, and a navigation needle track, the navigation needle track being disposed at the end of the robotic arm, and the laser generator being disposed at a position corresponding to the navigation needle track; the optical fiber bundle is disposed at the target position of a reference object; The laser generator is used to emit laser light through the navigation needle track; the fiber optic bundle is used to conduct the laser light; the robot is used to control the registered robotic arm to move the navigation needle track on the robotic arm towards the fiber optic bundle, using the fiber optic bundle on the reference object as the moving target; the laser generator is controlled to emit laser light along the navigation needle track, and the illumination area formed by the laser light on the end face of the fiber optic bundle is determined according to the light intensity of each fiber in the fiber optic 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; the distance deviation between the target position and the illumination position is obtained; if the distance deviation is less than or equal to a distance threshold, the registration verification result is determined to be a successful verification; If the distance deviation is greater than the distance threshold, the registration verification result is determined to be a verification failure.

5. The system according to claim 4, characterized in that, The registration and verification system further includes: a light intensity detector; the light intensity detector is communicatively connected to the optical fiber bundle and the robot respectively; The light intensity detector is used to detect the light intensity of each optical fiber in the optical fiber bundle.

6. A registration and verification device, characterized in that, The device includes: A position movement module is used to control the registered robotic arm to move towards the target position on the reference object, driving the navigation needle on the robotic arm to move towards the target position; the target position is provided with an optical fiber bundle. The laser illumination module is used to control the laser generator to emit laser along the navigation needle path, determine the illumination area formed by the laser on the end face of the fiber bundle according to the illumination intensity of each fiber in the fiber bundle, and fit the center of a circle according to the illumination area and obtain the position of the center of the circle as the illumination position. The result determination module is used to obtain the distance deviation between the target position and the illumination position; if the distance deviation is less than or equal to a distance threshold, the registration verification result is determined to be verified as passed; if the distance deviation is greater than the distance threshold, the registration verification result is determined to be verified as failed.

7. The registration and verification device according to claim 6, characterized in that, The laser irradiation module is also used for: The target fiber in the fiber bundle that is illuminated by the laser is determined based on the light intensity of each fiber in the fiber bundle. The illumination area formed by the laser on the end face of the fiber bundle is determined based on the target optical fiber.

8. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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