Surgical mechanical arm calibration target and parameter determination method of medical imaging equipment

Abstract

The invention relates to a surgical mechanical arm calibration target and a parameter determination method of medical imaging equipment. The method comprises the steps that flange pose information, relative to the surgical mechanical arm, of the flange device and calibration target pose information, measured by a first measuring device, of the calibration target are obtained; determining a first relative motion matrix corresponding to the flange pose information and a second relative motion matrix corresponding to the calibration target pose information; obtaining a first coordinate transformation relation between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix; and determining calibration target parameters of the calibration target according to the first coordinate transformation relation. By adopting the method, the precision of determining the calibration target of the surgical mechanical arm and the parameters of the medical imaging equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a method for determining parameters of a surgical robot arm calibration target and a medical imaging device. Background Art

[0002] In orthopedic surgery, image registration is usually used to achieve the registration of preoperative 3D CT (Computed Tomography) images to intraoperative 2D images, which is called 2D-3D registration technology. In 2D-3D registration technology, one of the technical difficulties is how to calculate the external parameters of the C-arm radiation source, that is, the transformation matrix between the C-arm radiation source and the surgical robot base.

[0003] In the prior art, the C-arm is usually controlled to shoot the end of the surgical robot arm, and an optical tracking device is used to locate the posture of the end of the surgical robot arm. The external parameters of the C-arm radiation source are determined based on the image captured by the C-arm and the posture located by the optical tracking device. However, due to the influence of the field of view and tracking angle of the optical tracking device, the positioning accuracy of the posture of the end of the surgical robot arm is not high, resulting in low accuracy of the external parameters of the C-arm radiation source.

[0004] Therefore, the current surgical robot technology has the problem of low parameter accuracy of medical imaging equipment. Summary of the invention

[0005] Based on this, it is necessary to provide a surgical robot arm calibration target that can improve parameter accuracy and a parameter determination method, device, system, computer equipment, computer-readable storage medium and computer program product for the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a method for determining parameters of a calibration target of a surgical robot arm, wherein a flange device is provided at the end of the surgical robot arm, and the flange device is connected to a calibration target. The method comprises:

[0007] Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0008] Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0009] Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0010] According to the first coordinate transformation relationship, a calibration target parameter of the calibration target is determined.

[0011] In one embodiment, the flange pose information includes first pose information and second pose information, the calibration target pose information includes third pose information and fourth pose information, and the second pose information and the fourth pose information are both at least three; determining the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information includes:

[0012] Determine a motion matrix of the second posture information relative to the first posture information as the first relative motion matrix;

[0013] The motion matrix of the fourth posture information relative to the third posture information is determined as the second relative motion matrix.

[0014] In one embodiment, obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix includes:

[0015] The first relative motion matrix and the second relative motion matrix are used to establish a set of equations and solve them to obtain the first coordinate transformation relationship.

[0016] In one embodiment, a reference point is provided on the calibration target, the first measuring device includes a measuring arm, and a ball probe is provided on the measuring arm; the step of obtaining flange posture information of the flange device relative to the surgical robot arm and calibration target posture information of the calibration target measured by the first measuring device includes:

[0017] When the distance between the ball probe and the reference point is less than a preset distance, determining the reference point position information of the reference point relative to the measuring arm;

[0018] The calibration target position information is obtained according to the reference point position information.

[0019] In one embodiment, the step of obtaining flange position information of the flange device relative to the surgical robot arm and calibration target position information of the calibration target measured by the first measuring device further includes:

[0020] Controlling the end of the surgical robot arm to move in a preset surgical area to obtain at least four sets of joint angles of the surgical robot arm;

[0021] The flange posture information and the calibration target posture information corresponding to each group of joint angles are obtained.

[0022] In a second aspect, the present application also provides a method for determining parameters of a medical imaging device, wherein a flange device is provided at the end of a surgical robot arm, the flange device is connected to a calibration target, and the medical imaging device photographs the calibration target. The method comprises:

[0023] Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0024] Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0025] Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0026] Determining calibration target parameters of the calibration target according to the first coordinate transformation relationship;

[0027] determining a second coordinate transformation relationship between the medical imaging device and the calibration target;

[0028] According to the calibration target parameters and the second coordinate transformation relationship, coordinate transformation processing is performed on the flange posture information to obtain device posture information of the medical imaging device relative to the surgical robot arm;

[0029] The device parameters of the medical imaging device are obtained according to the device posture information.

[0030] In one embodiment, the calibration target is provided with a marking point; and determining the second coordinate transformation relationship between the medical imaging device and the calibration target includes:

[0031] Determining the spatial coordinates of the marking point relative to a calibration target coordinate system of the calibration target, and the image coordinates of the marking point in an image of the calibration target captured by the medical imaging device;

[0032] The second coordinate transformation relationship between the medical imaging device and the calibration target is determined according to the space coordinates and the image coordinates.

[0033] In one embodiment, a reference point is further provided on the calibration target; and determining the spatial coordinates of the marking point relative to the calibration target coordinate system of the calibration target comprises:

[0034] Determining the calibration target coordinate system of the calibration target according to the reference point;

[0035] Determine a third coordinate transformation relationship of the calibration target coordinate system relative to a second measuring device; the second measuring device includes a three-coordinate measuring instrument;

[0036] According to the third coordinate transformation relationship, coordinate transformation processing is performed on the measurement coordinates of the marking point measured by the second measuring device to obtain the space coordinates.

[0037] In a third aspect, the present application further provides a device for determining parameters of a surgical robot arm calibration target, wherein a flange device is provided at the end of the surgical robot arm, and the flange device is connected to the calibration target. The device comprises:

[0038] An information acquisition module, used to acquire flange posture information of the flange device relative to the surgical robot arm, and calibration target posture information of the calibration target measured by the first measuring device;

[0039] A motion matrix module, used to determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0040] A transformation relationship module, used for obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0041] A parameter determination module is used to determine the calibration target parameters of the calibration target according to the first coordinate transformation relationship.

[0042] In a fourth aspect, the present application further provides a parameter determination system for a surgical robot arm calibration target, the system comprising a first measurement device and an information processor, a flange device is provided at the end of the surgical robot arm, and the flange device is connected to the calibration target;

[0043] The first measuring device is used to measure the calibration target to obtain the calibration target position and posture information;

[0044] The information processor is used to obtain the flange posture information of the flange device relative to the surgical robot arm and the calibration target posture information, determine a first relative motion matrix corresponding to the flange posture information, and a second relative motion matrix corresponding to the calibration target posture information, obtain a first coordinate transformation relationship between the flange device and the calibration target based on the first relative motion matrix and the second relative motion matrix, and determine the calibration target parameters of the calibration target based on the first coordinate transformation relationship.

[0045] In a fifth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0046] Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0047] Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0048] Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0049] According to the first coordinate transformation relationship, a calibration target parameter of the calibration target is determined.

[0050] In a sixth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0051] Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0052] Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0053] Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0054] According to the first coordinate transformation relationship, a calibration target parameter of the calibration target is determined.

[0055] In a seventh aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0056] Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0057] Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0058] Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0059] According to the first coordinate transformation relationship, a calibration target parameter of the calibration target is determined.

[0060] The above-mentioned surgical robot arm calibration target and parameter determination method, device, system, computer device, storage medium and computer program product for medical imaging equipment obtain the flange posture information of the flange device relative to the surgical robot arm and the calibration target posture information of the calibration target measured by the first measuring device, determine the first relative motion matrix corresponding to the flange posture information and the second relative motion matrix corresponding to the calibration target posture information, obtain the first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix, and determine the calibration target parameters of the calibration target according to the first coordinate transformation relationship; the coordinate transformation relationship between the flange posture information and the calibration target posture information can be determined according to the relative change of the flange posture information during the movement of the flange device and the relative change of the calibration target posture information during the movement of the calibration target, so that the determination of the coordinate transformation relationship is not affected by the field of view and tracking angle of the optical tracking device, thereby improving the accuracy of the determined coordinate transformation relationship, and thus improving the accuracy of the parameters of the medical imaging equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of a C-arm image registration system for a surgical robot holding a target in one embodiment;

[0062] Figure 2 A schematic diagram of measuring the position and posture information of a calibration target in one embodiment;

[0063] Figure 3 A schematic flow chart of a method for determining parameters of a surgical robot arm calibration target in one embodiment;

[0064] Figure 4 is a schematic diagram of a target calibration in one embodiment;

[0065] Figure 5 A schematic diagram of a two-dimensional image obtained by a C-arm photographing a calibration target in one embodiment;

[0066] Figure 6 A schematic diagram of calibrating a target reference sphere in one embodiment;

[0067] Figure 7 is a schematic diagram of dragging a surgical robot arm in a surgical area in one embodiment;

[0068] Figure 8 A schematic diagram of a flow chart of a method for determining parameters of a medical imaging device in one embodiment;

[0069] Fig. 9 Schematic diagram of a flow chart of a method for determining external parameters of a C-arm in one embodiment;

[0070] Fig.10 It is a structural block diagram of a parameter determination device for a surgical robot arm calibration target in one embodiment;

[0071] Fig.11 A structural block diagram of a system for determining parameters of a surgical robot arm calibration target in one embodiment;

[0072] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0073] 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.

[0074] In one embodiment, Figure 1 As shown, a C-arm image registration system with a surgical robot holding a target is provided. The C-arm image registration system may include a surgical robot 101, an adapter 102, a calibration target 103, a C-arm imaging system 104, an X-ray image 105, and a CT image 106. The surgical robot 101 may have, but is not limited to, six degrees of freedom, with a flange device installed at the end; the adapter 102 is connected to the flange device at the end of the surgical robot 101, and may be a quick-release interface; the calibration target 103 is connected to the adapter 102, and a reference point and a marking point are set thereon; the X-ray image 105 may be a two-dimensional X-ray image of the patient collected by the C-arm during the operation; and the CT image 106 may be a three-dimensional CT image of the patient collected in advance before the operation. Among them, the surgical robot 101, flange device, adapter 102, calibration target 103, C-arm camera, X-ray image 105 and CT image 106 can have their own coordinate systems, namely the robot base coordinate system, flange coordinate system, adapter coordinate system, calibration target coordinate system, camera coordinate system, X-ray image coordinate system and CT image coordinate system. Among them, since the distance between the adapter and the flange device is relatively close, it can be considered that the adapter coordinate system is the same as the flange coordinate system.

[0075] In one embodiment, Figure 2 As shown, a schematic diagram of measuring the position and posture information of a calibration target is provided. The calibration target is installed on the flange device at the end of the surgical robot arm through an adapter. A reference ball and a marker ball are installed on the calibration target. The coordinate system is determined according to the reference ball to obtain the calibration target ball reference coordinate system. The calibration target ball reference coordinate system is used as the calibration target coordinate system. After that, the measurement arm can be used to measure the position and posture of the calibration target coordinate system. The coordinate system where the measurement arm is located is the measurement arm reference coordinate system.

[0076] In one embodiment, Figure 3As shown, a method for determining parameters of a surgical robot arm calibration target is provided. This embodiment uses the method applied to a terminal as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0077] Step S210, acquiring flange posture information of the flange device relative to the surgical robot arm, and calibration target posture information of the calibration target measured by the first measuring device.

[0078] The flange posture information may be the posture of the flange coordinate system relative to the robot arm base coordinate system.

[0079] Among them, the first measuring device can be a measuring arm that measures the calibration target posture information.

[0080] The calibration target position and posture information may be the position and posture of the calibration target coordinate system relative to the measurement arm reference coordinate system.

[0081] In a specific implementation, for a set of specified joint angles of a surgical robot arm, the flange posture information of the flange device relative to the surgical robot arm can be determined according to the joint angles, and the first measuring device can be used to measure the calibration target to obtain the calibration target posture information at the current joint angle. The above method is used to determine at least four sets of flange posture information and calibration target posture information at different joint angles, and input them into the terminal, so that the terminal obtains the flange posture information and calibration target posture information corresponding to at least four sets of different joint angles.

[0082] In practical applications, the calibration target can be installed on the flange device at the end of the surgical robot through an adapter to drive the surgical robot to move. The calibration target is dragged to N (N ≥ 4) different spatial positions. Each spatial position corresponds to a set of joint angles of the surgical robot. The joint angle index i (i = 0, 1, 2, ..., N-1) is set. The flange position information of the flange coordinate system relative to the robot base coordinate system is obtained according to the i-th group of joint angles. The calibration target is measured using the measuring arm to obtain the calibration target pose information under the i-th group of joint angles.

[0083] Step S220, determining a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information.

[0084] The first relative motion matrix may be a matrix representing the motion of the flange pose information relative to the predetermined reference flange pose information, and the second relative motion matrix may be a matrix representing the motion of the calibration target pose information relative to the predetermined reference calibration target pose information.

[0085] In a specific implementation, the terminal can determine a reference flange pose information from at least four sets of flange pose information under different joint angles, and obtain at least three first relative motion matrices based on the movement of other flange pose information relative to the reference flange pose information; the terminal can also determine a reference calibration target pose information from at least four sets of calibration target pose information under different joint angles, and obtain at least three second relative motion matrices based on the movement of other calibration target pose information relative to the reference calibration target pose information.

[0086] In practical applications, flange position information can be Determine the reference flange posture information, according to the flange posture information (i=1,2,…,N-1) Position information relative to the reference flange The movement of N-1 first relative motion matrices is obtained You can also calibrate the target pose information Determine the reference calibration target pose information, according to the calibration target pose information (i=1, 2, ..., N-1) relative to the reference calibration target pose information The movement of N-1 second relative motion matrices is obtained

[0087] Step S230: Obtain a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix.

[0088] The first coordinate transformation relationship may be a coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system.

[0089] In a specific implementation, a set of equations may be established according to the first relative motion matrix and the second relative motion matrix, and the first coordinate transformation relationship between the flange coordinate system of the flange device and the calibration target coordinate system of the calibration target may be obtained by solving the set of equations.

[0090] In practical applications, the N-1 first relative motion matrices can be obtained And N-1 second relative motion matrices Establish the equation group AX=XB, where X represents the coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system. Since N-1≥3, the X in the equation group can be solved by the least squares method to obtain the first coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system.

[0091] Step S240: determining calibration target parameters of the calibration target according to the first coordinate transformation relationship.

[0092] The calibration target parameters may be relative position parameters of the calibration target relative to the flange device.

[0093] In a specific implementation, the obtained first coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system may be determined as the calibration target parameters of the calibration target.

[0094] The above-mentioned method for determining parameters of the calibration target of the surgical robot arm obtains the flange posture information of the flange device relative to the surgical robot arm, and the calibration target posture information of the calibration target measured by the first measuring device, determines the first relative motion matrix corresponding to the flange posture information, and the second relative motion matrix corresponding to the calibration target posture information, obtains the first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix, and determines the calibration target parameters of the calibration target according to the first coordinate transformation relationship; the coordinate transformation relationship between the flange posture information and the calibration target posture information can be determined according to the relative change of the flange posture information during the movement of the flange device, and the relative change of the calibration target posture information during the movement of the calibration target, so that the determination of the coordinate transformation relationship is not affected by the field of view and tracking angle of the optical tracking device, thereby improving the accuracy of the determined coordinate transformation relationship, and thus improving the accuracy of the parameters of the medical imaging device.

[0095] In one embodiment, the flange posture information includes first posture information and second posture information, the calibration target posture information includes third posture information and fourth posture information, and the second posture information and the fourth posture information are at least three; the above step S220 may specifically include: determining the motion matrix of the second posture information relative to the first posture information as the first relative motion matrix; determining the motion matrix of the fourth posture information relative to the third posture information as the second relative motion matrix.

[0096] The first pose information may be reference flange pose information, the second pose information may be flange pose information other than reference flange pose information, the third pose information may be reference calibration target pose information, and the fourth pose information may be calibration target pose information other than reference calibration target pose information.

[0097] In a specific implementation, the terminal can determine the first pose information from the flange pose information, and determine at least three other flange pose information as the second pose information, determine the motion matrix of each second pose information relative to the first pose information, and obtain at least three first relative motion matrices; it can also determine the third pose information from the calibration target pose information, and determine at least three other calibration target pose information as the fourth pose information, determine the motion matrix of each fourth pose information relative to the third pose information, and obtain at least three second relative motion matrices.

[0098] In practical applications, flange position information can be Determine the first pose information, according to the flange pose information (i=1,2,…,N-1) relative to The movement of N-1 first relative motion matrices is obtained You can also calibrate the target pose information Determined as the third pose information, according to the calibration target pose information (i=1,2,…,N-1) relative to The movement of N-1 second relative motion matrices is obtained

[0099] In this embodiment, the motion matrix of the second posture information relative to the first posture information is determined as the first relative motion matrix; the motion matrix of the fourth posture information relative to the third posture information is determined as the second relative motion matrix, the relative motion matrix of the flange coordinate system and the relative motion matrix of the calibration target coordinate system can be determined. Since the relative motion matrix can eliminate absolute errors, the relative motion matrix is ​​used to solve the coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system, thereby improving the accuracy of determining the calibration target parameters.

[0100] In one embodiment, the above step S230 may specifically include: solving a set of equations for the first relative motion matrix and the second relative motion matrix to obtain a first coordinate transformation relationship.

[0101] In a specific implementation, the terminal can use the obtained at least three first relative motion matrices and at least three second relative motion matrices to establish a set of equations, and obtain the first coordinate transformation relationship between the calibration target coordinate system and the flange coordinate system by solving the set of equations.

[0102] In practical applications, the first coordinate transformation relationship can be set as X, and the equation group AX = XB can be established. By solving the equation group by the least squares method, the first coordinate transformation relationship between the calibration target coordinate system and the flange coordinate system can be obtained.

[0103] In this embodiment, by solving a set of equations for the first relative motion matrix and the second relative motion matrix to obtain a first coordinate transformation relationship, the coordinate transformation relationship between the calibration target and the flange device can be efficiently determined by solving the equation, thereby improving the efficiency of determining the calibration target parameters.

[0104] In one embodiment, a reference point is set on the calibration target, and the first measuring device includes a measuring arm, and a spherical probe is set on the measuring arm; the above step S210 may specifically include: when the distance between the spherical probe and the reference point is less than a preset distance, determining the reference point position information of the reference point relative to the measuring arm; and obtaining the calibration target posture information according to the reference point position information.

[0105] The reference point may be a point on the calibration target used to determine the calibration target coordinate system.

[0106] The reference point position information may be the position information of the reference point measured by the measuring arm.

[0107] In a specific implementation, a reference point can be set on the calibration target, and a calibration target coordinate system can be established based on the reference point. A ball probe can also be set on the measuring arm, and the measuring arm can be controlled to move the ball probe close to the reference point on the calibration target. When the distance between the ball probe and the reference point is less than a preset threshold, the measuring arm is controlled to measure the reference point position information. Based on the obtained reference point position information, the calibration target posture information can be determined.

[0108] Figure 4 A schematic diagram of a calibration target is provided. Figure 4 The calibration target can be, but is not limited to, a rectangular parallelepiped structure. The two opposite sides of the rectangular parallelepiped are provided with image marker balls, and the bottom is provided with reference balls. The number of reference balls can be, but is not limited to, 4. Both the reference balls and the image marker balls can be made of stainless steel and have high shape accuracy and low roughness. Control the C-arm to shoot the calibration target, and you can get the following Figure 5 The two-dimensional image with the marker ball image shown can be evenly distributed on the calibration target in order to make the marker ball image cover the entire two-dimensional image as much as possible.

[0109] Figure 6 A schematic diagram of a calibration target reference sphere is provided. Figure 6 , let the reference balls be A, B, C, and D, where ABCD forms a quadrilateral. The spatial coordinates of the four reference balls A, B, C, and D are measured using a three-coordinate measuring machine, and A(x a ,y a ,z a ), B(x b ,y b ,z b ), C(x c ,y c ,z c ), D(x d ,y d ,z d ), then we can calculate

[0110]

[0111]

[0112] With A as the origin of the calibration target coordinate system, the vector is the x-axis of the calibration target coordinate system, the vector With vector The unit vector of the cross product result is the z-axis of the calibration target coordinate system, that is, The y-axis of the calibration target coordinate system may be y=z×x, thereby obtaining the calibration target coordinate system.

[0113] In practical applications, you can use Figure 2 The measuring arm shown measures the four reference balls A, B, C, and D, controls the ball probe of the measuring arm to approach each reference ball on the calibration target, and when the distance between the ball probe and the center of the reference ball is less than R+δ, controls the measuring arm to measure the position coordinates of the reference ball in the reference coordinate system of the measuring arm to obtain the reference point position information, where R is the radius of the reference ball A, and δ is a radius error with a smaller value. After obtaining the reference point position information of the four reference balls A, B, C, and D, the calibration target posture information can be determined based on the four reference point position information.

[0114] In this embodiment, by determining the reference point position information of the reference point relative to the measuring arm when the distance between the ball probe and the reference point is less than a preset distance; obtaining the calibration target posture information based on the reference point position information, the calibration target posture information can be accurately determined, thereby improving the accuracy of determining the calibration target parameters.

[0115] In one embodiment, the above step S210 may further specifically include: controlling the end of the surgical robot arm to move in a preset surgical area to obtain at least four sets of joint angles of the surgical robot arm; obtaining flange posture information and calibration target posture information corresponding to each set of joint angles.

[0116] The operating area may be an area that the end of the surgical robot arm can reach during the operation.

[0117] The joint angle may be the angle of each joint of the surgical robot arm.

[0118] In a specific implementation, the surgical area can be set in advance, and the surgical robot arm can be dragged to move the end of the surgical robot arm within the surgical area. For each spatial position reached by the end of the surgical robot arm, a set of joint angles of the surgical robot arm can be obtained, and at the same time, the flange posture information of the flange device relative to the surgical robot arm can be obtained, and the calibration target posture information of the calibration target can be measured using the first measuring device. In this way, by controlling the end of the surgical robot arm to reach at least four spatial positions in the surgical area, at least four sets of joint angles can be obtained, as well as the flange posture information and calibration target posture information corresponding to each set of joint angles.

[0119] Figure 7 A schematic diagram of dragging a surgical robot arm in a surgical area is provided. Figure 7 , it can simulate the positioning of real surgical scenes, freely drag the surgical robot arm in the surgical area, and obtain multiple sets of joint angles of the surgical robot arm moving in the surgical area.

[0120] In this embodiment, by controlling the end of the surgical robot arm to move in a preset surgical area, at least four sets of joint angles of the surgical robot arm are obtained; the flange posture information and calibration target posture information corresponding to each set of joint angles are obtained, so as to simulate the real surgical scene, obtain the flange posture information and calibration target posture information, and increase the practicality of the determined parameters.

[0121] In one embodiment, Figure 8 As shown, a method for determining parameters of a medical imaging device is provided, and the method is described by taking the application of the method to a terminal as an example. The method includes the following steps:

[0122] Step S310, acquiring flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0123] Step S320, determining a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0124] Step S330, obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0125] Step S340, determining calibration target parameters of the calibration target according to the first coordinate transformation relationship;

[0126] Step S350, determining a second coordinate transformation relationship between the medical imaging device and the calibration target;

[0127] Step S360, performing coordinate transformation processing on the flange posture information according to the calibration target parameters and the second coordinate transformation relationship to obtain device posture information of the medical imaging device relative to the surgical robot arm;

[0128] Step S370, obtaining device parameters of the medical imaging device according to the device posture information.

[0129] The second coordinate transformation relationship may be a coordinate transformation relationship between a camera coordinate system and a calibration target coordinate system. The camera coordinate system may be a coordinate system of a C-arm ray source.

[0130] The device posture information may be the posture of the camera coordinate system relative to the robot arm base coordinate system.

[0131] The device parameter may be device posture information of a medical imaging device, which may be, but is not limited to, an X-ray imaging device on a C-arm.

[0132] In a specific implementation, after obtaining the flange posture information of the flange device relative to the surgical robot arm and determining the calibration target parameters between the flange device and the calibration target, the second coordinate transformation relationship between the medical imaging device and the calibration target can be determined, and the flange posture information is multiplied by the calibration target parameters and the second coordinate transformation relationship to obtain the device posture information of the medical imaging device relative to the surgical robot arm, and the device posture information can be used as the device parameters of the medical imaging device.

[0133] In practical applications, after the end of the surgical robot arm is moved to a spatial position in the surgical area, the current joint angle of the surgical robot arm can be read, and the flange posture information can be determined based on the joint angle. And according to the calibration target parameters determined in steps S310-S340 Calculate the change matrix from the calibration target coordinate system to the robot base coordinate system Use the C-arm ray source to fluoroscopically calibrate the target and obtain the following Figure 5 The two 2D images with marked points are shown in the figure. The pixel coordinates of the marked points in the 2D images are extracted, and the spatial coordinates of the marked points in the calibration target coordinate system are obtained. The 2D-3D point estimation method in photogrammetry can be used to calculate the second transformation relationship from the C-arm ray source coordinate system to the calibration target coordinate system based on the pixel coordinates and spatial coordinates of the marked points. Therefore, the external parameter matrix of the C-arm is

[0134]

[0135] The marking point can be the center of the marking ball on the calibration target. After determining the calibration target coordinate system, the coordinate transformation matrix between the calibration target coordinate system and the three-coordinate measuring machine reference coordinate system can be obtained as follows:

[0136]

[0137] Among them, x, y, z are spatial coordinates, and A is a constant. Therefore, any spatial coordinate p measured by the three-dimensional coordinate measuring machine can be converted into the coordinate in the calibration target coordinate system. The specific formula is

[0138]

[0139] The spatial coordinates of each marking point on the calibration target in the coordinate system of the coordinate measuring machine are measured using a three-dimensional coordinate measuring machine. According to the formula, the spatial coordinates of the marking point in the coordinate system of the calibration target can be converted.

[0140] In this embodiment, by acquiring the flange posture information of the flange device relative to the surgical robot arm and the calibration target posture information of the calibration target measured by the first measuring device, the first relative motion matrix corresponding to the flange posture information and the second relative motion matrix corresponding to the calibration target posture information are determined, and the first coordinate transformation relationship between the flange device and the calibration target is obtained according to the first relative motion matrix and the second relative motion matrix, and the calibration target parameters of the calibration target are determined according to the first coordinate transformation relationship, and the second coordinate transformation relationship between the medical imaging device and the calibration target is determined, and the flange posture information is coordinate transformed according to the calibration target parameters and the second coordinate transformation relationship to obtain the device posture information of the medical imaging device relative to the surgical robot arm, and the device parameters of the medical imaging device are obtained according to the device posture information; on the basis of accurately determining the calibration target parameters, the device parameters of the medical imaging device can be accurately determined to improve the accuracy of the equipment parameters.

[0141] In one embodiment, a marking point is set on the calibration target; the above step S350 may specifically include: determining the spatial coordinates of the marking point relative to the calibration target coordinate system of the calibration target, and the image coordinates of the marking point in the calibration target image captured by the medical imaging device; and determining the second coordinate transformation relationship between the medical imaging device and the calibration target based on the spatial coordinates and the image coordinates.

[0142] In a specific implementation, a three-coordinate measuring instrument can be used to measure the spatial coordinates of the marking point and input them into the terminal. The terminal converts the spatial coordinates of the marking point in the three-coordinate measuring instrument coordinate system into the spatial coordinates of the marking point in the calibration target coordinate system according to a preset mapping relationship. The terminal can also obtain a calibration target image obtained by photographing the calibration target with a medical imaging device, and obtain the image coordinates of the marking point in the calibration target image. According to the spatial coordinates and image coordinates of the marking point, a second coordinate transformation relationship between the coordinate system of the medical imaging device and the calibration target coordinate system can be obtained.

[0143] In practical applications, the C-arm radiation source can be used to fluoroscopically calibrate the target, and the following Figure 5 The two 2D images with marked points are shown in the figure. The pixel coordinates of the marked points in the 2D images are extracted, and the spatial coordinates of the marked points in the calibration target coordinate system are obtained. The 2D-3D point estimation method in photogrammetry is used to calculate the second transformation relationship from the C-arm ray source coordinate system to the calibration target coordinate system based on the pixel coordinates and spatial coordinates of the marked points.

[0144] In this embodiment, by determining the spatial coordinates of the marking point in the calibration target coordinate system relative to the calibration target, and the image coordinates of the marking point in the calibration target image captured by the medical imaging device; based on the spatial coordinates and the image coordinates, the second coordinate transformation relationship between the medical imaging device and the calibration target is determined, the coordinate transformation relationship between the medical imaging device and the calibration target can be accurately determined, thereby improving the accuracy of determining the parameters of the medical imaging device.

[0145] In one embodiment, a reference point is also provided on the calibration target; the above-mentioned step of determining the spatial coordinates of the marking point relative to the calibration target coordinate system of the calibration target may specifically include: determining the calibration target coordinate system of the calibration target according to the reference point; determining the third coordinate transformation relationship of the calibration target coordinate system relative to the second measuring device; the second measuring device includes a three-coordinate measuring instrument; according to the third coordinate transformation relationship, the measurement coordinates of the marking point measured by the second measuring device are subjected to coordinate transformation processing to obtain the spatial coordinates.

[0146] The second measuring device may be a three-coordinate measuring machine.

[0147] The third coordinate transformation relationship may be a coordinate transformation relationship between the calibration target coordinate system and the reference coordinate system of the three-coordinate measuring machine.

[0148] In a specific implementation, the calibration target coordinate system can be determined according to the reference points on the calibration target, and the third coordinate transformation relationship of the calibration target coordinate system relative to the reference coordinate system of the three-coordinate measuring machine can be determined. The three-coordinate measuring machine is used to measure the marked points to obtain the measured coordinates. According to the third coordinate transformation relationship, the measured coordinates are transformed to the calibration target coordinate system to obtain the spatial coordinates of the marked points.

[0149] In practical applications, the coordinate transformation matrix of the calibration target coordinate system relative to the three-coordinate measuring machine reference coordinate system can be determined as:

[0150]

[0151] Among them, x, y, z are spatial coordinates, and A is a constant. Therefore, any measured coordinate p measured by the three-dimensional coordinate measuring machine can be converted into the spatial coordinate in the calibration target coordinate system. The specific formula is:

[0152]

[0153] In this embodiment, a calibration target coordinate system of the calibration target is determined according to a reference point; a third coordinate transformation relationship of the calibration target coordinate system relative to a second measuring device is determined; the second measuring device includes a three-coordinate measuring instrument; according to the third coordinate transformation relationship, coordinate transformation processing is performed on the measurement coordinates of the marking point measured by the second measuring device to obtain the spatial coordinates, and the spatial coordinates of the marking point on the calibration target can be accurately determined based on the second measuring device, thereby increasing the accuracy of the parameters and improving the precision of the parameters.

[0154] In order to facilitate those skilled in the art to have a deeper understanding of the embodiments of the present application, a specific example will be described below.

[0155] This application provides a Figure 1 The C-arm image registration system shown includes: a mechanical arm 101, an adapter 102, a calibration target 103, a C-arm imaging system 104, an X-ray image 105, and a CT image 106. The calibration target 103 is connected to the end flange of the mechanical arm 101 through the adapter 102, and the C-arm imaging device 104 shoots the patient to obtain a two-dimensional X-ray image 105, and the CT image 106 is a three-dimensional data image of the patient.

[0156] Fig. 9 A method for determining external parameters of a C-arm is provided. Fig. 9 , the method for determining the external parameters of the C-arm comprises the following steps:

[0157] Step S401, use a measuring instrument to measure the calibration target and establish a coordinate system with the center of the reference sphere.

[0158] The measuring instrument may be a three-dimensional coordinate measuring machine. The calibration target may be Figure 4 As shown in the figure, its main features are composed of reference balls and image marker balls. The reference balls and image marker balls are made of stainless steel with high shape accuracy and low roughness. The image marker balls are evenly distributed on the upper and lower layers of the calibration target and cover the captured perspective images as much as possible. The number of image marker balls is determined by the size of the C-arm imaging device. A set of perspective images with marked points captured by the C-arm imaging device can be as follows Figure 5 As shown, the small origin is the image marker ball on the calibration target.

[0159] In the specific implementation, the reference balls are denoted as A, B, C, and D, and their positional relationships are as follows: Figure 6 As shown, the calibration target coordinate system is established using the reference ball, and the spatial positions of the four reference balls A, B, C, and D are measured using a three-coordinate measuring instrument. The spatial positions of all image marker balls are also measured, and then the spatial positions of all image marker balls are converted to the calibration target coordinate system. The specific process is as follows:

[0160] The coordinates of the reference sphere are A(x a ,y a ,z a ), B(x b ,y b ,z b ), C(x c ,y c ,z c ), D(x d ,y d,z d ), then we can calculate

[0161]

[0162]

[0163] With A as the origin of the calibration target coordinate system, the vector is the x-axis of the calibration target coordinate system, the vector With vector The unit vector of the cross product result is the z-axis of the calibration target coordinate system, that is, The y-axis of the calibration target coordinate system may be y=z×x.

[0164] At this time, the change matrix from the calibration target coordinate system to the three-coordinate measuring machine reference coordinate system can be obtained That is, for any measuring point p on the three-coordinate measuring machine, its coordinates in the calibration target coordinate system can be calculated as Thus, the coordinates of each image marker ball in the calibration target coordinate system can be obtained.

[0165] Step S402, determining the surgical joint space of the robotic arm.

[0166] In the specific implementation, Figure 7 As shown, the positioning of a real surgical scene can be simulated, the robotic arm can be freely dragged in the surgical area, and multiple sets of joint angle values ​​of the robotic arm movement can be obtained, wherein each dragging position of the robotic arm corresponds to a set of joint angle values.

[0167] Step S403, installing the calibration target at the end of the robotic arm.

[0168] Step S404: driving the robotic arm to move within the surgical area.

[0169] Step S405: Use the joint measuring arm to measure the center of the reference sphere.

[0170] In a specific implementation, based on the determined surgical joint space, the robotic arm is moved to the surgical area. Figure 7 As shown, the measuring arm is used to measure the centers of the reference spheres A, B, C, and D, and the position of the flange coordinate system relative to the robot base coordinate system under the current robot joint angle value is obtained. And the position and orientation of the calibration target coordinate system relative to the measurement arm reference coordinate system in The method for obtaining is the same as that of step S401. By performing the above processing on multiple sets of joint angle values, multiple sets of data for calibration calculation can be obtained.

[0171] Step S406, using the measured data to calculate the calibration relationship from the calibration target to the robot arm flange device.

[0172] In a specific implementation, according to step S405, N (N≥4) groups of measurement results are obtained, and the i-th (i=0, 1, 2, ..., N) group of measurement results is recorded as Then the motion of the flange coordinate system when i≥1 relative to when i=0 can be calculated, which is expressed as Similarly, the movement of the calibration target coordinate system when i≥1 relative to when i=0 can be calculated, which is expressed as Since the position and posture of the calibration target coordinate system to the flange coordinate system is the unknown quantity X that needs to be solved, the equation group can be established: AX = XB. When N ≥ 4, the equation group can be solved by the least squares method, and the solved X can be expressed as

[0173] Step S407, calculating the external parameters of the C-arm.

[0174] In the specific implementation, the external parameters of the C-arm can be determined in the robot base coordinate system. The specific processing process includes:

[0175] a) Read the current joint angle of the robot arm and calculate the position of the flange coordinate system relative to the robot arm base coordinate system

[0176] b) The position and posture of the calibration target coordinate system to the flange coordinate system calculated in step S406 Calculate the change matrix from the calibration target coordinate system to the robot base coordinate system.

[0177] c) Use C-arm fluoroscopy to calibrate the target and obtain Figure 5 The perspective image shown in the figure is used to extract the pixel coordinates of the marking points in the perspective image, and the two-dimensional pixel coordinates of all the marking points in the perspective image are obtained. The three-dimensional spatial coordinates of the marking points on the calibration target can be measured by step S401. The transformation matrix from the C-arm ray source to the calibration target coordinate system can be calculated using the 2D-3D point estimation method in photogrammetry:

[0178] d) Calculate the external parameter matrix of the C-arm. The specific formula is:

[0179]

[0180] The above-mentioned C-arm external parameter determination method realizes the coordinate calibration of the C-arm radiation source relative to the coordinate system of the robotic arm base through the calibration target. The preoperative planning results can be directly registered to the robotic arm, reducing the error of the entire system link, solving the problem of limited field of view when traditional optical equipment is used for C-arm registration, and providing an accurate calibration solution.

[0181] 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.

[0182] Based on the same inventive concept, the embodiment of the present application also provides a surgical robot arm calibration target and a parameter determination device and system for medical imaging equipment for implementing the above-mentioned surgical robot arm calibration target and parameter determination method for medical imaging equipment. The implementation scheme for solving the problem provided by the device and system is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more surgical robot arm calibration targets and parameter determination devices and systems for medical imaging equipment provided below can refer to the limitations of the surgical robot arm calibration target and the parameter determination method for medical imaging equipment above, and will not be repeated here.

[0183] In one embodiment, Fig.10 As shown, a parameter determination device for a surgical robot arm calibration target is provided, a flange device is provided at the end of the surgical robot arm, and the flange device is connected to the calibration target, including: an information acquisition module 510, a motion matrix module 520, a transformation relationship module 530 and a parameter determination module 540, wherein:

[0184] An information acquisition module 510 is used to acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device;

[0185] A motion matrix module 520, used to determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information;

[0186] A transformation relationship module 530, configured to obtain a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix;

[0187] The parameter determination module 540 is used to determine the calibration target parameters of the calibration target according to the first coordinate transformation relationship.

[0188] In one embodiment, the motion matrix module 520 is further used to determine the motion matrix of the second posture information relative to the first posture information as the first relative motion matrix; and to determine the motion matrix of the fourth posture information relative to the third posture information as the second relative motion matrix.

[0189] In one embodiment, the transformation relationship module 530 is further used to establish a set of equations with the first relative motion matrix and the second relative motion matrix and solve them to obtain the first coordinate transformation relationship.

[0190] In one embodiment, the above-mentioned information acquisition module 510 is also used to determine the reference point position information of the reference point relative to the measuring arm when the distance between the ball probe and the reference point is less than a preset distance; and obtain the calibration target posture information based on the reference point position information.

[0191] In one embodiment, the above-mentioned information acquisition module 510 is also used to control the end of the surgical robot arm to move in a preset surgical area to obtain at least four groups of joint angles of the surgical robot arm; and obtain the flange posture information and the calibration target posture information corresponding to each group of joint angles.

[0192] In one embodiment, a parameter determination device for a medical imaging device is provided, wherein a flange device is provided at the end of a surgical robot arm, the flange device is connected to a calibration target, and the medical imaging device photographs the calibration target; the device comprises:

[0193] A calibration target parameter module, used to obtain flange position information of the flange device relative to the surgical robot arm, and to determine calibration target parameters of the calibration target;

[0194] A second transformation module, used to determine a second coordinate transformation relationship between the medical imaging device and the calibration target;

[0195] a transformation processing module, configured to perform coordinate transformation processing on the flange posture information according to the calibration target parameters and the second coordinate transformation relationship, so as to obtain device posture information of the medical imaging device relative to the surgical robot arm;

[0196] The device parameter module is used to obtain the device parameters of the medical imaging device according to the device posture information.

[0197] In one embodiment, the above-mentioned second transformation module is also used to determine the spatial coordinates of the marking point relative to the calibration target coordinate system of the calibration target, and the image coordinates of the marking point in the calibration target image captured by the medical imaging device; based on the spatial coordinates and the image coordinates, determine the second coordinate transformation relationship between the medical imaging device and the calibration target.

[0198] In one embodiment, the above-mentioned second transformation module is also used to determine the calibration target coordinate system of the calibration target based on the reference point; determine the third coordinate transformation relationship of the calibration target coordinate system relative to the second measuring device; the second measuring device includes a three-coordinate measuring instrument; according to the third coordinate transformation relationship, the measurement coordinates of the marking point measured by the second measuring device are coordinate transformed to obtain the spatial coordinates.

[0199] In one embodiment, Fig.11 As shown, a parameter determination system for a surgical robot arm calibration target is provided, the system comprises a first measuring device 610 and an information processor 620, a flange device is provided at the end of the surgical robot arm, and the flange device is connected to the calibration target;

[0200] The first measuring device 610 is used to measure the calibration target to obtain the calibration target position information;

[0201] The information processor 620 is used to obtain the flange posture information of the flange device relative to the surgical robot arm and the calibration target posture information, determine the first relative motion matrix corresponding to the flange posture information, and the second relative motion matrix corresponding to the calibration target posture information, obtain the first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix, and determine the calibration target parameters of the calibration target according to the first coordinate transformation relationship.

[0202] Each module in the above-mentioned surgical robot arm calibration target and parameter determination device and system of medical imaging equipment can be fully or partially implemented by software, hardware and their combination. Each of the above-mentioned modules 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 of the above modules.

[0203] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.12As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system 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 input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for determining the parameters of a surgical robot arm calibration target and a medical imaging device is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0204] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0205] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0206] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0207] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0208] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0209] 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 thereto. 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 thereto.

[0210] 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.

[0211] 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 method for determining parameters of a surgical robot arm calibration target, characterized in that: A flange device is provided at the end of the surgical robot arm, and the flange device is connected to a calibration target; the method comprises: Acquire flange position and posture information of the flange device relative to the surgical robot arm, and calibration target position and posture information of the calibration target measured by the first measuring device; Determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information; Obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix; According to the first coordinate transformation relationship, a calibration target parameter of the calibration target is determined.

2. The method according to claim 1, characterized in that: The flange pose information includes first pose information and second pose information, the calibration target pose information includes third pose information and fourth pose information, and the second pose information and the fourth pose information are both at least three; determining the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information includes: Determine a motion matrix of the second posture information relative to the first posture information as the first relative motion matrix; The motion matrix of the fourth posture information relative to the third posture information is determined as the second relative motion matrix.

3. The method according to claim 1, characterized in that The obtaining, according to the first relative motion matrix and the second relative motion matrix, a first coordinate transformation relationship between the flange device and the calibration target comprises: The first relative motion matrix and the second relative motion matrix are used to establish a set of equations and solve them to obtain the first coordinate transformation relationship.

4. The method according to claim 1, characterized in that The calibration target is provided with a reference point, the first measuring device includes a measuring arm, and the measuring arm is provided with a ball probe; the obtaining of flange posture information of the flange device relative to the surgical robot arm, and calibration target posture information of the calibration target measured by the first measuring device, includes: When the distance between the ball probe and the reference point is less than a preset distance, determining the reference point position information of the reference point relative to the measuring arm; The calibration target position information is obtained according to the reference point position information.

5. The method according to claim 1, characterized in that The step of acquiring flange position information of the flange device relative to the surgical robot arm and calibration target position information of the calibration target measured by the first measuring device further includes: Controlling the end of the surgical robot arm to move in a preset surgical area to obtain at least four sets of joint angles of the surgical robot arm; The flange posture information and the calibration target posture information corresponding to each group of joint angles are obtained.

6. A method for determining parameters of a medical imaging device, characterized in that: A flange device is provided at the end of the surgical robot arm, the flange device is connected to a calibration target, and a medical imaging device photographs the calibration target; the method comprises: Acquire flange posture information of the flange device relative to the surgical robot arm, and determine calibration target parameters of the calibration target using the parameter determination method for a surgical robot arm calibration target according to any one of claims 1 to 5; determining a second coordinate transformation relationship between the medical imaging device and the calibration target; According to the calibration target parameters and the second coordinate transformation relationship, coordinate transformation processing is performed on the flange posture information to obtain device posture information of the medical imaging device relative to the surgical robot arm; The device parameters of the medical imaging device are obtained according to the device posture information.

7. The method according to claim 6, characterized in that The calibration target is provided with a marking point; and the determining of the second coordinate transformation relationship between the medical imaging device and the calibration target comprises: Determining the spatial coordinates of the marking point relative to a calibration target coordinate system of the calibration target, and the image coordinates of the marking point in an image of the calibration target captured by the medical imaging device; The second coordinate transformation relationship between the medical imaging device and the calibration target is determined according to the space coordinates and the image coordinates.

8. The method according to claim 7, characterized in that The calibration target is also provided with a reference point; the determining of the spatial coordinates of the marking point relative to the calibration target coordinate system of the calibration target comprises: Determining the calibration target coordinate system of the calibration target according to the reference point; Determine a third coordinate transformation relationship of the calibration target coordinate system relative to a second measuring device; the second measuring device includes a three-coordinate measuring instrument; According to the third coordinate transformation relationship, coordinate transformation processing is performed on the measurement coordinates of the marking point measured by the second measuring device to obtain the space coordinates.

9. A device for determining parameters of a surgical robot arm calibration target, characterized in that: A flange device is provided at the end of the surgical robot arm, and the flange device is connected to a calibration target; the device comprises: An information acquisition module, used to acquire flange posture information of the flange device relative to the surgical robot arm, and calibration target posture information of the calibration target measured by the first measuring device; A motion matrix module, used to determine a first relative motion matrix corresponding to the flange posture information and a second relative motion matrix corresponding to the calibration target posture information; A transformation relationship module, used for obtaining a first coordinate transformation relationship between the flange device and the calibration target according to the first relative motion matrix and the second relative motion matrix; A parameter determination module is used to determine the calibration target parameters of the calibration target according to the first coordinate transformation relationship.

10. A parameter determination system for a surgical robot arm calibration target, characterized in that: The system comprises a first measuring device and an information processor, a flange device is arranged at the end of the surgical robot arm, and the flange device is connected to a calibration target; The first measuring device is used to measure the calibration target to obtain the calibration target position and posture information; The information processor is used to obtain the flange posture information of the flange device relative to the surgical robot arm and the calibration target posture information, determine a first relative motion matrix corresponding to the flange posture information, and a second relative motion matrix corresponding to the calibration target posture information, obtain a first coordinate transformation relationship between the flange device and the calibration target based on the first relative motion matrix and the second relative motion matrix, and determine the calibration target parameters of the calibration target based on the first coordinate transformation relationship.

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