Methods for determining the parameters of surgical robotic arm calibration targets and medical imaging equipment

Abstract

This application relates to a method for determining the parameters of a surgical robotic arm calibration target and a medical imaging device. The method includes: acquiring flange pose information of the flange device relative to the surgical robotic arm, and calibration target pose information of the calibration target measured by a first measuring device; 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 relationship between the flange device and the calibration target based on the first relative motion matrix and the second relative motion matrix; and determining the calibration target parameters based on the first coordinate transformation relationship. This method can improve the accuracy of determining the parameters of the surgical robotic arm calibration target and the medical imaging device.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a method for determining the parameters of a surgical robotic arm calibration target and a medical imaging device. Background Technology

[0002] In orthopedic surgery, image registration is commonly used to register preoperative 3D CT (Computed Tomography) images to intraoperative 2D images, a technique known as 2D-3D registration. One key challenge in 2D-3D registration lies in calculating the extrinsic parameters of the C-arm X-ray source, specifically the transformation matrix between the C-arm X-ray source and the surgical robot base.

[0003] In existing technologies, a C-arm is typically used to capture images of the surgical robot's end effector, and an optical tracking device is used to determine the pose of the end effector. The extrinsic parameters of the C-arm X-ray source are then determined based on the images captured by the C-arm and the pose determined 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 surgical robot's end effector is not high, resulting in low accuracy of the determined extrinsic parameters of the C-arm X-ray source.

[0004] Therefore, current surgical robot technology suffers from the problem of low parameter accuracy in medical imaging equipment. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, system, computer equipment, computer-readable storage medium, and computer program product for determining parameters of surgical robotic arm calibration targets and medical imaging equipment that can improve parameter accuracy, in order to address the above-mentioned technical problems.

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

[0007] The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained.

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

[0009] Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained;

[0010] The calibration target parameters are determined based on the first coordinate transformation relationship.

[0011] In one embodiment, the flange pose information includes first pose information and second pose information, and the calibration target pose information includes third pose information and fourth pose information, wherein both the second pose information and the fourth pose information are 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] The motion matrix of the second pose information relative to the first pose information is determined as the first relative motion matrix;

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

[0014] In one embodiment, obtaining the 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 includes:

[0015] The first relative motion matrix and the second relative motion matrix are used to establish a system 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, and the first measuring device includes a measuring arm with a ball probe provided on the measuring arm; acquiring the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device, includes:

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

[0018] The calibration target pose information is obtained based on the reference point position information.

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

[0020] Control the end effector of the surgical robotic arm to move within a preset surgical area to obtain at least four sets of joint angles of the surgical robotic arm;

[0021] Obtain the flange pose information and the calibration target pose information corresponding to the joint angles of each group.

[0022] Secondly, this 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 robotic arm, and a calibration target is connected to the flange device, and the medical imaging device takes an image of the calibration target. The method includes:

[0023] The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained.

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

[0025] Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained;

[0026] Based on the first coordinate transformation relationship, the calibration target parameters of the calibration target are determined;

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

[0028] Based on the calibration target parameters and the second coordinate transformation relationship, the flange pose information is subjected to coordinate transformation processing to obtain the device pose information of the medical imaging device relative to the surgical robotic arm;

[0029] Based on the device pose information, the device parameters of the medical imaging device are obtained.

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

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

[0032] The second coordinate transformation relationship between the medical imaging device and the calibration target is determined based on the spatial coordinates and the image coordinates.

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

[0034] Based on the reference point, determine the calibration target coordinate system of the calibration target;

[0035] Determine the third coordinate transformation relationship between the calibration target coordinate system and the second measuring device; the second measuring device includes a coordinate measuring machine.

[0036] Based on the third coordinate transformation relationship, the coordinate transformation process is performed on the measured coordinates of the marker points measured by the second measuring device to obtain the spatial coordinates.

[0037] Thirdly, this application also provides a parameter determination device for a calibration target of a surgical robotic arm, wherein a flange device is provided at the end of the surgical robotic arm, and a calibration target is connected to the flange device. The device includes:

[0038] The information acquisition module is used to acquire the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device.

[0039] The motion matrix module is used to determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information.

[0040] The transformation relationship module is used to obtain the 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;

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

[0042] Fourthly, this application also provides a parameter determination system for a surgical robotic arm calibration target, the system including a first measuring device and an information processor, and a flange device provided at the end of the surgical robotic arm, the flange device being connected to a calibration target;

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

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

[0045] Fifthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0046] The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained.

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

[0048] Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained;

[0049] The calibration target parameters are determined based on the first coordinate transformation relationship.

[0050] Sixthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0051] The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained.

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

[0053] Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained;

[0054] The calibration target parameters are determined based on the first coordinate transformation relationship.

[0055] Seventhly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0056] The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained.

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

[0058] Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained;

[0059] The calibration target parameters are determined based on the first coordinate transformation relationship.

[0060] The aforementioned method, apparatus, system, computer equipment, storage medium, and computer program product for determining the parameters of the surgical robotic arm calibration target and medical imaging equipment, by acquiring the flange pose information of the flange device relative to the surgical robotic arm and the calibration target pose information measured by the first measuring device, determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information. Based on the first and second relative motion matrices, a first coordinate transformation relationship between the flange device and the calibration target is obtained. Based on the first coordinate transformation relationship, the calibration target parameters are determined. The coordinate transformation relationship between the flange pose information and the calibration target pose information can be determined based on the relative changes in the flange pose information during the movement of the flange device and the relative changes in the calibration target pose information during the movement of the calibration target. This ensures that the determination of the coordinate transformation relationship is not affected by the field of view and tracking angle of the optical tracking device, improving the accuracy of the determined coordinate transformation relationship and thus improving the accuracy of the medical imaging equipment parameters. Attached Figure Description

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

[0062] Figure 2 This is a schematic diagram illustrating the measurement of target pose information in one embodiment;

[0063] Figure 3 This is a flowchart illustrating a method for determining the parameters of a surgical robotic arm calibration target in one embodiment.

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

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

[0066] Figure 6 This is a schematic diagram of calibrating the target reference ball in one embodiment;

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

[0068] Figure 8 This is a flowchart illustrating a method for determining parameters of a medical imaging device in one embodiment;

[0069] Figure 9 This is a flowchart illustrating a method for determining the external parameters of the C-arm in one embodiment;

[0070] Figure 10 This is a structural block diagram of a parameter determination device for a surgical robotic arm calibration target in one embodiment;

[0071] Figure 11 A block diagram of a parameter determination system for a surgical robotic arm calibration target in one embodiment;

[0072] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0073] 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.

[0074] In one embodiment, such as Figure 1 As shown, a C-arm image registration system for a surgical robotic arm holding a target is provided. The C-arm image registration system may include a surgical robotic 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 surgical robotic arm 101 may, but is not limited to, have six degrees of freedom and a flange device installed at its end. The adapter 102 connects to the flange device at the end of the surgical robotic arm 101 and can be a quick-release interface. The calibration target 103 is connected to the adapter 102 and has reference points and marker points set on it. The X-ray image 105 can be a two-dimensional X-ray image of the patient acquired by the C-arm during surgery. The CT image 106 can be a three-dimensional CT image of the patient acquired before surgery. Among them, the surgical robotic arm 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 robotic arm 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. Since the adapter and flange device are close to each other, the adapter coordinate system can be considered to be the same as the flange coordinate system.

[0075] In one embodiment, such as Figure 2 The diagram illustrates the measurement of a calibration target's pose information. The calibration target is mounted on a flange device at the end of a surgical robotic arm via an adapter. A reference sphere and a marker sphere are mounted on the calibration target. A coordinate system is determined based on the reference sphere, resulting in the calibration target sphere reference coordinate system. This reference coordinate system is then used as the calibration target coordinate system. Subsequently, a measuring arm can be used to measure the pose of the calibration target coordinate system, with the measuring arm's coordinate system serving as the measuring arm reference coordinate system.

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

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

[0078] Among them, the flange pose information can be the pose of the flange coordinate system relative to the robot arm base coordinate system.

[0079] The first measuring device is a measuring arm that can measure the pose information of the calibration target.

[0080] Among them, the calibration target pose information can be the pose of the calibration target coordinate system relative to the reference coordinate system of the measuring arm.

[0081] In specific implementation, for a set of specified joint angles of the surgical robotic arm, the flange pose information of the flange device relative to the surgical robotic arm can be determined based on the joint angles. The first measuring device can also be used to measure the calibration target to obtain the calibration target pose information under the current joint angle. Through the above method, at least four sets of flange pose information and calibration target pose information under different joint angles are determined and input to the terminal, so that the terminal can obtain the flange pose information and calibration target pose information corresponding to at least four sets of different joint angles.

[0082] In practical applications, a calibration target can be mounted on the flange device at the end of the surgical robot via an adapter. The surgical robot is then driven to move, dragging the calibration target to N (N≥4) different spatial positions. Each spatial position corresponds to a set of joint angles on the surgical robot. A joint angle index i (i=0, 1, 2, …, N-1) is set, and the flange pose information relative to the robot base coordinate system is obtained based on the i-th set of joint angles. The calibration target is then measured using a measuring arm to obtain the target pose information at the i-th joint angle.

[0083] Step S220: Determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibrated target pose information.

[0084] The first relative motion matrix can be a matrix representing the motion of the flange pose information relative to a predetermined reference flange pose information. The second relative motion matrix can be a matrix representing the motion of the calibration target pose information relative to a 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 at different joint angles, and obtain at least three first relative motion matrices based on the motion of the 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 at different joint angles, and obtain at least three second relative motion matrices based on the motion of the other calibration target pose information relative to the reference calibration target pose information.

[0086] In practical applications, flange position information can be used. The flange pose information is determined as the reference flange pose information. (i = 1, 2, ..., N-1) relative to the reference flange pose information The motion yields N-1 first relative motion matrices. It can also calibrate the target pose information The target pose information is determined as the baseline for calibration. (i = 1, 2, ..., N-1) relative to the reference calibration target pose information The motion yields N-1 second relative motion matrices.

[0087] Step S230: Based on the first relative motion matrix and the second relative motion matrix, obtain the first coordinate transformation relationship between the flange device and the calibration target.

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

[0089] In practice, a set of equations can be established based on the first relative motion matrix and the second relative motion matrix. By solving the set of equations, the first coordinate transformation relationship between the flange coordinate system of the flange device and the calibration target coordinate system of the calibration target can be obtained.

[0090] In practical applications, the obtained N-1 first relative motion matrices can be used as a basis. and N-1 second relative motion matrices Establish the system of equations AX = XB, where X represents the coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system. Since N-1 ≥ 3, X in this system of equations can be solved using 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: Determine the calibration target parameters based on the first coordinate transformation relationship.

[0092] Among them, the calibration target parameters can be the relative position parameters of the calibration target with respect to the flange device.

[0093] In practice, the first coordinate transformation relationship between the obtained flange coordinate system and the calibration target coordinate system can be determined as the calibration target parameters.

[0094] The above-mentioned method for determining the parameters of the surgical robotic arm calibration target involves acquiring the flange pose information of the flange device relative to the surgical robotic arm, and the calibration target pose information measured by the first measuring device. This allows for the determination of a first relative motion matrix corresponding to the flange pose information and a second relative motion matrix corresponding to the calibration target pose information. Based on these two relative motion matrices, a first coordinate transformation relationship between the flange device and the calibration target is obtained. The calibration target parameters are then determined based on this first coordinate transformation relationship. Furthermore, the method can determine the coordinate transformation relationship between the flange pose information and the calibration target pose information by considering the relative changes in the flange pose information during the movement of the flange device and the relative changes in the calibration target pose information during the movement of the calibration target. This ensures that the determination of the coordinate transformation relationship is not affected by the field of view and tracking angle of the optical tracking device, thus improving the accuracy of the determined coordinate transformation relationship and consequently improving the accuracy of the medical imaging equipment parameters.

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

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

[0097] In specific implementation, the terminal can determine the first pose information from the flange pose information and determine the other at least three 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 the other at least three 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 used. This is determined as the first pose information, based on the flange pose information. (i = 1, 2, ..., N-1) relative to The motion yields N-1 first relative motion matrices. It can also calibrate the target pose information This is determined to be the third pose information, based on the calibrated target pose information. (i = 1, 2, ..., N-1) relative to The motion yields N-1 second relative motion matrices.

[0099] In this embodiment, by determining the motion matrix of the second pose information relative to the first pose information as the first relative motion matrix, and determining the motion matrix of the fourth pose information relative to the third pose information 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 error, using the relative motion matrix to solve the coordinate transformation relationship between the flange coordinate system and the calibration target coordinate system can improve the accuracy of the calibration target parameter determination.

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

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

[0102] In practical applications, we can set the first coordinate transformation relationship as X, establish a system of equations AX = XB, and solve this system of equations using the least squares method to obtain the first coordinate transformation relationship between the calibration target coordinate system and the flange coordinate system.

[0103] In this embodiment, by establishing and solving a system of equations for the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship is obtained. The coordinate transformation relationship between the calibration target and the flange device can be efficiently determined by solving the equations, 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 with a ball probe on the measuring arm; the above step S210 may specifically include: 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; and obtaining the calibration target pose information based on the reference point position information.

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

[0106] The reference point location information can be the location information of the reference point measured by the measuring arm.

[0107] In practice, a reference point can be set on the calibration target, and a calibration target coordinate system can be established based on the reference point. Alternatively, a ball probe can be set on the measuring arm, and the measuring arm can be controlled to bring 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 can be controlled to measure the position information of the reference point. Based on the obtained position information of the reference point, the pose information of the calibration target can be determined.

[0108] Figure 4 A schematic diagram of a calibration target is provided. According to... Figure 4 The calibration target can be, but is not limited to, a cuboid structure. Image marker spheres are positioned on two opposite sides of the cuboid, and a reference sphere is positioned on the bottom surface. The number of reference spheres can be, but is not limited to, four. Both the reference spheres and the image marker spheres can be made of stainless steel and possess high shape accuracy and low roughness. By controlling the C-arm to photograph the calibration target, images can be obtained as follows: Figure 5 The two-dimensional image shown here contains the image of the marker balls. In order to make the image of the marker balls cover the entire two-dimensional image as much as possible, the image marker balls on the calibration target can be evenly distributed.

[0109] Figure 6 A schematic diagram of a calibration target reference ball is provided. According to... Figure 6 Let the reference spheres be A, B, C, and D, where ABCD forms a quadrilateral. Using a coordinate measuring machine, the spatial coordinates of the four reference spheres A, B, C, and D are measured, and the coordinates of A(x) are obtained respectively. 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 To calibrate the x-axis of the target coordinate system, the vector with vector The unit vector of the cross product is the z-axis of the calibration target coordinate system, i.e. The y-axis of the calibration target coordinate system can be y = z × x, thus obtaining the calibration target coordinate system.

[0113] In practical applications, such as Figure 2 The measuring arm shown measures four reference spheres, A, B, C, and D. The arm's probe is brought close to each reference sphere on the calibration target. When the distance between the probe and the center of a reference sphere is less than R + δ, the measuring arm measures the position coordinates of that reference sphere in its coordinate system, obtaining the reference point position information. Here, R is the radius of reference sphere A, and δ is a small radius error. After obtaining the reference point position information for the four reference spheres A, B, C, and D, the calibration target pose information can be determined based on this information.

[0114] In this embodiment, when the distance between the ball probe and the reference point is less than a preset distance, the reference point position information relative to the measuring arm is determined; based on the reference point position information, the calibration target pose information is obtained, which can accurately determine the calibration target pose information and thus improve the accuracy of the calibration target parameter determination.

[0115] In one embodiment, step S210 may further include: controlling the end effector of the surgical robotic arm to move within a preset surgical area to obtain at least four sets of joint angles of the surgical robotic arm; and acquiring flange pose information and calibration target pose information corresponding to each set of joint angles.

[0116] The surgical area can be the area that the surgical robotic arm can reach during the surgery.

[0117] Among them, the joint angle can be the angle of each joint of the surgical robotic arm.

[0118] In practice, a surgical area can be pre-defined, and the surgical robotic arm can be dragged to move its end effector within the surgical area. For each spatial position reached by the end effector, a set of joint angles of the surgical robotic arm can be obtained. Simultaneously, the flange pose information of the flange device relative to the surgical robotic arm is acquired, and the calibration target pose information is measured using a first measuring device. By controlling the end effector of the surgical robotic arm to reach at least four spatial positions within the surgical area, at least four sets of joint angles can be obtained, along with the corresponding flange pose information and calibration target pose information.

[0119] Figure 7 A schematic diagram is provided showing the dragging of a surgical robotic arm within the surgical area. According to... Figure 7 It can simulate the positioning of a real surgical scene, allowing the surgical robotic arm to be dragged freely in the surgical area, and obtain multiple joint angles of the surgical robotic arm as it moves in the surgical area.

[0120] In this embodiment, by controlling the end effector of the surgical robotic arm to move in a preset surgical area, at least four sets of joint angles of the surgical robotic arm are obtained; by acquiring the flange pose information and calibration target pose information corresponding to each set of joint angles, the real surgical scenario can be simulated, and the flange pose information and calibration target pose information can be obtained, increasing the practicality of the determined parameters.

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

[0122] Step S310: Obtain the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device.

[0123] Step S320: Determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibrated target pose information;

[0124] Step S330: Based on the first relative motion matrix and the second relative motion matrix, obtain the first coordinate transformation relationship between the flange device and the calibration target;

[0125] Step S340: Determine the calibration target parameters based on the first coordinate transformation relationship;

[0126] Step S350: Determine the second coordinate transformation relationship between the medical imaging device and the calibration target;

[0127] Step S360: Based on the calibration target parameters and the second coordinate transformation relationship, perform coordinate transformation processing on the flange pose information to obtain the device pose information of the medical imaging device relative to the surgical robotic arm.

[0128] Step S370: Obtain the equipment parameters of the medical imaging equipment based on the device pose information.

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

[0130] Among them, the device pose information can be the pose of the camera coordinate system relative to the robot arm base coordinate system.

[0131] The equipment parameters can include the device pose information of the medical imaging equipment. The medical imaging equipment can be, but is not limited to, an X-ray imaging device on a C-arm.

[0132] In practice, after obtaining the flange pose 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. The flange pose information is multiplied by the calibration target parameters and the second coordinate transformation relationship to obtain the device pose information of the medical imaging device relative to the surgical robot arm. The device pose information can be used as the device parameters of the medical imaging device.

[0133] In practical applications, after the end effector of the surgical robotic arm is moved to a spatial position within the surgical area, the current joint angles of the surgical robotic arm can be read, and the flange pose information can be determined based on these joint angles. And based on the calibration target parameters determined in steps S310-S340 Calculate the transformation matrix from the calibration target coordinate system to the robot arm base coordinate system. Using a C-arm X-ray source to calibrate the target, the following results were obtained: Figure 5 The two 2D images with marked points are shown. The pixel coordinates of the marked points in the 2D images are extracted, and their spatial coordinates in the calibration target coordinate system are obtained. Using the 2D-3D point estimation method in photogrammetry, the second transformation relationship from the C-arm ray source coordinate system to the calibration target coordinate system can be calculated based on the pixel coordinates and spatial coordinates of the marked points. Therefore, the extrinsic parameter matrix of the C-arm is

[0134]

[0135] The marker point can be the center of the marker sphere on the calibration target. After determining the calibration target coordinate system, the coordinate transformation matrix between the calibration target coordinate system and the coordinate measuring machine's reference coordinate system can be obtained as follows:

[0136]

[0137] Where x, y, and z are spatial coordinates, and A is a constant. Therefore, any spatial coordinate p obtained by a coordinate measuring machine can be converted into coordinates in the calibration target coordinate system, as shown in the following formula:

[0138]

[0139] The spatial coordinates of each marker point on the calibration target in the coordinate system of the coordinate measuring machine are measured using a coordinate measuring machine. According to the formula, these coordinates can be converted into the spatial coordinates of the marker points in the coordinate system of the calibration target.

[0140] In this embodiment, by acquiring the flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information measured by the first measuring device, a first relative motion matrix corresponding to the flange pose information and a second relative motion matrix corresponding to the calibration target pose information are determined. Based on the first and second relative motion matrices, a first coordinate transformation relationship between the flange device and the calibration target is obtained. Based on the first coordinate transformation relationship, the calibration target parameters are determined, and a second coordinate transformation relationship between the medical imaging device and the calibration target is determined. Based on the calibration target parameters and the second coordinate transformation relationship, the flange pose information is processed by coordinate transformation to obtain the device pose information of the medical imaging device relative to the surgical robot arm. Based on the device pose information, the device parameters of the medical imaging device are obtained. This allows for accurate determination of the device parameters of the medical imaging device based on the accurate determination of the calibration target parameters, thus improving the accuracy of the device parameters.

[0141] In one embodiment, a marker point is provided on the calibration target; step S350 may specifically include: determining the spatial coordinates of the marker point relative to the calibration target coordinate system, and the image coordinates of the marker 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 practice, a coordinate measuring machine can be used to measure the spatial coordinates of the marker points and input them to the terminal. The terminal converts the spatial coordinates of the marker points in the coordinate system of the coordinate measuring machine into the spatial coordinates of the marker points in the coordinate system of the calibration target according to a preset mapping relationship. The terminal can also acquire the calibration target image obtained by the medical imaging equipment, and obtain the image coordinates of the marker points in the calibration target image. Based on the spatial coordinates and image coordinates of the marker points, the second coordinate transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the calibration target can be obtained.

[0143] In practical applications, a C-arm X-ray source can be used to calibrate the target and obtain results such as... Figure 5 The two 2D images with marked points are shown. The pixel coordinates of the marked points in the 2D images are extracted, and their spatial coordinates in the calibration target coordinate system are obtained. Using the 2D-3D point estimation method in photogrammetry, the second transformation relationship from the C-arm ray source coordinate system to the calibration target coordinate system is calculated based on the pixel coordinates and spatial coordinates of the marked points.

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

[0145] In one embodiment, a reference point is also provided on the calibration target; the step of determining the spatial coordinates of the marker 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 based on 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 coordinate measuring machine; and performing coordinate transformation processing on the measured coordinates of the marker point measured by the second measuring device according to the third coordinate transformation relationship to obtain the spatial coordinates.

[0146] The second measuring device can be a coordinate measuring machine.

[0147] Among them, the third coordinate transformation relationship can be the coordinate transformation relationship between the calibration target coordinate system and the reference coordinate system of the coordinate measuring machine.

[0148] In practice, the coordinate system of the calibration target can be determined based on the reference point on the calibration target, and the third coordinate transformation relationship between the coordinate system of the calibration target and the reference coordinate system of the coordinate measuring machine can be determined. The coordinate system of the calibration target is measured using the coordinate measuring machine to obtain the measured coordinates. According to the third coordinate transformation relationship, the measured coordinates are transformed to the coordinate system of the calibration target to obtain the spatial coordinates of the marked point.

[0149] In practical applications, the coordinate transformation matrix between the calibration target coordinate system and the coordinate measuring machine's reference coordinate system can be determined as follows:

[0150]

[0151] Where x, y, and z are spatial coordinates, and A is a constant. Therefore, any measured coordinate p obtained by a coordinate measuring machine can be converted into spatial coordinates in the calibration target coordinate system, as shown in the following formula:

[0152]

[0153] In this embodiment, the calibration target coordinate system is determined based on the reference point; the third coordinate transformation relationship between the calibration target coordinate system and the second measuring device is determined; the second measuring device includes a coordinate measuring machine; according to the third coordinate transformation relationship, the measured coordinates of the marker points measured by the second measuring device are processed by coordinate transformation to obtain spatial coordinates. Based on the second measuring device, the spatial coordinates of the marker points on the calibration target can be accurately determined, increasing parameter accuracy and improving parameter precision.

[0154] To facilitate a deeper understanding of the embodiments of this application by those skilled in the art, a specific example will be used for illustration below.

[0155] This application provides a such Figure 1 The C-arm imaging registration system shown includes: a robotic 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 robotic arm 101 via the adapter 102. The C-arm imaging system 104 captures images of the patient, producing a two-dimensional X-ray image 105, and the CT image 106 is a three-dimensional data image of the patient.

[0156] Figure 9 A method for determining the extrinsic parameters of a C-arm is provided. Based on... Figure 9 The method for determining the external parameters of the C-arm includes 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 can be a coordinate measuring machine. The calibration target can be, for example... Figure 4 As shown, its main features consist of a reference sphere and image marker spheres. Both the reference sphere and the image marker spheres are made of stainless steel, possessing high shape accuracy and low roughness. The image marker spheres are evenly distributed on the upper and lower layers of the calibration target, covering as much of the captured perspective image as possible. The number of image marker spheres is determined by the size of the C-arm imaging device. A set of perspective images with markers captured by the C-arm imaging device can be displayed as follows: Figure 5 As shown, the small origin point is the image marker ball on the calibration target.

[0159] In the specific implementation, let the reference spheres be A, B, C, and D, and their positional relationships be as follows: Figure 6 As shown, a calibration target coordinate system is established using reference spheres. The spatial positions of four reference spheres (A, B, C, and D) are measured using a coordinate measuring machine, along with the spatial positions of all image marker spheres. The spatial positions of all image marker spheres are then transformed into the calibration target coordinate system. The specific process is as follows:

[0160] Let the coordinates of the reference sphere be A(x) and B(x) respectively. 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 To calibrate the x-axis of the target coordinate system, the vector with vector The unit vector of the cross product is the z-axis of the calibration target coordinate system, i.e. The y-axis of the calibration target coordinate system can be y = z × x.

[0164] At this point, the transformation matrix from the calibration target coordinate system to the coordinate measuring machine's reference coordinate system can be obtained. That is, for any measurement point p on the coordinate measuring machine, its coordinates in the calibration target coordinate system can be calculated as follows: This allows us to obtain the coordinates of each image marker sphere in the calibration target coordinate system.

[0165] Step S402: Determine the surgical joint space of the robotic arm.

[0166] In specific implementation, such as Figure 7 As shown, the robot can simulate the positioning of a real surgical scene, freely drag the robotic arm in the surgical area, and obtain multiple sets of joint angle values ​​of the robotic arm movement. Each drag position of the robotic arm corresponds to a set of joint angle values.

[0167] Step S403: Install the calibration target at the end of the robotic arm.

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

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

[0170] In practice, based on the determined surgical joint space, the robotic arm is moved to the surgical area. For example... Figure 7 As shown, the centers of reference spheres A, B, C, and D are measured using a measuring arm, and the pose of the flange coordinate system relative to the robot arm base coordinate system is obtained under the current joint angle values ​​of the robot arm. and the pose of the target coordinate system relative to the reference coordinate system of the measuring arm in The method for obtaining the values ​​is the same as in step S401 above. By performing the above processing on multiple sets of joint angle values, multiple sets of data for calibration calculations can be obtained.

[0171] Step S406: Calculate the calibration relationship between the calibration target and the robotic arm flange device using the measured data.

[0172] In the specific implementation, according to step S405, N (N≥4) sets of measurement results are obtained, and the i-th (i=0, 1, 2, ..., N) set of measurement results is denoted as Then the motion of the flange coordinate system when i≥1 relative to when i=0 can be calculated, denoted as Similarly, the motion of the calibration target coordinate system when i≥1 relative to when i=0 can also be calculated, denoted as Since the pose from the target coordinate system to the flange coordinate system is the unknown X that needs to be solved, a system of equations can be established: AX = XB. When N ≥ 4, this system of equations can be solved using the least squares method, and the obtained X can be expressed as...

[0173] Step S407: Calculate the extrinsic parameters of the C-arm.

[0174] In practice, the external parameters of the C-arm can be determined in the coordinate system of the robotic arm base. The specific processing steps include:

[0175] a) Read the current joint angles of the robotic arm and calculate the pose of the flange coordinate system relative to the robotic arm base coordinate system.

[0176] b) The pose from the calibration target coordinate system to the flange coordinate system calculated through step S406 Calculate the transformation matrix from the calibration target coordinate system to the robot arm base coordinate system.

[0177] c) Use a C-arm to calibrate the target, and obtain the following results: Figure 5 The pixel coordinates of the marked points in the perspective image shown are extracted to obtain the two-dimensional pixel coordinates of all marked points in the perspective image. The three-dimensional spatial coordinates of the marked points on the calibration target can be obtained by measuring in step S401. Using the 2D-3D point estimation method in photogrammetry, the transformation matrix from the C-arm ray source to the calibration target coordinate system can be calculated.

[0178] d) Calculate the extrinsic parameter matrix of the C-arm, using the following formula:

[0179]

[0180] The above-mentioned method for determining the external parameters of the C-arm achieves coordinate calibration of the C-arm X-ray source relative to the coordinate system of the robotic arm base through a calibration target. It can directly register the preoperative planning results to the robotic arm, reduce the error of the entire system link, solve the problem of limited field of view when using optical equipment for C-arm registration in the traditional way, and provide a precise calibration scheme.

[0181] 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.

[0182] Based on the same inventive concept, this application also provides a surgical robotic arm calibration target and medical imaging device parameter determination apparatus and system for implementing the above-described method for determining the parameters of the surgical robotic arm calibration target and medical imaging device. The solution provided by this apparatus and system is similar to the solution described in the above-described method. Therefore, the specific limitations of one or more embodiments of the surgical robotic arm calibration target and medical imaging device parameter determination apparatus and system provided below can be found in the limitations of the surgical robotic arm calibration target and medical imaging device parameter determination method described above, and will not be repeated here.

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

[0184] The information acquisition module 510 is used to acquire the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device.

[0185] The motion matrix module 520 is used to determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information.

[0186] The transformation relationship module 530 is used to obtain the 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;

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

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

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

[0190] In one embodiment, the information acquisition module 510 is further configured 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 to obtain the calibration target pose information based on the reference point position information.

[0191] In one embodiment, the information acquisition module 510 is further configured to control the end effector of the surgical robotic arm to move within a preset surgical area, thereby obtaining at least four sets of joint angles of the surgical robotic arm; and to acquire the flange pose information and the calibration target pose information corresponding to each set of joint angles.

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

[0193] The calibration target parameter module is used to acquire the flange pose information of the flange device relative to the surgical robot arm, and to determine the calibration target parameters of the calibration target.

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

[0195] The transformation processing module is used to perform coordinate transformation processing on the flange pose information according to the calibration target parameters and the second coordinate transformation relationship to obtain the device pose information of the medical imaging device relative to the surgical robotic arm;

[0196] The device parameter module is used to obtain the device parameters of the medical imaging device based on the device pose information.

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

[0198] In one embodiment, the second transformation module is further configured to determine the calibration target coordinate system of the calibration target based on the reference point; determine a third coordinate transformation relationship between the calibration target coordinate system and the second measuring device; the second measuring device includes a coordinate measuring machine; and perform coordinate transformation processing on the measured coordinates of the marker point measured by the second measuring device according to the third coordinate transformation relationship to obtain the spatial coordinates.

[0199] In one embodiment, such as Figure 11 As shown, a parameter determination system for a calibration target of a surgical robotic arm is provided. The system includes a first measuring device 610 and an information processor 620. A flange device is provided at the end of the surgical robotic arm, and a calibration target is connected to the flange device.

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

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

[0202] The various modules in the aforementioned surgical robotic arm calibration target and medical imaging equipment parameter determination device and system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0203] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 12As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The 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 input / output interface is used for exchanging information between the processor and external devices. The 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 executed by the processor, the computer program implements a method for determining the parameters of a surgical robotic arm calibration target and a medical imaging device. The display unit is used to form a visually visible image and 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 casing, or an external keyboard, touchpad or mouse.

[0204] Those skilled in the art will understand that Figure 12 The 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 computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0205] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0206] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

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

[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, data stored, data displayed, 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 the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0209] 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.

[0210] 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.

[0211] 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 method for determining the parameters of a calibration target for a surgical robotic arm, characterized in that, The surgical robotic arm has a flange device at its end, and the flange device is connected to a calibration target; the method includes: The flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information of the calibration target measured by the first measuring device are obtained. Determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information; the first relative motion matrix is ​​a matrix representing the motion of the flange pose information relative to a predetermined reference flange pose information, and the second relative motion matrix is ​​a matrix representing the motion of the calibration target pose information relative to a predetermined reference calibration target pose information. Based on the first relative motion matrix and the second relative motion matrix, the first coordinate transformation relationship between the flange device and the calibration target is obtained; The calibration target parameters are determined based on the first coordinate transformation relationship.

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

3. The method according to claim 1, characterized in that, The step of obtaining the 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 includes: The first relative motion matrix and the second relative motion matrix are used to establish a system 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, and the first measuring device includes a measuring arm with a ball probe on the measuring arm; acquiring the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device, includes: If the distance between the ball probe and the reference point is less than a preset distance, determine the reference point position information of the reference point relative to the measuring arm; The calibration target pose information is obtained based on the reference point position information.

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

6. A method for determining parameters of a medical imaging device, characterized in that, The surgical robotic arm has a flange device at its end, and a calibration target is connected to the flange device. A medical imaging device captures images of the calibration target. The method includes: The flange position information of the flange device relative to the surgical robot arm is obtained, and the calibration target parameters of the calibration target are determined using the parameter determination method of the surgical robot arm calibration target according to any one of claims 1 to 5. Determine the second coordinate transformation relationship between the medical imaging device and the calibration target; Based on the calibration target parameters and the second coordinate transformation relationship, the flange pose information is subjected to coordinate transformation processing to obtain the device pose information of the medical imaging device relative to the surgical robotic arm; Based on the device pose information, the device parameters of the medical imaging device are obtained.

7. The method according to claim 6, characterized in that, The calibration target is provided with marker points; determining the second coordinate transformation relationship between the medical imaging device and the calibration target includes: Determine the spatial coordinates of the marker point relative to the calibration target coordinate system, and the image coordinates of the marker point in the calibration target image captured by the medical imaging device; The second coordinate transformation relationship between the medical imaging device and the calibration target is determined based on the spatial 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; determining the spatial coordinates of the marker point relative to the calibration target coordinate system includes: Based on the reference point, determine the calibration target coordinate system of the calibration target; Determine the third coordinate transformation relationship between the calibration target coordinate system and the second measuring device; the second measuring device includes a coordinate measuring machine. Based on the third coordinate transformation relationship, the coordinate transformation process is performed on the measured coordinates of the marker points measured by the second measuring device to obtain the spatial coordinates.

9. A parameter determination device for a surgical robotic arm calibration target, characterized in that, The surgical robotic arm has a flange device at its end, and the flange device is connected to a calibration target; the device includes: The information acquisition module is used to acquire the flange pose information of the flange device relative to the surgical robot arm, and the calibration target pose information of the calibration target measured by the first measuring device. The motion matrix module is used to determine the first relative motion matrix corresponding to the flange pose information and the second relative motion matrix corresponding to the calibration target pose information; the first relative motion matrix is ​​a matrix representing the motion of the flange pose information relative to a predetermined reference flange pose information, and the second relative motion matrix is ​​a matrix representing the motion of the calibration target pose information relative to a predetermined reference calibration target pose information. The transformation relationship module is used to obtain the 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; The parameter determination module is used to determine the calibration target parameters of the calibration target based on the first coordinate transformation relationship.

10. A parameter determination system for a surgical robotic arm calibration target, characterized in that, The system includes a first measuring device and an information processor. A flange device is provided at the end of the surgical robotic arm, and a calibration target is connected to the flange device. The first measuring device is used to measure the calibration target to obtain the calibration target pose information; The information processor is configured to acquire the flange pose information of the flange device relative to the surgical robot arm and the calibration target pose information, determine a first relative motion matrix corresponding to the flange pose information and a second relative motion matrix corresponding to the calibration target pose 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 based on the first coordinate transformation relationship; the first relative motion matrix is ​​a matrix characterizing the motion of the flange pose information relative to a predetermined reference flange pose information, and the second relative motion matrix is ​​a matrix characterizing the motion of the calibration target pose information relative to a predetermined reference calibration target pose information.

Images