A method, device, system and computer program product for navigation and positioning

Abstract

The present application provides a method, device, system and computer program product for navigation and positioning. The method includes: obtaining a CT image of a first skin area; obtaining first position data of multiple markers in a first coordinate system; determining a second transformation relationship between a second coordinate system and a third coordinate system based on the CT image, the first position data and the first transformation relationship; the second coordinate system includes the coordinate system of the robotic arm, the third coordinate system includes the coordinate system of the CT image, and the first transformation relationship includes the transformation relationship between the first coordinate system and the second coordinate system; determining the third position data of the target puncture position in the second coordinate system based on the second position data of the target puncture position in the third coordinate system and the second transformation relationship; the third position data is used to determine the control instructions of the robotic arm so as to control the robotic arm to move to the target puncture position. The solution of the present application can accurately navigate and position the robotic arm, thereby improving the efficiency of the puncture surgery.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a navigation and positioning method, device, system, and computer program product. Background Art

[0002] Percutaneous puncture surgery is a surgical technique that inserts a puncture needle into the patient's skin to reach the lesion (or target point). Percutaneous puncture surgery is usually performed with the assistance of imaging technology (such as ultrasound, CT, etc.) to ensure accurate positioning of the target point. Currently, a robotic arm can be combined to assist in puncture. The movement of the robotic arm can be displayed in real time under the CT image. During the puncture process, the doctor can view the CT image to determine the location of the target point and control the robotic arm to move toward the target point.

[0003] However, the metal exterior of the robotic arm creates metal artifacts in CT images, affecting the accuracy of the robotic arm's navigation and positioning. Furthermore, each time the robotic arm moves a certain distance, a new CT scan is required to confirm that the needle insertion point and direction are consistent with the surgical plan. This process significantly increases surgical time and reduces the efficiency of puncture procedures. Summary of the Invention

[0004] The embodiments of the present application provide a navigation and positioning method, device, system, and computer program product to improve the accuracy of navigation and positioning of a robotic arm and enhance the efficiency of puncture surgery.

[0005] In a first aspect, a navigation and positioning method is provided, which is applied to a robotic arm, wherein the robotic arm is used for puncturing a first skin area of ​​a patient, wherein the first skin area includes a target puncture location and a plurality of markers are provided on the first skin area, the method comprising:

[0006] acquiring a CT image of a first skin area;

[0007] Acquiring first position data of a plurality of markers in a first coordinate system; the navigation device is used to locate the plurality of markers;

[0008] determining a second transformation relationship between a second coordinate system and a third coordinate system based on the CT image, the first position data, and the first transformation relationship; the second coordinate system includes a coordinate system of the robotic arm, the third coordinate system includes a coordinate system of the CT image, and the first transformation relationship includes a transformation relationship between the first coordinate system and the second coordinate system;

[0009] According to the second position data of the target puncture position in the third coordinate system and the second conversion relationship, the third position data of the target puncture position in the second coordinate system is determined; the third position data is used to determine the control instruction for controlling the robotic arm to move to the target puncture position.

[0010] In one implementation, determining a second transformation relationship between the second coordinate system and the third coordinate system based on the CT image, the first position data, and the first transformation relationship includes:

[0011] determining fourth position data of the plurality of markers in a third coordinate system according to the CT image;

[0012] determining a third conversion relationship between the first coordinate system and the third coordinate system based on the fourth position data and the first position data;

[0013] A second conversion relationship is determined according to the first conversion relationship and the third conversion relationship.

[0014] In one implementation, determining a second transformation relationship between the first coordinate system and the third coordinate system based on the fourth position data and the first position data includes:

[0015] Decentralizing the fourth location data to determine fifth location data;

[0016] Decentralizing the first location data to determine sixth location data;

[0017] determining a covariance matrix based on the fifth position data and the sixth position data;

[0018] A second conversion relationship is determined according to the covariance matrix, the fifth position data, and the sixth position data.

[0019] In one implementation, determining the second conversion relationship according to the covariance matrix, the fifth position data, and the sixth position data includes:

[0020] Determine a first eigenvalue matrix and a second eigenvalue matrix according to the covariance matrix;

[0021] Determine a rotation matrix between the first coordinate system and the third coordinate system based on the first eigenvalue matrix and the second eigenvalue matrix;

[0022] an offset between the first coordinate system and the third coordinate system according to the rotation matrix, the fifth position data, and the sixth position data;

[0023] A second transformation relationship is determined according to the rotation matrix and the offset.

[0024] In one implementation, the rotation matrix is ​​determined according to the following formula:

[0025]

[0026] Where R represents the rotation matrix, λ L represents the first characteristic matrix, λ R represents the second characteristic matrix, T represents matrix transpose;

[0027] The offset is determined according to the following formula:

[0028] t=P′ N -P′ P *R;

[0029] Wherein, t represents the offset, P' P Represents the fifth position data, P' N Indicates the sixth position data.

[0030] In one implementation, the number of the multiple markers is greater than or equal to 3, and the multiple markers are asymmetrically arranged around the target puncture position.

[0031] In one implementation, the plurality of markers include a first marker and a second marker, and a distance between the first marker and the second marker is greater than or equal to a preset distance.

[0032] In a second aspect, a navigation and positioning device is provided, which is applied to a robotic arm. The robotic arm is used for puncturing a first skin area of ​​a patient, where the first skin area includes a target puncture location and a plurality of markers are provided on the first skin area. The device includes:

[0033] A first interface, coupled to the navigation device, configured to receive first location data sent by the navigation device;

[0034] A second interface, coupled to the scanning device, is configured to receive the CT image sent by the scanning device;

[0035] The processor is coupled to the first interface and the second interface, and is configured to execute the above first aspect or any method implemented in the first aspect.

[0036] In a third aspect, a navigation and positioning system is provided, which is applied to a robotic arm, the robotic arm including a positioning device, and the robotic arm is used for puncturing a first skin area of ​​a patient, the first skin area including a target puncture location, and a plurality of markers disposed on the first skin area, the navigation and positioning system including:

[0037] a navigation device configured to locate a plurality of markers and a positioning device;

[0038] A terminal comprises the device of the second aspect above.

[0039] In a fourth aspect, a computer program product is provided, comprising instructions, wherein when the instructions are called by a processor, the above first aspect or any one of the methods implemented in the first aspect is executed.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] (1) The solution of this application reduces the presence of metal artifacts of the robotic arm in CT images by placing markers on the patient's skin. Using the position data of the markers, a coordinate system relationship between the CT image, the navigation device, and the robotic arm can be established, thereby determining the position data of the robotic arm relative to the target puncture point. In this way, even if the robotic arm is not displayed in real time (for example, if the robotic arm is outside the scanning field of view of the scanning device), the robotic arm can be accurately positioned, and metal artifacts in CT images can be reduced, thereby improving CT image quality.

[0042] (2) The solution of the present application can also be used to automatically plan the movement path of the robotic arm. The robotic arm can automatically move to the appropriate position according to the control instructions. There is no need for repeated CT scans, and the doctor does not need to manually adjust the robotic arm, which saves operation time and improves the efficiency of puncture surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The following is a brief introduction to the drawings used in describing the embodiments of this application:

[0044] Figure 1 This is a structural diagram of a navigation and positioning system provided in some embodiments of the present application;

[0045] Figure 2 A flowchart of a navigation and positioning method provided in some embodiments of the present application;

[0046] Figure 3 This is a structural diagram of a navigation device provided in some embodiments of the present application;

[0047] Figure 4 This is a structural diagram of a navigation and positioning device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. The drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without any creative work. Adjustments and improvements made without departing from the concept of the present application are all within the scope of protection of the present application.

[0049] To simplify the drawings, each drawing schematically illustrates only the portions relevant to the corresponding embodiment. These figures do not represent the actual structure of the product, which may contain more or fewer structures or components. Furthermore, to simplify the drawings and facilitate understanding, for structures or components depicted in the drawings, more or fewer similar structures or components may exist in reality.

[0050] In this application, unless otherwise expressly specified and limited, ordinal numbers such as "first", "second", etc. are only used to distinguish and describe associated objects, and cannot be understood as indicating or implying the relative importance or order between associated objects. For example, the first position data may include one position data or multiple position data. In addition, ordinal numbers do not represent the number of associated objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between associated objects, which indicates an "or" relationship between associated objects. "And / or" is used to describe the relationship between associated objects, which includes any combination relationship between associated objects, for example, "a and / or b" includes: "a alone", "b alone", or "a and b". "One or more" or "at least one" in multiple objects refers to any object or any combination of multiple objects, for example, "one or more of a1, a2, a3" or "at least one of a1, a2, a3" includes: "a alone", "a2 alone", "a3 alone", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0051] In the embodiments of the present application, "connection" includes direct or indirect connection between objects, which may be directly connected through a medium (e.g., a wire, a trace, etc.), indirectly connected through other components, or internally connected. Similarly, "coupling" includes signal connection between objects, which may be directly achieved through a medium (e.g., a wire, a trace, etc.) or achieved through other components.

[0052] Percutaneous puncture is a surgical technique in which a needle is inserted through the patient's skin to reach the lesion (or target site). It is widely used in various medical procedures (such as cardiovascular angiography and tumor ablation). Percutaneous puncture is often performed with the assistance of imaging technologies (such as ultrasound and CT) to ensure precise positioning of the target site. Currently, robotic arms can be used to assist in puncture.

[0053] Please refer to Figure 1 , which is a structural diagram of a navigation and positioning system provided in an embodiment of the present application. Figure 1As shown, the navigation and positioning system 100 includes a navigation device 110 and a terminal 120. The navigation device 110 can track and locate the robotic arm 20 and obtain position data of the robotic arm 20 relative to the navigation device 110. The navigation device 110 and the terminal 120 are coupled and can transmit the position data of the robotic arm 20 to the terminal 120. The terminal 120 is also coupled to a scanning device 10. The scanning device 10 can perform computed tomography (CT) on a patient and acquire CT images of the patient (e.g., CT images of a skin area). The terminal 120 can receive the CT images transmitted by the scanning device 10 and display the CT images. In one implementation, the movement of the robotic arm can be visualized in real time on the CT image. For example, if the robotic arm is within the scanning field of view of the scanning device, a CT scan can be performed simultaneously with the skin area. The terminal 120 can use the position data and CT images transmitted by the navigation device 110 to perform coordinate system registration between the CT image and the robotic arm to ensure that the representation of the robotic arm in the CT image accurately corresponds to the actual robotic arm. In this way, the doctor can plan the puncture surgical path based on the CT image and manually control the movement of the robotic arm 20 through the terminal 120 so that the final posture position of the robotic arm is consistent with the surgical plan.

[0054] However, to ensure the rigidity of the robotic arm, it is encased in metal, which creates metal artifacts in CT images. These artifacts interfere with CT image recognition, hindering the surgeon's ability to determine the robotic arm's positioning and reducing the accuracy of the robotic arm's navigation. Furthermore, the robotic arm's control process is complex and requires a high level of skill from the surgeon. Furthermore, each movement of the robotic arm requires a new CT scan to confirm that the needle insertion point and direction are consistent with the surgical plan. This process significantly increases surgical time and reduces the efficiency of puncture procedures.

[0055] Based on this, embodiments of the present application provide a method, device, system, and other solutions for navigation and positioning. By placing markers on the patient's skin area to reduce the appearance of metal artifacts of the robotic arm in CT images, the position data of the markers can be used to establish a coordinate system relationship between the CT image, the navigation device, and the robotic arm, thereby determining the position data of the robotic arm relative to the target puncture point. In this way, even if the robotic arm is not displayed in real time (for example, the robotic arm is outside the scanning field of view of the scanning device), the robotic arm can be accurately positioned, and the metal artifacts in the CT image can be reduced to improve the CT image quality.

[0056] The following is a description with reference to the accompanying drawings.

[0057] Please refer to Figure 2 , which is a flowchart of a navigation and positioning method provided in an embodiment of the present application. Figure 2As shown, the navigation positioning method includes at least the following steps:

[0058] S210: Acquire a CT image of a first skin area;

[0059] S220: Acquire first position data of a plurality of markers in a first coordinate system; the navigation device is used to locate the plurality of markers;

[0060] S230: Determine a second transformation relationship between a second coordinate system and a third coordinate system based on the CT image, the first position data, and the first transformation relationship; the second coordinate system includes a coordinate system of the robotic arm, the third coordinate system includes a coordinate system of the CT image, and the first transformation relationship includes a transformation relationship between the first coordinate system and the second coordinate system;

[0061] S240: Determine third position data of the target puncture position in the second coordinate system based on the second position data of the target puncture position in the third coordinate system and the second conversion relationship; the third position data is used to determine a control instruction for controlling the robotic arm to move to the target puncture position.

[0062] Please continue to refer to Figure 1 , Figure 1 The marker 30 can be set on the patient's skin area to be scanned so that the marker 30 falls into the scanning field of view of the scanning device. For ease of distinction, the skin area to be scanned can be referred to as the first skin area, and the first skin area includes the target puncture position (such as the lesion point). The robotic arm 20 can be used for the puncture process of the patient's first skin area. The navigation device 110 can locate the robotic arm 20 and the marker 30. In one embodiment, the navigation device includes an electromagnetic navigation device. The marker includes an electromagnetic sensor, such as an electromagnetic induction coil. For example, the marker is a circular patch containing an electromagnetic induction coil. Please refer to Figure 3 , which is a structural diagram of a navigation device provided in an embodiment of the present application. Figure 3As shown, the navigation device 300 includes a magnetic field generator 310 and a control unit 320. When the marker 30 is located within the magnetic field generated by the magnetic field generator 310, the electromagnetic induction coil inside the marker 30 generates an induced voltage. The marker 30 is coupled to the control unit 320, and the marker 30 can convert the induced voltage into a digital signal and transmit it to the control unit 320. The control unit 320 can parse the received digital signal to obtain the position data of the marker 30. In one implementation, the marker 30 may include multiple markers. Each marker may include an electromagnetic sensor and is located by the navigation device 300 through the above process. For example, the multiple markers are arranged asymmetrically around the target puncture location. For example, the number of the multiple markers is greater than or equal to 3. For example, the multiple markers include a first marker and a second marker. The distance between the first marker and the second marker is greater than or equal to a preset distance. For example, the distance between any two markers in the multiple markers is greater than or equal to a preset distance (e.g., 2 mm).

[0063] For ease of distinction, the coordinate system of the navigation device may be referred to as the first coordinate system, the coordinate system of the robotic arm may be referred to as the second coordinate system, and the coordinate system of the CT image may be referred to as the third coordinate system.

[0064] Multiple markers can be located by the navigation device, and the navigation device can generate position data (which may be referred to as first position data) of the multiple markers in a first coordinate system. The position data includes, for example, position coordinates. In one implementation, the conversion relationship R1 (which may be referred to as the first conversion relationship) between the navigation device coordinate system and the robotic arm coordinate system is known. Then, based on the CT image, the first position data, and the first conversion relationship, the navigation device coordinate system, the robotic arm coordinate system, and the CT image coordinate system can be combined to determine the conversion relationship R2 (which may be referred to as the second conversion relationship) between the robotic arm coordinate system and the CT image coordinate system.

[0065] Through this conversion relationship R2, the position data of the target puncture position in the CT image coordinate system (which may be referred to as the second position data) can be converted into the position data of the target puncture position in the robotic arm coordinate system (which may be referred to as the third position data). The conversion relationship may include one or more of the rotation matrix and the offset between any two coordinate systems. The third position data can be used to determine the path of movement of the robotic arm to the target puncture position. For example, the third position data includes the position coordinates and direction vector of the target puncture position in the robotic arm coordinate system. Based on the third position data, the relative distance and rotation relationship between the robotic arm and the target puncture position can be determined. Based on the relative distance and rotation relationship, combined with the kinematic model of the robotic arm, the movement path of the robotic arm can be determined. Based on the movement path, a control instruction can be generated. After receiving the control instruction, the robotic arm can move to the target puncture position and the posture is consistent with the surgical plan.

[0066] In this way, by setting a marker that can be located by the navigation device in the patient's skin area, the position data of the marker is used to establish a joint relationship between the coordinate systems of the CT image, the navigation device, and the robotic arm. Even if the robotic arm does not enter the scanning field of view of the scanning device, the CT image and the robotic arm can be accurately aligned, and the metal artifacts in the CT image can be reduced, thereby improving the quality of the CT image. Furthermore, the solution provided by the present application can also be used to automatically plan the movement path of the robotic arm. The robotic arm can automatically move to the appropriate position according to the control instructions, without the need for repeated CT scans or manual adjustment of the robotic arm by the doctor, thus saving surgical time and improving the efficiency of puncture surgery.

[0067] In one implementation, the first conversion relationship R1 can be predetermined and stored in the terminal so that it can be directly called during the puncture process to further improve efficiency. Figure 3 As shown, the robotic arm 20 may be provided with a positioning device 21, and the navigation device 300 may also be used to locate the positioning device 21. The first conversion relationship R1 may be determined using the positioning device provided on the robotic arm. For example, position data of the positioning device in a first coordinate system is obtained; position data of the positioning device in a second coordinate system is obtained; and the first conversion relationship may be determined based on these two position data. For example, the positioning device may be provided at the end of the robotic arm.

[0068] The process of determining the second conversion relationship is described below.

[0069] exist Figure 2 Based on the embodiment thereof, determining the second transformation relationship between the second coordinate system and the third coordinate system according to the CT image, the first position data, and the first transformation relationship includes:

[0070] S231: Determine fourth position data of the plurality of markers in the third coordinate system according to the CT image;

[0071] S232: Determine a third conversion relationship between the first coordinate system and the third coordinate system according to the fourth position data and the first position data;

[0072] S233: Determine a second conversion relationship according to the first conversion relationship and the third conversion relationship.

[0073] The plurality of markers are set on the first skin area and can be developed on the CT image of the first skin area. The position data P of the plurality of markers in the CT image coordinate system can be determined by the CT image. P (Can be called fourth position data). According to the position data P P And the position data P of the marker in the navigation device coordinate system N, the transformation relationship R3 (also called the third transformation relationship) between the navigation device coordinate system and the CT image coordinate system can be determined. Furthermore, the transformation relationship R1 between the navigation device coordinate system and the robotic arm coordinate system is determined. Thus, based on the transformation relationship R1 and the transformation relationship R3, a simultaneous relationship among the navigation device coordinate system, the CT image coordinate system, and the robotic arm coordinate system can be established, thereby determining the second transformation relationship.

[0074] The following is the above based on the position data P P and position data P N , the process of determining the conversion relationship R3 is described. Position data P P The position data P includes the set of position coordinates of multiple markers in the CT image coordinate system. N A collection of position coordinates of multiple markers in the navigation device coordinate system. For example, the position data can be represented in the form of a matrix:

[0075]

[0076] Wherein, x, y, z represent the coordinate values ​​of each coordinate axis of the marker in the coordinate system, and n represents the number of markers (n≥3). The embodiment of the present application does not limit the coordinate axes of each coordinate system. For example, the positive direction of the x-axis of the manipulator end coordinate system is directly in front of the manipulator base, the positive direction of the y-axis is vertically downward, and the positive direction of the z-axis is to the right of the manipulator base. The positive direction of the x-axis of the navigation device coordinate system is vertically downward, the y-axis is the same as the direction of the magnetic field, and the z-axis is perpendicular to the direction of the magnetic field. The positive direction of the x-axis of the CT image coordinate system is to the right, the positive direction of the y-axis is downward, and the z-axis is the slice direction of the image. The positive direction of the x-axis of the patient coordinate system is to the left side of the patient, the positive direction of the y-axis is perpendicular to the ground and downward, and the z-axis is parallel to the patient's body.

[0077] In one implementation, based on the position data P P and position data P N , determine the conversion relationship R3, including: the position data P P Decentralize the processing to determine the fifth position data; N Perform decentralization to determine the sixth position data; determine the covariance matrix based on the fifth and sixth position data; and determine the third conversion relationship based on the covariance matrix, the fifth and sixth position data. The specific process is as follows:

[0078] The following formula can be used to determine the position coordinates C of the geometric centers of multiple markers:

[0079]

[0080] According to the position data P P, the position coordinates of the geometric centers of multiple markers in the CT image coordinate system can be determined, denoted as C P According to the position data P N , the position coordinates of the geometric centers of multiple markers in the navigation device coordinate system can be determined, denoted as C N Position data P P and position data P N After decentralization, the location data P' can be obtained P (may be referred to as the fifth position data) and position data P' N (may be called sixth position data):

[0081] P′ P =P P -C P ;

[0082] P′ N =P N -C N ;

[0083] According to the position data P' P and position data P' N The covariance matrix cov of these two sets of coordinate points can be calculated NP :

[0084]

[0085] Where T represents the matrix transpose.

[0086] For example, according to the covariance matrix cov NP , fifth position data P' P and the sixth position data P' N , the third transformation relationship can be determined. For example, based on the covariance matrix, the first eigenvalue matrix and the second eigenvalue matrix are determined; based on the first eigenvalue matrix and the second eigenvalue matrix, the rotation matrix between the first coordinate system and the third coordinate system is determined; based on the rotation matrix, the fifth position data, and the sixth position data, the offset between the first coordinate system and the third coordinate system is determined; based on the rotation matrix and the offset, the third transformation relationship is determined. The specific process is as follows:

[0087]

[0088] |A-λ L *I|=0;

[0089] |A-λ R *I|=0;

[0090] Among them, λ L represents the left eigenvalue matrix of the difference matrix (which can be called the first eigenvalue matrix), λR represents the right eigenvalue matrix of the covariance matrix (which can be called the second eigenvalue matrix), and I represents the identity matrix.

[0091] According to the eigenvalue matrix λ L and the eigenvalue matrix λ R , the rotation matrix R between the navigation device coordinate system and the CT image coordinate system can be determined:

[0092]

[0093] Among them, the first row of the rotation matrix R represents the parameters of the CT image coordinate system rotating around its own x-axis, the second row represents the parameters of the CT image rotating around its own y-axis, and the third row represents the parameters of the CT image rotating around its own z-axis.

[0094] According to the rotation matrix R, position data P' R , position data P' N , the offset t between the navigation device coordinate system and the CT image coordinate system can be determined:

[0095]

[0096] Among them, t x1 is the offset of the CT image on the x-axis, t y1 is the offset of the CT image on the y-axis, t z1 is the offset of the CT image on the z-axis.

[0097] According to the above rotation matrix R and offset T, the conversion relationship R3 (denoted as Rt PN ):

[0098]

[0099] Since both coordinate systems are rigid transformations, the last row of the matrix is ​​[0 0 0 1].

[0100] The position data may also include a direction vector. The position data of the target puncture position in the CT image coordinate system (ie, the second position data) includes the position coordinates P Nd and direction vector V Nd The second conversion relationship is R2 = R3 * R1, let R2 = Rt PR In this way, the position coordinates P Nd and direction vector V Nd Convert to the robotic arm coordinate system to obtain the position data of the target puncture position in the robotic arm coordinate system (i.e., the third position data mentioned above):

[0101] P' Nd =PNd *Rt PR =[t x2 t y2 t z2 1];

[0102] V' Nd =V Nd *Rt PR =[v x2 v y2 v z2 1];

[0103] Among them, P' Nd t in x2 , t y2 , t z2 V' is the distance the robot needs to move on the x, y, and z axes. Nd v in x2 、v y2 、v z2 is the target direction vector of the robot arm. For example, P' Nd It can include the position coordinates of any point or position on the robot arm, such as the position coordinates of the end of the robot arm. Nd P' Nd The corresponding direction vector, V' Nd It can include the target direction vector of any point or position on the manipulator, such as the target direction vector of the end of the manipulator. Nd and V' Nd It can be used to determine the control instructions for controlling the robotic arm to move to the target puncture position. After receiving the control instructions, the robotic arm can move to the target puncture position and its posture is consistent with the surgical plan.

[0104] The following describes the above navigation and positioning process with specific data:

[0105] (1) Obtain the coordinate set of the marker in the CT image and the coordinate set in the navigation device coordinate system. The input is as follows:

[0106]

[0107] (2) Calculate P P and P N The result of the collection center is as follows:

[0108] C P =[124.3 47.9 41.9];

[0109] C N =[6.6 -19.0 58.7];

[0110] (3) PP and P N After decentralization, the results are as follows:

[0111]

[0112] (4) Calculate the covariance matrix of the two sets of points, and the results are as follows:

[0113]

[0114] (5) Calculate the left eigenvalue matrix, the results are as follows:

[0115]

[0116] (6) Calculate the right eigenvalue matrix, the results are as follows:

[0117]

[0118] (7) Calculate the rotation relationship between the CT image coordinate system and the navigation device coordinate system. The results are as follows:

[0119]

[0120] (8) Calculate the coordinate offset between the CT image coordinate system and the navigation device coordinate system. The result is as follows:

[0121]

[0122] (9) Through the calculations in the previous two steps, the mapping relationship between the CT image coordinate system and the navigation device coordinate system is established. The results are as follows:

[0123]

[0124] (10) Establish the mapping relationship between the coordinate system of the robotic arm and the navigation device. The result is as follows:

[0125]

[0126] (11) Establish the mapping relationship between the CT image coordinate system and the robotic arm coordinate system. The results are as follows:

[0127]

[0128] (12) Obtain the target point and target direction vector of the robotic arm motion under the CT image. The results are as follows:

[0129] P Nd =[3.8 13.0 43.2];

[0130] V Nd=[0.7466 0.3937 -0.5363];

[0131] (13) The sum in the CT image coordinate system is converted to the robotic arm coordinate system, and the result is as follows:

[0132] P′ Nd =[105.1 154.9 97.0 1];

[0133] V′ Nd =[0.3333 0.7957 0.5057 1];

[0134] In one implementation, the terminal may further include a robotic arm control unit. The robotic arm control unit may be configured to determine the position of the robot arm according to the third position data (eg, position coordinates P' Nd and direction vector V' Nd ) generates control instructions. Figure 1 As shown, terminal 120 can send control instructions to robotic arm 20, controlling robotic arm 20 to automatically move to the target puncture position, with the posture of robotic arm 20 consistent with the surgical plan. During the movement of the robotic arm, there is no need for repeated scanning to determine the real-time position of the robotic arm, nor does the doctor need to manually adjust the posture or position of the robotic arm, shortening the surgical time and improving the efficiency of the puncture procedure.

[0135] Based on the same technical concept, the present application embodiment also provides a navigation and positioning device. Figure 4 , which is a structural diagram of a navigation and positioning device provided in an embodiment of the present application. The device 400 is applied to a robotic arm, which is used for the puncture process of a first skin area of ​​a patient. The first skin area includes a target puncture position, and a plurality of markers are set on the first skin area. Figure 4The navigation and positioning device 400 includes a first interface 410, a second interface 420 and a processor 430. The first interface 410 is coupled to the navigation device and is configured to receive the first position data sent by the navigation device; the second interface 420 is coupled to the scanning device and is configured to receive the CT image sent by the scanning device; the processor 430 is coupled to the first interface 410 and the second interface 420 and is configured to execute the navigation and positioning method in any of the above embodiments. For relevant contents such as markers and the first position data, reference can be made to the description of the aforementioned embodiments. In one implementation, the processor 430 is a circuit with signal processing capabilities. For example, a central processing unit (CPU), a microcontroller (MCU), a microprocessor unit (MPU), a graphics processing unit (GPU), or a digital signal processor (DSP). This application is not limited to the type of processor.

[0136] The present application also provides a navigation and positioning system. Figure 1 The system 100 shown is a navigation and positioning system applied to a robotic arm 20, which includes a positioning device. The robotic arm 20 is used for puncturing a first skin area of ​​a patient. The first skin area includes multiple markers. The system 100 includes a navigation device 110 and a terminal 120. The navigation device 110 is used to locate the multiple markers and the positioning device. For details about the positioning process of the navigation device, refer to the description of the aforementioned embodiments. The terminal 120 includes the navigation and positioning device described in the aforementioned embodiments. For example, the terminal 120 is a workstation.

[0137] An embodiment of the present application further provides a computer program product, comprising instructions, wherein when the instructions are called by a processor, the navigation and positioning method of any of the above embodiments is executed.

[0138] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A navigation and positioning method, characterized in that: A method is applied to a robotic arm, the robotic arm being used for puncturing a first skin area of ​​a patient, the first skin area including a target puncture location and having a plurality of markers disposed thereon, the method comprising: acquiring a CT image of the first skin area; Acquiring first position data of the plurality of markers in a first coordinate system; the navigation device is used to locate the plurality of markers; determining a second transformation relationship between a second coordinate system and a third coordinate system based on the CT image, the first position data, and the first transformation relationship; the second coordinate system includes a coordinate system of the robotic arm, the third coordinate system includes a coordinate system of the CT image, and the first transformation relationship includes a transformation relationship between the first coordinate system and the second coordinate system; determining third position data of the target puncture position in the second coordinate system based on the second position data of the target puncture position in the third coordinate system and the second conversion relationship; the third position data is used to determine a control instruction for controlling the robot arm to move to the target puncture position; Wherein, determining the second transformation relationship between the second coordinate system and the third coordinate system according to the CT image, the first position data, and the first transformation relationship includes: determining fourth position data of the plurality of markers in the third coordinate system according to the CT image; determining a third transformation relationship between the first coordinate system and the third coordinate system according to the fourth position data and the first position data; Determining the second conversion relationship according to the first conversion relationship and the third conversion relationship; The determining of a third conversion relationship between the first coordinate system and the third coordinate system based on the fourth position data and the first position data includes: Decentralizing the fourth location data to determine fifth location data; Decentralizing the first location data to determine sixth location data; determining a covariance matrix based on the fifth position data and the sixth position data; The third conversion relationship is determined according to the covariance matrix, the fifth position data and the sixth position data.

2. The method according to claim 1, characterized in that The determining of the third conversion relationship according to the covariance matrix, the fifth position data, and the sixth position data includes: Determining a first eigenvalue matrix and a second eigenvalue matrix according to the covariance matrix; determining a rotation matrix between the first coordinate system and the third coordinate system according to the first eigenvalue matrix and the second eigenvalue matrix; determining an offset between the first coordinate system and the third coordinate system according to the rotation matrix, the fifth position data, and the sixth position data; The third conversion relationship is determined according to the rotation matrix and the offset.

3. The method according to claim 2, characterized in that The rotation matrix is ​​determined according to the following formula: ； in, represents the rotation matrix, represents the first characteristic matrix, represents the second characteristic matrix, T represents matrix transpose; The offset is determined according to the following formula: ； in, represents the offset, represents the fifth position data, Indicates the sixth position data.

4. The method according to any one of claims 1 to 3, characterized in that The number of the multiple markers is greater than or equal to 3, and the multiple markers are asymmetrically arranged around the target puncture position.

5. The method according to claim 4, characterized in that The plurality of markers include a first marker and a second marker, and a distance between the first marker and the second marker is greater than or equal to a preset distance.

6. A navigation and positioning device, characterized in that: A device is applied to a robotic arm, the robotic arm being used for puncturing a first skin area of ​​a patient, the first skin area including a target puncture location and having a plurality of markers disposed thereon, the device comprising: a first interface, coupled to the navigation device, and configured to receive first location data sent by the navigation device; A second interface, coupled to a scanning device, configured to receive a CT image sent by the scanning device; A processor is coupled to the first interface and the second interface, and is configured to execute the method according to any one of claims 1 to 5.

7. A navigation and positioning system, characterized in that: A system for puncturing a first skin area of ​​a patient, the system comprising a positioning device and a robotic arm, the system comprising a navigation system and a positioning device, the system comprising: a navigation device configured to locate the plurality of markers and the positioning device; A terminal comprising the device according to claim 6.

8. A computer program product, characterized in that The method comprises instructions, and when the instructions are called by a processor, the method according to any one of claims 1 to 5 is executed.

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