Robot positioning method for orthopedic puncture, electronic equipment and storage medium

Abstract

The invention discloses a robot positioning method for orthopedic puncture, electronic equipment and a storage medium, and the method comprises the steps: S1, arranging a mechanical arm at the body surface position of a bone tissue to be punctured, setting a plurality of mark points on the mechanical arm, and obtaining the reference coordinates of the mark points; s2, identifying the coordinates of the mark points in the mechanical arm image and constructing a three-dimensional coordinate space; s3, according to the three-dimensional coordinate space, puncture is planned on the mechanical arm image, and a puncture planned path can be obtained; s4, the mechanical arm provided with the puncture instrument is moved on the basis of the puncture planning path; and S5, the images of the mechanical arm at different angles are obtained again to judge whether the puncture planning path meets the puncture requirement or not, and if not, the step S2 to the step S4 are executed till the puncture planning path meets the puncture requirement. The robot positioning method for orthopedics department puncture solves the problems that orthopedics department puncture robot positioning depends on complex positioning equipment and is high in cost.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a robot positioning method, electronic equipment and storage medium for orthopedic puncture. Background Art

[0002] At present, orthopedic puncture surgical navigation and robotic systems mainly rely on optical positioning or electromagnetic navigation technology, combined with high-precision positioning equipment to achieve real-time tracking and precise navigation of surgical instruments. By using a three-dimensional imaging system to perform detailed anatomical scans of patients before surgery, the surgical instruments can be guided to perform accurate puncture and positioning based on this information during the operation. However, the existing system is highly dependent on complex positioning equipment, which not only increases the complexity and difficulty of the operation, but also limits the operability and flexibility of the operation. In order to install the tracer or perform other necessary preparations, patients often need to endure additional trauma, which is not suitable for scenarios that require a small amount of puncture positioning. The introduction of high-precision positioning equipment and three-dimensional imaging systems will also significantly increase the overall equipment cost of the operation. Summary of the invention

[0003] The main purpose of the present invention is to provide a robot positioning method, electronic device and storage medium for orthopedic puncture, so as to at least solve the problem that the positioning of the orthopedic puncture robot depends on complex positioning equipment and is high in cost.

[0004] According to one aspect of the present invention, a robot positioning method for orthopedic puncture is provided, comprising:

[0005] Step S1: setting a robotic arm at a body surface position where bone tissue is to be punctured and setting a plurality of marking points on the robotic arm, and obtaining reference coordinates corresponding to the plurality of marking points;

[0006] Step S2: Identify the coordinates of all the marking points in the robot arm images at different angles, and construct a three-dimensional coordinate space based on the identified coordinates of the marking points;

[0007] Step S3: performing puncture path planning on the robot arm image according to the three-dimensional coordinate space to obtain a puncture planning path;

[0008] Step S4: moving the robotic arm equipped with the puncture instrument based on the planned puncture path and aligning the robotic arm with the planned puncture path;

[0009] Step S5: reacquire the robot arm images at different angles to determine whether the puncture planning path meets the puncture requirements. If not, execute steps S2 to S4 until the puncture planning path meets the puncture requirements.

[0010] Furthermore, the step S1 comprises:

[0011] Step S11: performing an image scan by an X-ray machine to determine the body surface position of the bone tissue to be punctured;

[0012] Step S12: installing the robotic arm at the body surface position where the bone tissue is to be punctured;

[0013] Step S13: setting a plurality of marking points at the front end of the robot arm, and obtaining the coordinates of the plurality of marking points as reference coordinates.

[0014] Furthermore, the step S2 comprises:

[0015] Step S21: Obtaining images of the robotic arm corresponding to the robotic arm at different angles through an X-ray machine;

[0016] Step S22: pre-processing the robot arm image by filtering algorithm;

[0017] Step S23: identifying all the marking points in the pre-processed robot arm image by a graphics processing algorithm to obtain the coordinates of the marking points at different angles;

[0018] Step S24: construct a three-dimensional coordinate space based on the reference coordinates and the marker point coordinates.

[0019] Furthermore, the step S24 includes:

[0020] Step S241: Calculate the projection matrix between the reference coordinates and the marker point coordinates by using a straight-line linear transformation method;

[0021] Step S242: selecting the projection matrix with the smallest reprojection error as the optimal projection matrix at different angles;

[0022] Step S243: constructing a three-dimensional coordinate space based on the optimal projection matrix at different angles.

[0023] Furthermore, the step S241 includes:

[0024] Step S2411: Determine all correspondences between the coordinates of the marking points of the robot arm images at different angles and the reference coordinates by exhaustive enumeration;

[0025] Step S2412: constructing a projection equation based on the corresponding relationship to obtain a projection equation group;

[0026] Step S2413: Decompose the projection equation group by singular value decomposition method to obtain projection matrix parameters, and construct a projection matrix in combination with the projection matrix parameters.

[0027] Furthermore, the step S3 comprises:

[0028] Step S31: selecting planning points corresponding to robot arm images at different angles;

[0029] Step S32: Map the selected planning point to the constructed three-dimensional coordinate space to obtain the planning start point and the planning end point;

[0030] Step S33: Determine the planned puncture path in combination with the planned starting point and the planned end point;

[0031] Step S34: calculating the moving distance of the robot arm plane to the planned path and determining the relationship between the moving distance and the reachable range of the robot arm;

[0032] Step S35: If the moving distance is greater than the reachable range of the robot arm, return to step S1; otherwise, execute step S4.

[0033] Furthermore, the step S5 comprises:

[0034] Step S51: reacquiring images of the robotic arm at different angles after the robotic arm moves by an X-ray machine;

[0035] Step S52: performing image segmentation on the puncture needle in the reacquired robotic arm image to determine the current puncture path;

[0036] Step S53: Determine whether the current puncture path meets the requirements of the anatomical structure. If so, complete the path planning; if not, execute steps S2 to S4.

[0037] Furthermore, the robotic arm includes a brake arm, a reference mark base and a puncture needle sleeve, the puncture needle sleeve is connected to the brake arm, and the reference mark base is arranged on the puncture needle sleeve; the brake arm is used to control the movement of the robotic arm, the puncture needle sleeve is used to install a puncture instrument, the reference mark base is used to set a marking point, and the puncture instrument includes a puncture needle or a puncture guide wire.

[0038] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute any one of the method steps described above.

[0039] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the method steps described above.

[0040] In the present invention, by setting multiple marking points on the robot arm and combining robot arm images at different angles to construct a three-dimensional coordinate space, accurate puncture path planning for bone tissue is achieved. During the planning process, the feasibility of bone tissue puncture path planning is ensured by calculating the matching between the movement distance of the robot arm and the reachable range. In addition, by reacquiring the current puncture path of the puncture needle from the robot arm image after the robot arm moves and judging whether it meets the requirements of the anatomical structure, the verification and optimization of the puncture planning path is achieved, thereby improving the accuracy and safety of orthopedic puncture surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0042] Figure 1 A schematic flow chart of a robot positioning method for orthopedic puncture disclosed in an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the structure of the robotic arm disclosed in an embodiment of the present invention.

[0044] The above drawings include the following reference numerals:

[0045] 1. Brake arm; 2. Puncture needle cannula; 3. Reference mark base; 31. Positioning steel ball. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0049] According to one aspect of an embodiment of the present invention, a method for positioning and aligning a micro-robotic arm is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0050] See also Figure 1 As shown, a robot positioning method for orthopedic puncture provided according to an embodiment of the present application includes:

[0051] Step S1: setting a robotic arm at a body surface position where bone tissue is to be punctured and setting a plurality of marking points on the robotic arm to obtain reference coordinates corresponding to the plurality of marking points;

[0052] In an optional implementation, step S1 includes:

[0053] Step S11: performing an image scan by an X-ray machine to determine the body surface position of the bone tissue to be punctured;

[0054] Step S12: installing the robotic arm at the body surface position where the bone tissue is to be punctured;

[0055] Step S13: setting a plurality of marking points at the front end of the robot arm, and obtaining the coordinates of the plurality of marking points as reference coordinates.

[0056] The above-mentioned mechanical arm is the main component of the robot, see Figure 2 As shown, the mechanical arm includes a brake arm 1, a puncture needle sleeve 2 and a reference mark base 3, the puncture needle sleeve 2 is connected to the brake arm 1, and the reference mark base 3 is arranged on the puncture needle sleeve 2; two brake arms 1 are provided, the brake arm 1 is used to control the movement of the mechanical arm, the puncture needle sleeve 2 is used to install the puncture instrument, and the reference mark base 3 is used to set the marking point, and the puncture instrument includes a puncture needle or a puncture guide wire.

[0057] It can be understood that the above-mentioned mechanical arm of this embodiment is mainly used for bone tissue puncture in various parts such as the spine. In this embodiment, the spine is taken as an example, and the X-ray machine adopts a mobile C-arm X-ray machine. The X-ray machine is used to scan the spine, and the surface position of the vertebra to be punctured can be intuitively determined. In actual operation, the patient's target spine area is scanned by a mobile C-arm X-ray machine to obtain an X-ray image of the target spine area, and the surface position of the vertebra to be punctured is determined according to the X-ray image of the target spine area. The above-mentioned robotic arm is then installed on the surface of the vertebra to be punctured, and is returned to the initial state and calibrated through the control system of the robotic arm. A plurality of positioning steel balls 31 for positioning are set on the reference mark base 3 of the robotic arm. Because subsequent shooting is required, the overlap of the positioning steel balls will affect the shooting effect, and the number of positioning steel balls will also affect the accuracy of the subsequent puncture planning path calculation. Therefore, the number of positioning steel balls in this embodiment is set to at least 8, and each positioning steel ball is used as a marking point. The coordinate system of the ruler is established by relying on the arrangement of the front end of the robotic arm and the positioning steel balls, and the reference coordinates of each marking point are obtained as C0 = {x01, x02, x03, x04, x05, x06, x07, x08}.

[0058] Step S2: Identify the coordinates of all the marking points in the robot arm images at different angles, and construct a three-dimensional coordinate space based on the identified coordinates of the marking points;

[0059] In an optional implementation, step S2 includes:

[0060] Step S21: Obtaining images of the robotic arm corresponding to the robotic arm at different angles through an X-ray machine;

[0061] Step S22: pre-processing the robot arm image by filtering algorithm;

[0062] Step S23: identifying all the marking points in the pre-processed robotic arm image through a graphics processing algorithm to obtain the coordinates of the marking points at different angles;

[0063] Step S24: construct a three-dimensional coordinate space based on the reference coordinates and the marker point coordinates.

[0064] Specifically, a mobile C-arm X-ray machine is used to scan a mechanical arm installed at a surface position of the vertebra to be punctured, and the scanning angles are at least two. This embodiment scans the anteroposterior and lateral images of the mechanical arm. After obtaining the anteroposterior and lateral images of the mechanical arm, the images are filtered by a filtering algorithm. Then, a graphics processing algorithm is used to segment the marking points in the anteroposterior image and the lateral image, respectively, to obtain the image coordinates of the center of each positioning steel ball in the anteroposterior image and the lateral image as the marking point coordinates, wherein the marking point coordinates in the anteroposterior image are C1 = {x11, x12, x13, x14, x15, x16, x17, x18}, and the marking point coordinates in the lateral image are C2 = {x21, x22, x23, x24, x25, x26, x27, x28}. Among them, the image processing algorithm can use any one of spot detection, edge detection, center of gravity and cross feature points.

[0065] This embodiment can capture the spatial position information of the robotic arm and the marking points more comprehensively by taking X-ray images at at least two different angles (such as the frontal and lateral positions). The image coordinates of each marking point can be accurately extracted by using graphic processing algorithms such as spot detection or edge detection to identify the marking points of the preprocessed image. Compared with the traditional three-dimensional positioning method, this embodiment does not require additional optical positioning or electromagnetic positioning equipment, which reduces the cost of surgery and simplifies the preoperative preparation process. Through automated image processing and three-dimensional coordinate space construction, doctors can determine the puncture path more quickly, shorten the operation time, and improve the efficiency of the operation. In an optional embodiment, step S24 includes:

[0066] Step S241: Calculate the projection matrix between the reference coordinates and the marker point coordinates by using a straight-line linear transformation method;

[0067] Step S2411: Determine all correspondences between the coordinates of the marking points of the robot arm images at different angles and the reference coordinates by exhaustive enumeration;

[0068] Step S2412: constructing a projection equation based on the corresponding relationship to obtain a projection equation group;

[0069] Step S2413: Decompose the projection equation group by singular value decomposition method to obtain projection matrix parameters, and construct the projection matrix in combination with the projection matrix parameters.

[0070] Step S242: selecting the projection matrix with the smallest reprojection error as the optimal projection matrix at different angles;

[0071] Step S243: constructing a three-dimensional coordinate space based on the optimal projection matrix at different angles.

[0072] Due to the randomness of the shooting angle and the arrangement of the marking points, the marking points in the orthotopic image and the lateral image need to establish a corresponding relationship. In this embodiment, all corresponding relationships between the coordinates of the marking points of the orthotopic image and the reference coordinates are established by exhaustive method. By exhaustively enumerating 8! = 40320 kinds of corresponding relationships between C0, C1 and C2, the corresponding relationship between the coordinates of the marking points under the orthotopic image and the reference coordinates, as well as the corresponding relationship between the coordinates of the marking points under the lateral image and the reference coordinates, are determined. For each corresponding relationship, the direct linear transformation (DLT) method is used to solve the projection matrix, the reprojection errors of all corresponding relationships are calculated, and the projection matrix with the smallest reprojection error is selected as the orthotopic projection matrix. Similarly, for each corresponding relationship, the lateral projection matrix is ​​solved using the direct linear transformation method, and the one with the smallest reprojection error is selected as the lateral projection matrix. A three-dimensional coordinate space is constructed based on the obtained orthotopic projection matrix and the lateral projection matrix.

[0073] By using an exhaustive method to determine the correspondence between all possible marker point coordinates and reference coordinates, and using the direct linear transformation (DLT) method to solve the projection matrix based on these correspondences, the accuracy of the projection matrix can be greatly improved. The exhaustive method ensures that all possible correspondences are considered, so that the optimal (i.e., the one with the smallest reprojection error) projection matrix can be found. Since all possible correspondences are considered and the projection matrix with the smallest reprojection error is selected, this embodiment has strong robustness to interference factors such as noise and marker point errors, and even if some uncertainties or errors are encountered in practical applications, relatively accurate results can still be obtained. Constructing a three-dimensional coordinate space based on the obtained orthogonal projection matrix and lateral projection matrix can ensure that the constructed space is consistent with the actual situation.

[0074] Step S3: performing puncture path planning on the robotic arm image according to the three-dimensional coordinate space to obtain a puncture planning path;

[0075] In an optional implementation, step S3 includes:

[0076] Step S31: selecting planning points corresponding to robot arm images at different angles;

[0077] Step S32: Map the selected planning point to the constructed three-dimensional coordinate space to obtain the planning start point and the planning end point;

[0078] Step S33: Determine the planned puncture path by combining the planned starting point and the planned end point;

[0079] Step S34: Calculate the moving distance of the robot arm plane to the planned path and determine the relationship between the moving distance and the reachable range of the robot arm;

[0080] Step S35: If the moving distance is greater than the reachable range of the robot arm, return to step S1; otherwise, execute step S4.

[0081] Specifically, on the anteroposterior image and the lateral image, two planning points are selected respectively according to the target position of the puncture, and straight lines passing through the respective planning points on the anteroposterior image and the lateral image are drawn respectively, and the two straight lines obtained intersect at one point in the three-dimensional coordinate space, namely the puncture target point. According to the puncture target point, the planning starting point and the planning end point are determined in the three-dimensional coordinate space, and the puncture planning path is obtained according to the planning starting point and the planning end point. According to the spatial coordinates of the puncture planning path in the three-dimensional coordinate space, the moving distance of the two brake arm planes of the robot arm to the line connecting the two coordinate points is calculated. The calculated moving distance is compared with the reachable range of the current configuration of the robot arm. If the moving distance exceeds the reachable range of the robot arm, step S1 is re-executed, and the robot arm is re-positioned to adjust the puncture path. If the moving distance does not exceed the reachable range of the current configuration of the robot arm, the next step is executed.

[0082] By selecting planning points on the anteroposterior and lateral images and mapping them to the constructed three-dimensional coordinate space, the position of the puncture target point can be determined more accurately, which helps to achieve more precise puncture operations during surgery and reduce the risk of errors and complications. By calculating the moving distance of the robot arm plane to the planned path and judging the relationship between the distance and the reach of the robot arm, it can be ensured that the robot arm can move according to the planned path, which helps to optimize the movement path of the robot arm, reduce unnecessary movements and adjustments, and improve the efficiency and accuracy of the surgery.

[0083] Step S4: moving the robotic arm equipped with the puncture instrument based on the planned puncture path and aligning it with the planned puncture path;

[0084] Furthermore, after the planned puncture path is determined, a puncture instrument is installed on the puncture needle sleeve of the robotic arm. The puncture instrument includes a puncture needle or a puncture guide wire, which is selected according to actual needs. The robotic arm equipped with the puncture instrument is moved along the planned path through the control system. The position and state of the robotic arm are monitored to ensure that it moves according to the planned path and avoid deviations or collisions.

[0085] Step S5: reacquire the robot arm images at different angles to determine whether the puncture planning path meets the puncture requirements. If not, execute steps S2 to S4 until the puncture planning path meets the puncture requirements.

[0086] In an optional implementation, step S5 includes:

[0087] Step S51: reacquiring images of the robotic arm at different angles after the robotic arm moves by an X-ray machine;

[0088] Step S52: performing image segmentation on the puncture needle in the reacquired robotic arm image to determine the current puncture path;

[0089] Step S53: Determine whether the current puncture path meets the requirements of the anatomical structure. If so, complete the path planning; if not, execute steps S2 to S4.

[0090] Specifically, the anteroposterior image and lateral image after the movement of the robotic arm are reacquired by a C-arm X-ray machine, and the puncture needle in the reacquired anteroposterior image and lateral image of the robotic arm is segmented by an image processing algorithm to determine the current puncture path after the movement of the robotic arm. The obtained current puncture path is compared with the preset anatomical structure to determine the relative relationship between the current puncture path and the preset anatomical structure, and to determine whether the current puncture path can meet the requirements of the preset anatomical structure. If the current puncture path can meet the requirements of the preset anatomical structure, the puncture path planning is completed and the next step of the puncture operation is entered. If the current puncture path cannot meet the requirements of the preset anatomical structure, it is necessary to re-execute steps S2 to S4 to adjust and optimize the puncture planning path until the requirements of the anatomical structure are met.

[0091] By reacquiring the anteroposterior and lateral images after the robot arm moves, and extracting the current puncture path for comparison with the preset anatomical structure, the accuracy of the puncture path can be evaluated, further improving the accuracy of the surgery. If the current puncture path does not meet the requirements of the preset anatomical structure, the puncture planning path is adjusted and optimized to ensure that timely and effective adjustments can be made according to the actual situation. The surgery is performed on the premise that the puncture planning path meets the requirements of the anatomical structure, which helps reduce surgical risks and improve the safety and reliability of the surgery.

[0092] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute any one of the above method steps.

[0093] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the above method steps.

[0094] It should be noted that the above-mentioned computer-readable storage medium can be located in any computer terminal in a computer terminal group in a computer network, and / or located in any mobile terminal in a mobile terminal group, and the above-mentioned computer-readable storage medium includes a stored program.

[0095] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0096] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0097] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot positioning method for orthopedic puncture, characterized in that: include: Step S1: setting a robotic arm at a body surface position where bone tissue is to be punctured and setting a plurality of marking points on the robotic arm, and obtaining reference coordinates corresponding to the plurality of marking points; Step S2: Identify the coordinates of all the marking points in the robot arm images at different angles, and construct a three-dimensional coordinate space based on the identified coordinates of the marking points; Step S3: performing puncture path planning on the robot arm image according to the three-dimensional coordinate space to obtain a puncture planning path; Step S4: moving the robotic arm equipped with the puncture instrument based on the planned puncture path and aligning the robotic arm with the planned puncture path; Step S5: reacquire the robot arm images at different angles to determine whether the puncture planning path meets the puncture requirements. If not, execute steps S2 to S4 until the puncture planning path meets the puncture requirements.

2. The robot positioning method for orthopedic puncture according to claim 1, characterized in that: The step S1 comprises: Step S11: performing an image scan by an X-ray machine to determine the body surface position of the bone tissue to be punctured; Step S12: installing the robotic arm at the body surface position where the bone tissue is to be punctured; Step S13: setting a plurality of marking points at the front end of the robot arm, and obtaining the coordinates of the plurality of marking points as reference coordinates.

3. The robot positioning method for orthopedic puncture according to claim 1, characterized in that: The step S2 comprises: Step S21: Obtaining images of the robotic arm corresponding to the robotic arm at different angles through an X-ray machine; Step S22: pre-processing the robot arm image by filtering algorithm; Step S23: identifying all the marking points in the pre-processed robot arm image by a graphics processing algorithm to obtain the coordinates of the marking points at different angles; Step S24: construct a three-dimensional coordinate space based on the reference coordinates and the marker point coordinates.

4. The robot positioning method for orthopedic puncture according to claim 3, characterized in that: The step S24 comprises: Step S241: Calculate the projection matrix between the reference coordinates and the marker point coordinates by using a straight-line linear transformation method; Step S242: selecting the projection matrix with the smallest reprojection error as the optimal projection matrix at different angles; Step S243: constructing a three-dimensional coordinate space based on the optimal projection matrix at different angles.

5. The robot positioning method for orthopedic puncture according to claim 4, characterized in that: The step S241 includes: Step S2411: Determine all correspondences between the coordinates of the marking points of the robot arm images at different angles and the reference coordinates by exhaustive enumeration; Step S2412: constructing a projection equation based on the corresponding relationship to obtain a projection equation group; Step S2413: Decompose the projection equation group by singular value decomposition method to obtain projection matrix parameters, and construct a projection matrix in combination with the projection matrix parameters.

6. The robot positioning method for orthopedic puncture according to claim 1, characterized in that: The step S3 comprises: Step S31: selecting planning points corresponding to robot arm images at different angles; Step S32: Map the selected planning point to the constructed three-dimensional coordinate space to obtain the planning start point and the planning end point; Step S33: Determine the planned puncture path in combination with the planned starting point and the planned end point; Step S34: calculating the moving distance of the robot arm plane to the planned path and determining the relationship between the moving distance and the reachable range of the robot arm; Step S35: If the moving distance is greater than the reachable range of the robot arm, return to step S1; otherwise, execute step S4.

7. The robot positioning method for orthopedic puncture according to claim 1, characterized in that: The step S5 comprises: Step S51: reacquiring images of the robotic arm at different angles after the robotic arm moves by an X-ray machine; Step S52: performing image segmentation on the puncture needle in the reacquired robotic arm image to determine the current puncture path; Step S53: determining whether the current puncture path meets the requirements of the anatomical structure, and if so, completing the path planning; If not satisfied, execute steps S2 to S4.

8. The robot positioning method for orthopedic puncture according to any one of claims 1 to 7, characterized in that: The robotic arm includes a brake arm, a reference mark base and a puncture needle sleeve, the puncture needle sleeve is connected to the brake arm, and the reference mark base is arranged on the puncture needle sleeve; the brake arm is used to control the movement of the robotic arm, the puncture needle sleeve is used to install a puncture instrument, the reference mark base is used to set a marking point, and the puncture instrument includes a puncture needle or a puncture guide wire.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method steps described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method steps described in any one of claims 1 to 7.

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