Surgical tool positioning and moving method and device applied to surgical robot, electronic equipment, storage medium and computer program product

Abstract

The invention relates to a surgical tool positioning and moving method and device applied to a surgical robot, electronic equipment, a storage medium and a computer program product, and the method comprises the steps: calculating the advancing path direction # imgabs4 # based on the pose # imgabs0 # of a sensor under a base coordinate system under each view angle, a first transformation matrix # imgabs1 #, the point cloud # imgabs2 # collected under each view angle and the preoperative medical image point cloud # imgabs3 #; obtaining a second transformation matrix # imgabs5 # and a target position # imgabs6 #; based on the second transformation matrix # imgabs7 #, the target position # imgabs8 #, the advancing path direction # imgabs9 # and the third transformation matrix # imgabs10 #, a fourth transformation matrix # imgabs11 # is calculated; and controlling the tip part of the surgical tool to move from the current position to the target position # imgabs13 # based on the fourth transformation matrix # imgabs12 #. Thus, the sensor is installed above the tail end of the mechanical arm component, the mechanical arm connecting rod can be used for pulling the sensor to move around the operation object, then the high-precision point cloud of the operation object can be collected in a close-range and multi-view mode, and therefore the accuracy and efficiency of an operation can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and more particularly, to a method, device, electronic device, storage medium, and computer program product for positioning and moving a surgical tool applied to a surgical robot. Background Art

[0002] In brain surgery, it generally involves positioning, opening holes and entry, so accurate positioning is crucial to the success of the operation. In addition, in the process of brain surgery, "face matching technology" is generally used. This technology can align point clouds in different coordinate systems by registering three-dimensional point cloud data.

[0003] In related technologies, "face matching technology" generally adopts the configuration of "eyes outside hands", that is, the sensor is generally fixed at a certain position in the operating room and cannot be moved. However, if the sensor is fixed, the imaging distance will be too large and the viewing angle will be fixed, which will lead to limited point cloud resolution and coverage, making it difficult to obtain comprehensive and high-precision head information, which will lead to poor accuracy and low efficiency of surgery. Summary of the invention

[0004] The present disclosure provides a method, device, electronic device, storage medium and computer program product for positioning and moving surgical tools applied to a surgical robot, so as to at least solve the problem in the above-mentioned related technologies that the surgical accuracy and efficiency are poor due to the fixed sensors.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for positioning and moving a surgical tool applied to a surgical robot is provided, wherein the surgical robot comprises a robotic arm component, a sensor mounted above the end of the robotic arm component, and a surgical tool mounted at the end of the robotic arm component, wherein the robotic arm component comprises a plurality of robotic arm links connected end to end, and the method for positioning and moving the surgical tool comprises: based on the position and posture of the sensor in a base coordinate system at each of a plurality of pre-acquired view angles, , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool , wherein the multiple viewing angles are multiple viewing angles obtained by the sensor when the sensor is pulled by the multiple robot arm links to move around the surgical object according to a predetermined trajectory, the base coordinate system is the coordinate system of the target joint farthest from the end of the robot arm component among the multiple joints connecting the multiple robot arm links, and the robot arm end coordinate system is the coordinate system at the end of the robot arm component; obtain a second transformation matrix from the robot arm end coordinate system to the base coordinate system in the current state. and the target position that the tip of the surgical tool is expected to reach , wherein the target location is one of the multiple positions that the tip of the surgical tool is expected to reach in the process of reaching the target point from the opening point of the surgical object; based on the second transformation matrix , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system is the coordinate system at the tip of the surgical tool; based on the fourth transformation matrix , controlling the tip of the surgical tool to move from the current position to the target position .

[0006] Optionally, the position and posture of the sensor in the base coordinate system at each viewing angle in the pre-acquired multiple viewing angles is , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool , including: for the i-th perspective among the multiple perspectives, based on the posture , the first transformation matrix and the point cloud , calculate the point cloud in the base coordinate system at the i-th viewing angle , where i=1, 2, ..., N, N is the number of the multiple perspectives, and N is an integer greater than 1; a plurality of point clouds corresponding to the multiple perspectives one by one Perform stitching to obtain a complete point cloud in the base coordinate system ; Based on the complete point cloud The preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , wherein the image coordinate system is used to obtain the preoperative medical image point cloud The coordinate system corresponding to the device; based on the transformation relationship matrix , the preoperative medical imaging point cloud The location of the opening point included and the location of the target , calculate the direction of the travel path .

[0007] Optionally, the posture based on , the first transformation matrix and the point cloud , calculate the point cloud in the base coordinate system at the i-th viewing angle , including: calculating the point cloud by the following formula : .

[0008] Optionally, the complete point cloud The preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , including: calculating the preoperative medical image point cloud through a point cloud registration algorithm The transformation relationship matrix , so that the transformation relationship matrix Transformed preoperative medical image point cloud With the complete point cloud The degree of overlap between them is greater than or equal to a preset threshold.

[0009] Optionally, the transformation relationship matrix , the preoperative medical imaging point cloud The location of the opening point included and the location of the target , calculate the direction of the travel path , including: calculating the transformation relationship matrix and the location of the opening point The product of , obtains the position of the opening point in the base coordinate system. ; Calculate the transformation relationship matrix and the location of the target The product of , obtains the position of the target point in the base coordinate system. ; Based on the location and the location , calculate the direction of the travel path .

[0010] Optionally, the second transformation matrix , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , including: calculating the fourth transformation matrix by the following formula :

[0011] in, Contains translation part and rotating part ;

[0012]

[0013]

[0014]

[0015] in, is the third transformation matrix The inverse matrix of To include The matrix of the upper left corner of the element, To include The matrix of the upper left corner of the part.

[0016] According to a second aspect of an embodiment of the present disclosure, there is provided a surgical tool positioning and moving device applied to a surgical robot, the surgical robot comprising a robotic arm component, a sensor mounted above the end of the robotic arm component, and a surgical tool mounted at the end of the robotic arm component, the robotic arm component comprising a plurality of robotic arm links connected end to end, the surgical tool positioning and moving device comprising: a path direction calculation module configured to calculate the position and orientation of the sensor in a base coordinate system at each of a plurality of pre-acquired view angles , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool , wherein the multiple viewing angles are multiple viewing angles obtained by the sensor when the sensor is pulled by the multiple robot arm links to move around the surgical object according to a predetermined trajectory, the base coordinate system is the coordinate system of the target joint farthest from the end of the robot arm component among the multiple joints connecting the multiple robot arm links, and the robot arm end coordinate system is the coordinate system at the end of the robot arm component; the target position acquisition module is configured to obtain a second transformation matrix from the robot arm end coordinate system to the base coordinate system in the current state. and the target position that the tip of the surgical tool is expected to reach , wherein the target location is one of the multiple positions that the tip of the surgical tool is expected to reach in the process of reaching the target point from the opening point of the surgical object; a transformation matrix calculation module is configured to calculate the position of the surgical tool based on the second transformation matrix , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system is a coordinate system at the tip of the surgical tool; the moving module is configured to be based on the fourth transformation matrix , controlling the tip of the surgical tool to move from the current position to the target position .

[0017] Optionally, the path direction calculation module is configured to: for the i-th perspective among the multiple perspectives, based on the posture , the first transformation matrix and the point cloud , calculate the point cloud in the base coordinate system at the i-th viewing angle , where i=1, 2, ..., N, N is the number of the multiple perspectives, and N is an integer greater than 1; a plurality of point clouds corresponding to the multiple perspectives one by one Perform stitching to obtain a complete point cloud in the base coordinate system ; Based on the complete point cloud The preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , wherein the image coordinate system is used to obtain the preoperative medical image point cloud The coordinate system corresponding to the device; based on the transformation relationship matrix , the preoperative medical imaging point cloud The location of the opening point included and the location of the target , calculate the direction of the travel path .

[0018] Optionally, the travel path direction calculation module is configured to calculate the point cloud by the following formula: : .

[0019] Optionally, the path direction calculation module is configured to: calculate the point cloud of the preoperative medical image by a point cloud registration algorithm The transformation relationship matrix , so that the transformation relationship matrix Transformed preoperative medical image point cloud With the complete point cloud The degree of overlap between them is greater than or equal to a preset threshold.

[0020] Optionally, the travel path direction calculation module is configured to: calculate the transformation relationship matrix and the location of the opening point The product of , obtains the position of the opening point in the base coordinate system. ; Calculate the transformation relationship matrix and the location of the target The product of , obtains the position of the target point in the base coordinate system. ; Based on the location and the location , calculate the direction of the travel path .

[0021] Optionally, the transformation matrix calculation module is configured to: calculate the fourth transformation matrix by the following formula: :

[0022] in, Contains translation part and rotating part ;

[0023]

[0024]

[0025]

[0026] in, is the third transformation matrix The inverse matrix of To include The matrix of the upper left corner of the element, To include The matrix of the upper left corner of the part.

[0027] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a surgical tool positioning and moving method applied to a surgical robot according to the present disclosure.

[0028] According to the fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the surgical tool positioning and moving method applied to a surgical robot according to the present disclosure.

[0029] According to a fifth aspect of an embodiment of the present disclosure, there is provided a computer program product, comprising a computer program, which, when executed by a processor, implements the surgical tool positioning and moving method applied to a surgical robot according to the present disclosure.

[0030] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects: In the present disclosure, the "eyes on hands" solution is adopted, that is, the present disclosure can install the sensor above the end of the mechanical arm component included in the surgical robot. In this way, the mechanical arm connecting rod can be used to pull the sensor to move around the surgical object according to a predetermined trajectory, thereby realizing the close-range and multi-angle acquisition of surgical object information, that is, the close-range and multi-angle acquisition of surgical object high-precision point cloud can be realized, which can improve the comprehensiveness and accuracy of the acquired surgical object information, thereby improving the point cloud resolution and expanding the coverage, thereby improving the accuracy and efficiency of the surgery.

[0031] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0033] Figure 1 is a schematic structural diagram showing a surgical robot according to an exemplary embodiment of the present disclosure; Figure 2 is a flow chart showing a surgical tool positioning and moving method applied to a surgical robot according to an exemplary embodiment of the present disclosure; Figure 3 is a block diagram illustrating a surgical tool positioning and moving apparatus applied to a surgical robot according to an exemplary embodiment of the present disclosure; Figure 4 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The implementation methods described in the following examples do not represent all implementation methods consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0036] It should be noted that the phrase "at least one of the items" in the present disclosure includes three types of parallel situations: "any one of the items", "a combination of any number of the items", and "all of the items". For example, "including at least one of A and B" includes the following three types of parallel situations: (1) including A; (2) including B; (3) including A and B. Another example is "executing at least one of step 1 and step 2" which means the following three types of parallel situations: (1) executing step 1; (2) executing step 2; (3) executing step 1 and step 2.

[0037] In brain surgery, accurate positioning is crucial to the success of the operation. The positioning methods in related technologies have the following main defects: 1. Limitations of traditional mechanical positioning methods: For example, if a stereotactic instrument is used, the patient's head needs to be fixed on a rigid frame, which will limit the flexibility of surgical operations and increase the patient's discomfort and pain, especially in complex operations.

[0038] 2. Disadvantages of landmark-based positioning: (1) Rigid landmarks: Metal screws need to be implanted before surgery, which increases the risk of surgical trauma and infection.

[0039] (2) Non-rigid landmarks: Use landmarks attached to the patient’s skin surface for positioning. Due to the deformability of the skin, this method has low positioning accuracy and is difficult to meet the high-precision requirements of intraoperative positioning.

[0040] 3. Limitations of traditional face matching technology: "Face matching technology" usually refers to a method of aligning point clouds in different coordinate systems by using the registration between three-dimensional point cloud data. In related technologies, when performing face matching, the "eye outside the hand" configuration is generally adopted, that is, the sensor is generally fixed at a certain position in the operating room and cannot be moved. However, if the sensor is fixed, the imaging distance will be too large and the viewing angle will be fixed, which will lead to limited point cloud resolution and coverage, and thus make it difficult to obtain comprehensive and high-precision head information.

[0041] 4. Lack of an integrated surgical system: The robot-assisted system in related technologies has a single function and fails to achieve automated, integrated operations from positioning, opening holes to entry, resulting in cumbersome surgical procedures and low efficiency.

[0042] In order to solve the above-mentioned problems existing in the related art, the surgical tool positioning and moving method, device, electronic device, storage medium and computer program product provided by the present disclosure for use in a surgical robot adopt the "eyes in the hand" solution, that is, the present disclosure can install the sensor above the end of the mechanical arm component included in the surgical robot. In this way, the mechanical arm connecting rod can be used to pull the sensor to move around the surgical object according to a predetermined trajectory, thereby realizing the close-range and multi-angle acquisition of surgical object information, that is, the close-range and multi-angle acquisition of surgical object high-precision point cloud can be realized, which can improve the comprehensiveness and accuracy of the acquired surgical object information, thereby improving the point cloud resolution and expanding the coverage, thereby improving the accuracy and efficiency of the surgery.

[0043] Figure 1 is a schematic diagram showing the structure of a surgical robot according to an exemplary embodiment of the present disclosure. Figure 1The surgical robot provided by the present disclosure may mainly include a robotic arm component (1), a sensor (2) installed above the end of the robotic arm component (1), and a surgical tool (3) installed at the end of the robotic arm component (1). Furthermore, the surgical robot may also include a quick-change disk (4) installed at the end of the robotic arm component (1), and the surgical tool (3) may be installed on the quick-change disk (4). The above-mentioned robotic arm component (1) may include a plurality of robotic arm connecting rods connected end to end. Exemplarily, the robotic arm component (1) may include four robotic arm connecting rods connected end to end, namely: a robotic arm connecting rod (11), a robotic arm connecting rod (12), a robotic arm connecting rod (13) and a robotic arm connecting rod (14).

[0044] The above-mentioned robotic arm component (1) may have multiple degrees of freedom, and illustratively, may have 6 or more degrees of freedom. It is a mechanical device that can be precisely controlled by a computer to achieve movement and positioning, and is mainly used to control the precise movement and positioning of the above-mentioned sensor (2) and surgical tool (3).

[0045] The above-mentioned sensor (2) may be, but is not limited to: a 3D sensor. For example, it may be a structured light camera, a laser scanner, etc., which is mainly used to collect high-precision point cloud data of the patient's head. In addition, in the present disclosure, a color camera may be introduced to obtain texture information on the surface of the patient's head, and the accuracy of surface matching and registration may be improved by combining it with a 3D point cloud; or, a real-time imaging device such as an ultrasound device may be introduced to enhance the accuracy of intraoperative tissue identification and safety monitoring.

[0046] The above-mentioned surgical tools (3) can also be referred to as end tools, which are mainly used to be precisely controlled to enter the target point in the brain for treatment or research operations. Exemplarily, the surgical tools (3) may include but are not limited to: cranial drilling tools, drug injectors, electrode implantation needles, laser cutters, endoscopes, etc. Moreover, as mentioned above, these surgical tools (3) can be quickly switched through the aforementioned quick-change disk (4), thereby meeting the needs of different surgeries.

[0047] The quick-change plate (4) is used to quickly replace the surgical tool (3) installed at the end of the robotic arm, that is, it is mainly used to achieve rapid switching and reliable connection between different surgical tools (3).

[0048] In the present disclosure, a cranial drill tool or a needle-like tool can be integrated on the surgical robot, and the automatic integration and rapid switching of various surgical tools can be realized through a quick-change plate. The integrated and automated operations of positioning, opening holes, and entering can also be completed through precise robotic arm control, realizing the integrated integration of the entire surgical process, thereby simplifying the surgical process and improving surgical efficiency and precision.

[0049] Figure 2is a flow chart showing a method for positioning and moving a surgical tool applied to a surgical robot according to an exemplary embodiment of the present disclosure. As described above, the surgical robot may include a robotic arm component (1), a sensor (2) mounted above the end of the robotic arm component (1), and a surgical tool (3) mounted at the end of the robotic arm component (1). The robotic arm component (1) may include a plurality of robotic arm links connected end to end. Exemplarily, the robotic arm component (1) may include four robotic arm links connected end to end. It should be noted that the method for positioning and moving a surgical tool applied to a surgical robot provided by the present disclosure may be applicable but not limited to the following scenarios: intracranial drug delivery / implantation system for large animals.

[0050] Reference Figure 2 In step 201, the position and posture of the sensor (2) in the base coordinate system at each of the multiple viewing angles acquired in advance can be , the first transformation matrix between the coordinate system of the sensor (2) and the coordinate system of the end of the robot arm , point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the direction of the path of the tip of the surgical tool (3) The above-mentioned multiple viewing angles may be multiple viewing angles obtained by the sensor (2) when the sensor (2) is pulled by multiple robot arm links to move around the surgical object according to a predetermined trajectory. " can be a point cloud of the skin surface of the surgical object obtained by threshold segmentation, point cloud extraction, etc. based on CT or MRI images.

[0051] The above-mentioned “base coordinate system” may be the coordinate system of the target joint farthest from the end of the robot arm component (1) among the multiple joints connecting the multiple robot arm links. Figure 1 , the three joints connecting the four robot arm links: the robot arm link (11), the robot arm link (12), the robot arm link (13) and the robot arm link (14) can be respectively: the joint A for connecting the robot arm link (11) and the robot arm link (12); the joint B for connecting the robot arm link (12) and the robot arm link (13); and the joint C for connecting the robot arm link (13) and the robot arm link (14). At this time, the "base coordinate system" can be the coordinate system of the joint A farthest from the end of the robot arm component (1) among the three joints connecting the above four robot arm links. Specifically, the "base coordinate system" can be a coordinate system with the center of the joint A as the origin and the radial direction of the joint A as the Z axis.

[0052] The above-mentioned “robot arm end coordinate system” may be a coordinate system at the end of the robot arm component (1). Exemplarily, the “robot arm end coordinate system” may be a coordinate system with the center of the end circular end of the robot arm component (1) as the origin and the radial direction of the end circular end as the Z axis.

[0053] It should be noted that the 3D sensor can be pulled by the robotic arm to move around the head of the surgical object according to a predetermined trajectory to collect multi-view, high-resolution point cloud data. At this time, the surgical tool (3) is not installed at the end of the robotic arm to avoid occlusion and interference. In this way, in the present disclosure, by adopting the "eyes on the hand" solution, that is, by installing a high-resolution 3D sensor above the end of the robotic arm, it is possible to collect high-precision point clouds of the surgical object's head at close range and from multiple angles, thereby achieving non-invasive, high-precision surface matching positioning.

[0054] In addition, before the operation begins, the preoperative medical imaging point cloud of the surgical object can be obtained. (MRI, CT, etc.), and then reconstruct a 3D model of the head skin of the surgical object, that is, generate point cloud or mesh data of the head skin of the surgical object. Manual or automatic marking of intracranial targets Next, the cranial entry point can be determined based on the surgical requirements. , which is the location of the opening on the surface of the skull of the surgical subject Then, you can generate the To the target The direction of the travel path of the tip of the surgical tool (3) .

[0055] It should be noted that before the operation begins, a hand-eye calibration method can also be used to determine the coordinate transformation relationship between the coordinate system of the 3D sensor (2) and the coordinate system of the end of the robotic arm. In addition, if preoperative calibration is not performed, hand-eye calibration can also be completed during surgery through multi-view shooting and algorithm estimation.

[0056] According to an exemplary embodiment of the present disclosure, for the i-th perspective among the above-mentioned multiple perspectives, the position and posture , the first transformation matrix and point cloud , calculate the point cloud in the base coordinate system under the i-th perspective , where i=1, 2, ..., N, N can be the number of multiple viewing angles, and N can be an integer greater than 1. That is, in the present disclosure, the position and posture of the 3D sensor in the base coordinate system at each viewing angle can be obtained through the kinematic information of the robot arm. , and then the point cloud collected from each perspective can be Transform to the base coordinate system.

[0057] Then, multiple point clouds corresponding to the above multiple perspectives can be Perform stitching to obtain a complete point cloud in the base coordinate system That is, in the present disclosure, multi-view point cloud data can be The point cloud registration algorithm can be used to correct the accumulated errors and generate a complete head skin point cloud. It should be noted that the point cloud registration algorithm may be, but is not limited to: Iterative Closest Point (ICP), which is a common algorithm for point cloud registration, global registration algorithm, etc. In addition, in the process of point cloud stitching and registration, in addition to the above algorithms, more advanced algorithms can be introduced, such as deep learning algorithms, etc., so that the computational efficiency and registration accuracy can be further improved.

[0058] Next, based on the complete point cloud Preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , where the image coordinate system can be used to obtain the preoperative medical image point cloud That is, in the present disclosure, the three-dimensional head model obtained before surgery can be Point cloud collected during surgery Perform registration to solve the transformation relationship from the image coordinate system to the base coordinate system , where point cloud registration can adopt feature-based global registration algorithm or ICP algorithm.

[0059] Then, based on the above transformation relationship matrix , Preoperative medical imaging point cloud The location of the included openings and the location of the target , calculate the direction of the travel path .

[0060] According to an exemplary embodiment of the present disclosure, the point cloud can be calculated by the following formula : .

[0061] According to an exemplary embodiment of the present disclosure, a point cloud registration algorithm can also be used to calculate the preoperative medical image point cloud. The transformation relationship matrix , so that the transformation relationship matrix Transformed preoperative medical image point cloud With the complete point cloud The degree of overlap between them is greater than or equal to the preset threshold. That is, the point cloud registration algorithm can be used to find a point cloud registration algorithm that acts on The transformation relationship matrix , so that the transformed The best overlap.

[0062] Specifically, the above registration process can include two parts, namely: (1) First, use Fast Point Feature Histograms (FPFH) feature matching combined with Random Sample Consensus (RANSAC) algorithm for global rough registration; (2) Then use the point-to-plane iterative closest point algorithm (ICP) for local precise alignment.

[0063] For "global coarse registration", the following three steps can be included: 1) Downsample the point cloud to a certain isotropic resolution to reduce the amount of calculation and improve processing efficiency; 2) Estimate the normal vector of each point and calculate the FPFH descriptor, where the FPFH descriptor is a multidimensional vector that can be used to describe the local geometric features of each point; 3) Use the RANSAC algorithm to obtain the initial transformation. Specifically, first, we can get Then, we can select three points randomly from The FPFH vector in finds the most similar point to estimate the transformation matrix, which can be applied to the source point cloud. Next, the effect of the transformation can be evaluated by calculating the proportion of overlapping points between the transformed source point cloud and the target point cloud within a set threshold radius. Repeating this process multiple times, the transformation that obtains the highest point cloud overlap can be selected as the initial transformation for local fine registration.

[0064] For “local fine registration”, the goal of point-to-plane ICP is to convert the source point cloud Points in and target point cloud The nearest plane is matched, and its optimization goal can be expressed as:

[0065] in, yes The normal vector (length 1), superscript is the transpose symbol, yes Middle distance The nearest point. Thus, in the present disclosure, through hand-eye calibration, tool calibration and multi-view point cloud stitching technology, the conversion relationship between the coordinate systems can be accurately established, thereby ensuring high-precision registration between the preoperative image and the intraoperative coordinate system, so as to achieve the direction of the path of the tip of the surgical tool. accurate planning.

[0066] According to an exemplary embodiment of the present disclosure, the key points in the travel path direction of the tip of the surgical tool (3) planned before surgery can be transformed into the base coordinate system. Specifically, the transformation relationship matrix can be calculated and the location of the opening point The product of , to obtain the position of the opening point in the base coordinate system : ; You can also calculate the transformation relationship matrix and the location of the target The product of , to obtain the position of the target in the base coordinate system : Then, based on the location and location , calculate the direction of the travel path For example, the direction of the travel path can be calculated by the following formula: :

[0067] In this way, the surgical tool (3), i.e., the drill bit of the cranial drilling tool, can be aligned with the starting point of the travel path direction. , and make the travel direction follow the planned path direction The movement is performed so that the tip of the surgical tool (3) gradually moves to the intracranial target point of the surgical subject.

[0068] In step 202, the second transformation matrix from the robot end coordinate system to the base coordinate system in the current state can be obtained. and the target position that the tip of the surgical tool (3) is expected to reach , where the target position The target position may be one of the multiple positions that the tip of the surgical tool (3) is expected to reach during the process of reaching the target point from the opening point of the surgical object, i.e., the “target position”. " may be a position among a plurality of positions that the needle tip of the surgical tool (3) is expected to reach in the direction of the path from the opening point of the surgical object to the target point. "The second transformation matrix ” can be directly read from the robotic arm included in the surgical robot in its current state.

[0069] In step 203, based on the second transformation matrix , Target location , Travel path direction And the third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the movement of the tip of the surgical tool (3) to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system may be a coordinate system at the tip of the surgical tool (3). Exemplarily, the tool coordinate system may be a coordinate system with the tip of the surgical tool (3) as the origin and the axial direction of the surgical tool (3) as the Z axis.

[0070] It should be noted that in the present disclosure, the position and posture of the surgical tool (3) connected to the end of the robotic arm component (1) included in the surgical robot can be calibrated in advance to determine the fixed transformation matrix between the tool coordinate system and the robotic arm end coordinate system. .

[0071] According to an exemplary embodiment of the present disclosure, the fourth transformation matrix can be calculated by the following formula: , that is, the terminal transformation after moving can be expressed as:

[0072] in, It can be the transformation of the tool coordinate system from the initial position to the target position, which may only contain the unknown translation part and the unknown rotation part For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element 3-size matrix, Can include 3 of the upper right corner of the element A vector of size 1. Specifically: 1. Calculate the unknown translation part : The origin of the tool coordinate system can be . Then according to the transformation relationship: , to get the translation vector:

[0073] in, The third transformation matrix can be The inverse matrix of .

[0074] 2. Calculate the unknown rotation part : The standard axis in the tool coordinate system can be , then the target direction in the tool initial coordinate system can be expressed as:

[0075] Rotation Matrix Can satisfy:

[0076] Among them, as mentioned above, The third transformation matrix can be The inverse matrix of Can include For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element Matrix of size 3. Can include For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element Matrix of size 3.

[0077] In addition, the rotation matrix can also be expressed in the form of "rotation axis-angle" : Among them, the "rotation axis" can be expressed as:

[0078] The "rotation angle" can be expressed as:

[0079] Thus, by using the Rodrigues rotation formula we get :

[0080] in, For the above rotation matrix The inverse matrix of is the identity matrix, The rotation axis The antisymmetric matrix of :

[0081] In step 204, based on the fourth transformation matrix , controlling the tip of the surgical tool (3) to move from the current position to the target position That is, based on the fourth transformation matrix Align the axial direction (Z-axis direction of the tool coordinate system) of the surgical tool (3) with the target direction and gradually move the tip of the surgical tool (3) to the target position .

[0082] It should be noted that the surgical tool positioning and moving method for a surgical robot provided by the present disclosure can be applied not only to brain surgery scenarios, but also to other surgical scenarios, for example, including but not limited to: spinal surgery scenarios, orthopedic surgery scenarios, etc. Moreover, in the corresponding surgical scenarios, only the surgical tools need to be adjusted.

[0083] The surgical robot provided by the present disclosure can use multiple mechanical arm links connected end to end and carry high-resolution three-dimensional sensors. By using surface matching technology, high-precision three-dimensional reconstruction and positioning of the patient's or experimental animal's head can be achieved during surgery. In addition, through multi-view high-resolution point cloud acquisition and combined with preoperative medical image point clouds (for example, MRI, CT, etc.), accurate registration between the preoperative image coordinate system and the intraoperative coordinate system can be achieved, and then the surgical path can be accurately calculated. In addition, the surgical robot provided by the present disclosure can be integrated with a cranial drill tool or a needle-shaped tool (for example, a drug syringe, an electrode implantation needle, etc.), and can realize an integrated and automated surgical process from positioning, opening a hole to entering by controlling the mechanical arm, which can improve the accuracy and efficiency of the operation and reduce damage to patients or experimental animals.

[0084] Figure 3 is a block diagram showing a surgical tool positioning and moving device 300 applied to a surgical robot according to an exemplary embodiment of the present disclosure. The surgical robot may include a robotic arm component (1), a sensor (2) mounted above the end of the robotic arm component (1), and a surgical tool (3) mounted at the end of the robotic arm component (1). The robotic arm component (1) may include a plurality of robotic arm links connected end to end. Exemplarily, the robotic arm component (1) may include four robotic arm links connected end to end. It should be noted that the surgical tool positioning and moving method applied to a surgical robot provided by the present disclosure may be applicable but not limited to the following scenarios: intracranial drug delivery / implantation system for large animals.

[0085] Reference Figure 3The surgical tool positioning and moving device 300 applied to a surgical robot may include a travel path direction calculation module 301 , a target position acquisition module 302 , a transformation matrix calculation module 303 and a moving module 304 .

[0086] The path direction calculation module 301 can be based on the position and posture of the sensor (2) in each of the multiple perspectives acquired in advance in the base coordinate system. , the first transformation matrix between the coordinate system of the sensor (2) and the coordinate system of the end of the robot arm , point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the direction of the path of the tip of the surgical tool (3) The above-mentioned multiple viewing angles may be multiple viewing angles obtained by the sensor (2) when the sensor (2) is pulled by multiple robot arm links to move around the surgical object according to a predetermined trajectory. " can be a point cloud of the skin surface of the surgical object obtained by threshold segmentation, point cloud extraction, etc. based on CT or MRI images.

[0087] The above-mentioned “base coordinate system” may be a coordinate system at a target joint farthest from the end of the robotic arm component (1) among a plurality of joints connecting a plurality of robotic arm links; the above-mentioned “robotic arm end coordinate system” may be a coordinate system at the end end of the robotic arm component (1).

[0088] It should be noted that the 3D sensor can be pulled by the robotic arm to move around the head of the surgical object according to a predetermined trajectory to collect multi-view, high-resolution point cloud data. At this time, the surgical tool (3) is not installed at the end of the robotic arm to avoid occlusion and interference. In this way, in the present disclosure, by adopting the "eyes on the hand" solution, that is, by installing a high-resolution 3D sensor above the end of the robotic arm, it is possible to collect high-precision point clouds of the surgical object's head at close range and from multiple angles, thereby achieving non-invasive, high-precision surface matching positioning.

[0089] According to an exemplary embodiment of the present disclosure, the path direction calculation module 301 can calculate the direction of the i-th perspective of the above-mentioned multiple perspectives based on the posture , the first transformation matrix and point cloud , calculate the point cloud in the base coordinate system under the i-th perspective , where i=1, 2, …, N, N may be the number of multiple perspectives, and N may be an integer greater than 1.

[0090] Then, the path direction calculation module 301 can calculate the multiple point clouds corresponding to the multiple perspectives. Perform stitching to obtain a complete point cloud in the base coordinate system .

[0091] Next, the path direction calculation module 301 can calculate the direction of the path based on the complete point cloud. Preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , where the image coordinate system can be used to obtain the preoperative medical image point cloud That is, in the present disclosure, the three-dimensional head model obtained before surgery can be Point cloud collected during surgery Perform registration to solve the transformation relationship from the image coordinate system to the base coordinate system , where point cloud registration can adopt feature-based global registration algorithm or ICP algorithm.

[0092] Then, the path direction calculation module 301 can be based on the above transformation relationship matrix , Preoperative medical imaging point cloud The location of the included openings and the location of the target , calculate the direction of the travel path .

[0093] According to an exemplary embodiment of the present disclosure, the travel path direction calculation module 301 can calculate the point cloud by the following formula: : .

[0094] According to an exemplary embodiment of the present disclosure, the path direction calculation module 301 can also calculate the preoperative medical image point cloud by using a point cloud registration algorithm. The transformation relationship matrix , so that the transformation relationship matrix Transformed preoperative medical image point cloud With the complete point cloud The degree of overlap between them is greater than or equal to the preset threshold. That is, the path direction calculation module 301 can find a point cloud registration algorithm that acts on The transformation relationship matrix , so that the transformed The best overlap.

[0095] Thus, in the present disclosure, through hand-eye calibration, tool calibration and multi-view point cloud stitching technology, the conversion relationship between the coordinate systems can be accurately established, thereby ensuring high-precision registration between the preoperative image and the intraoperative coordinate system, so as to achieve the direction of the path of the tip of the surgical tool. accurate planning.

[0096] According to an exemplary embodiment of the present disclosure, the path direction calculation module 301 can transform the key points in the path direction of the tip of the surgical tool (3) planned before surgery into the base coordinate system. Specifically, the path direction calculation module 301 can calculate the transformation relationship matrix and the location of the opening point The product of , to obtain the position of the opening point in the base coordinate system : ; The path direction calculation module 301 can also calculate the transformation relationship matrix and the location of the target The product of , to obtain the position of the target in the base coordinate system : Then, the path direction calculation module 301 can calculate the direction of the path based on the position and location , calculate the direction of the travel path For example, the direction of the travel path can be calculated by the following formula: :

[0097] In this way, the surgical tool (3), i.e., the drill bit of the cranial drilling tool, can be aligned with the starting point of the travel path direction. , and make the travel direction follow the planned path direction The movement is performed so that the tip of the surgical tool (3) gradually moves to the intracranial target point of the surgical subject.

[0098] The target position acquisition module 302 can obtain the second transformation matrix from the robot end coordinate system to the base coordinate system in the current state and the target position that the tip of the surgical tool (3) is expected to reach , where the target position The target position may be one of the multiple positions that the tip of the surgical tool (3) is expected to reach during the process of reaching the target point from the opening point of the surgical object, i.e., the “target position”. " may be a position among a plurality of positions that the needle tip of the surgical tool (3) is expected to reach in the direction of the path from the opening point of the surgical object to the target point. "The second transformation matrix ” can be directly read from the robotic arm included in the surgical robot in its current state.

[0099] The transformation matrix calculation module 303 can be based on the second transformation matrix , Target location , Travel path direction And the third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the movement of the tip of the surgical tool (3) to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system may be a coordinate system at the tip of the surgical tool (3). Exemplarily, the tool coordinate system may be a coordinate system with the tip of the surgical tool (3) as the origin and the axial direction of the surgical tool (3) as the Z axis.

[0100] It should be noted that in the present disclosure, the position and posture of the surgical tool (3) connected to the end of the robotic arm component (1) included in the surgical robot can be calibrated in advance to determine the fixed transformation matrix between the tool coordinate system and the robotic arm end coordinate system. .

[0101] According to an exemplary embodiment of the present disclosure, the transformation matrix calculation module 303 can calculate the fourth transformation matrix by the following formula: , that is, the terminal transformation after moving can be expressed as:

[0102] in, It can be the transformation of the tool coordinate system from the initial position to the target position, which may only contain the unknown translation part and the unknown rotation part For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element 3-size matrix, Can include 3 of the upper right corner of the element A vector of size 1. Specifically: 1. Calculate the unknown translation part : The origin of the tool coordinate system can be . Then according to the transformation relationship: , to get the translation vector:

[0103] in, The third transformation matrix can be The inverse matrix of .

[0104] 2. Calculate the unknown rotation part : The standard axis in the tool coordinate system can be , then the target direction in the tool initial coordinate system can be expressed as:

[0105] Rotation Matrix Can satisfy:

[0106] Among them, as mentioned above, The third transformation matrix can be The inverse matrix of Can include For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element Matrix of size 3. Can include For example, suppose For 4 4-size matrix, then Can include 3 of the upper left corner of the element Matrix of size 3.

[0107] The movement module 304 can be based on the fourth transformation matrix , controlling the tip of the surgical tool (3) to move from the current position to the target position That is, the mobile module 304 can be based on the fourth transformation matrix Align the axial direction (Z-axis direction of the tool coordinate system) of the surgical tool (3) with the target direction and gradually move the tip of the surgical tool (3) to the target position .

[0108] It should be noted that the surgical tool positioning and moving method for a surgical robot provided by the present disclosure can be applied not only to brain surgery scenarios, but also to other surgical scenarios, for example, including but not limited to: spinal surgery scenarios, orthopedic surgery scenarios, etc. Moreover, in the corresponding surgical scenarios, only the surgical tools need to be adjusted.

[0109] Figure 4 is a block diagram illustrating an electronic device 400 according to an exemplary embodiment of the present disclosure.

[0110] Reference Figure 4The electronic device 400 includes at least one memory 401 and at least one processor 402, wherein the at least one memory 401 stores instructions, and when the instructions are executed by the at least one processor 402, a surgical tool positioning and moving method applied to a surgical robot according to an exemplary embodiment of the present disclosure is executed.

[0111] As an example, the electronic device 400 may be a PC, a tablet device, a personal digital assistant, a smart phone, or other device capable of executing the above instructions. Here, the electronic device 400 is not necessarily a single electronic device, but may also be any device or circuit collection capable of executing the above instructions (or instruction sets) individually or in combination. The electronic device 400 may also be part of an integrated control system or system manager, or may be configured as a portable electronic device interconnected with a local or remote (e.g., via wireless transmission) interface.

[0112] In the electronic device 400, the processor 402 may include a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device, a dedicated processor system, a microcontroller or a microprocessor. As an example and not limitation, the processor may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, etc.

[0113] The processor 402 may execute instructions or codes stored in the memory 401, which may also store data. Instructions and data may also be sent and received over a network via a network interface device, which may employ any known transmission protocol.

[0114] The memory 401 may be integrated with the processor 402, for example, by placing RAM or flash memory within an integrated circuit microprocessor or the like. In addition, the memory 401 may include a separate device, such as an external disk drive, a storage array, or any other storage device that can be used by a database system. The memory 401 and the processor 402 may be operatively coupled, or may communicate with each other, such as through an I / O port, a network connection, etc., so that the processor 402 can read files stored in the memory.

[0115] In addition, the electronic device 400 may further include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, a mouse, a touch input device, etc.) All components of the electronic device 400 may be connected to each other via a bus and / or a network.

[0116] According to an exemplary embodiment of the present disclosure, a computer-readable storage medium may also be provided, and when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above-mentioned surgical tool positioning and moving method applied to a surgical robot. Examples of computer-readable storage media here include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), card storage (such as, multimedia card, secure digital (SD) card or extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk and any other device, any other device is configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and provide the computer programs and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the computer program. The computer program in the above-mentioned computer-readable storage medium can be run in an environment deployed in a computer device such as a client, a host, an agent device, a server, etc. In addition, in one example, the computer program and any associated data, data files and data structures are distributed on a networked computer system, so that the computer program and any associated data, data files and data structures are stored, accessed and executed in a distributed manner by one or more processors or computers.

[0117] According to an exemplary embodiment of the present disclosure, a computer program product may also be provided, including a computer program, which, when executed by a processor, implements the surgical tool positioning and moving method applied to a surgical robot according to the present disclosure.

[0118] According to the surgical tool positioning and moving method, device, electronic device, storage medium and computer program product disclosed in the present invention, the "eyes in hands" solution is adopted, that is, the present invention can install the sensor above the end of the mechanical arm component included in the surgical robot. In this way, the mechanical arm connecting rod can be used to pull the sensor to move around the surgical object according to a predetermined trajectory, thereby realizing the close-range and multi-angle acquisition of surgical object information, that is, the close-range and multi-angle acquisition of surgical object high-precision point cloud can be realized, which can improve the comprehensiveness and accuracy of the acquired surgical object information, thereby improving the point cloud resolution and expanding the coverage, thereby improving the accuracy and efficiency of the surgery.

[0119] According to the exemplary embodiments of the present disclosure, a cranial drill tool or a needle-like tool can be integrated on the surgical robot, and the automatic integration and rapid switching of various surgical tools can be realized through a quick-change plate. The integrated and automated operations of positioning, opening holes, and entering can also be completed through precise robotic arm control, realizing the integrated integration of the entire surgical process, thereby simplifying the surgical process and improving surgical efficiency and precision.

[0120] According to an exemplary embodiment of the present disclosure, by adopting the "eyes on hands" solution, that is, by installing a high-resolution 3D sensor above the end of the robotic arm, it is possible to acquire high-precision point clouds of the surgical object's head at close range and from multiple angles, thereby achieving non-invasive, high-precision surface matching positioning.

[0121] According to an exemplary embodiment of the present disclosure, through hand-eye calibration, tool calibration and multi-view point cloud stitching technology, the conversion relationship between each coordinate system can be accurately established, thereby ensuring high-precision alignment between the preoperative image and the intraoperative coordinate system, thereby achieving accurate planning of the travel path direction of the tip of the surgical tool.

[0122] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0123] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for positioning and moving a surgical tool applied to a surgical robot, the surgical robot comprising a mechanical arm component, a sensor mounted above the end of the mechanical arm component, and a surgical tool mounted at the end of the mechanical arm component, the mechanical arm component comprising a plurality of mechanical arm links connected end to end, characterized in that: The surgical tool positioning and moving method comprises: Based on the position and posture of the sensor in the base coordinate system at each of the multiple perspectives acquired in advance , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool , wherein the multiple viewing angles are multiple viewing angles obtained by the sensor when the sensor is pulled by the multiple robot arm links to move around the surgical object according to a predetermined trajectory, the base coordinate system is a coordinate system at a target joint farthest from the end of the robot arm component among the multiple joints connecting the multiple robot arm links, and the robot arm end coordinate system is a coordinate system at the end of the robot arm component; Get the second transformation matrix from the robot end coordinate system to the base coordinate system in the current state and the target position that the tip of the surgical tool is expected to reach , wherein the target location It is one of the multiple positions that the tip of the surgical tool is expected to reach in the process of reaching the target point from the opening point of the surgical object; Based on the second transformation matrix , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system is a coordinate system at the tip of the surgical tool; Based on the fourth transformation matrix , controlling the tip of the surgical tool to move from the current position to the target position .

2. The method for positioning and moving a surgical tool according to claim 1, wherein: The position and posture of the sensor in the base coordinate system at each of the multiple perspectives acquired in advance , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool ,include: For the i-th perspective among the multiple perspectives, based on the posture , the first transformation matrix and the point cloud , calculate the point cloud in the base coordinate system at the i-th viewing angle , wherein i=1, 2, ..., N, N is the number of the multiple perspectives, and N is an integer greater than 1; A plurality of point clouds corresponding to the plurality of perspectives one by one Perform stitching to obtain a complete point cloud in the base coordinate system ; Based on the complete point cloud The preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system , wherein the image coordinate system is used to obtain the preoperative medical image point cloud The coordinate system corresponding to the device; Based on the transformation relationship matrix , the preoperative medical imaging point cloud The location of the opening point included and the location of the target , calculate the direction of the travel path .

3. The surgical tool positioning and moving method according to claim 2, characterized in that: Based on the posture , the first transformation matrix and the point cloud , calculate the point cloud in the base coordinate system at the i-th viewing angle ,include: The point cloud is calculated by the following formula : 。 4. The method for positioning and moving a surgical tool according to claim 2, wherein: Based on the complete point cloud The preoperative medical imaging point cloud , calculate the transformation relationship matrix between the image coordinate system and the base coordinate system ,include: The point cloud registration algorithm is used to calculate the point cloud of the preoperative medical image. The transformation relationship matrix , so that the transformation relationship matrix Transformed preoperative medical image point cloud With the complete point cloud The degree of overlap between them is greater than or equal to a preset threshold.

5. The method for positioning and moving a surgical tool according to claim 2, wherein: The transformation relationship matrix based on , the preoperative medical imaging point cloud The location of the opening point included and the location of the target , calculate the direction of the travel path ,include: Calculate the transformation relationship matrix and the location of the opening point The product of , obtains the position of the opening point in the base coordinate system. ; Calculate the transformation relationship matrix and the location of the target The product of , obtains the position of the target point in the base coordinate system. ; Based on the location and the location , calculate the direction of the travel path .

6. The surgical tool positioning and moving method according to claim 1, characterized in that: The second transformation matrix , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is ,include: The fourth transformation matrix is ​​calculated by the following formula : in, Contains translation part and rotating part ; in, is the third transformation matrix The inverse matrix of To include The matrix of the upper left corner of the element, To include The matrix of the upper left corner of the part.

7. A surgical tool positioning and moving device applied to a surgical robot, the surgical robot comprising a mechanical arm component, a sensor mounted above the end of the mechanical arm component, and a surgical tool mounted at the end of the mechanical arm component, the mechanical arm component comprising a plurality of mechanical arm connecting rods connected end to end, characterized in that: The surgical tool positioning and moving device comprises: A path direction calculation module is configured to calculate the position and posture of the sensor in the base coordinate system at each of the multiple perspectives acquired in advance. , the first transformation matrix between the coordinate system of the sensor and the coordinate system of the end of the robot arm , the point cloud collected at each viewing angle And preoperative medical imaging point cloud , calculate the travel path direction of the tip of the surgical tool , wherein the multiple viewing angles are multiple viewing angles obtained by the sensor when the sensor is pulled by the multiple robot arm links to move around the surgical object according to a predetermined trajectory, the base coordinate system is a coordinate system at a target joint farthest from the end of the robot arm component among the multiple joints connecting the multiple robot arm links, and the robot arm end coordinate system is a coordinate system at the end of the robot arm component; The target position acquisition module is configured to obtain the second transformation matrix from the robot end coordinate system to the base coordinate system in the current state. and the target position that the tip of the surgical tool is expected to reach , wherein the target location It is one of the multiple positions that the tip of the surgical tool is expected to reach in the process of reaching the target point from the opening point of the surgical object; A transformation matrix calculation module is configured to calculate the transformation matrix based on the second transformation matrix. , the target location , the direction of the travel path and a third transformation matrix between the pre-acquired tool coordinate system and the robot end coordinate system , calculate the tip of the surgical tool to move to the target position The fourth transformation matrix between the robot end coordinate system and the base coordinate system is , wherein the tool coordinate system is a coordinate system at the tip of the surgical tool; A moving module is configured to move the , controlling the tip of the surgical tool to move from the current position to the target position .

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the surgical tool positioning and moving method applied to a surgical robot as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the surgical tool positioning and moving method applied to a surgical robot as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the surgical tool positioning and moving method applied to a surgical robot is implemented as described in any one of claims 1 to 6.

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