Puncture needle tip calibration method, device, apparatus, storage medium, and system

Abstract

The application relates to a puncture needle tip calibration method, device, equipment, storage medium and system. The puncture needle tip calibration method comprises the following steps: in the case that the puncture needle tip reaches a needle tip calibration module, a first space pose of the needle tip calibration module relative to an optical tracking module is acquired, and a second space pose of a space positioning tracking module relative to the optical tracking module is acquired; a third space pose of the puncture needle tip relative to a movement starting position of a puncture sliding table module is determined according to the first space pose and the second space pose; a real-time movement distance of the puncture sliding table module is acquired, and a first real-time pose of the puncture needle tip relative to the optical tracking module is determined according to the real-time movement distance and the third space pose. The application can simplify the calibration process and improve the calibration accuracy when the puncture needle is replaced once or multiple times.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a puncture needle tip calibration method, device, equipment, storage medium and system. BACKGROUND

[0002] The puncture robot system can control the operation of the puncture needle including the Kirschner wire and the like to implement the surgical process and ensure the smooth progress of the surgical process.

[0003] Some puncture robot systems can install the puncture needle on the robot end tool, determine the target target point, and control the movement of the puncture needle, so that the puncture needle tip can reach the determined target target point, thereby assisting the doctor to complete the planned operation and improving the safety and efficiency of the operation. Among them, by calibrating the position of the puncture needle tip in the working space, the control of the puncture needle tip reaching the target target point can be realized. SUMMARY

[0004] Therefore, the embodiments of the present application provide a puncture needle tip calibration method, device, equipment, storage medium and system to solve at least one problem in the background art.

[0005] In a first aspect, the embodiments of the present application provide a puncture needle tip calibration method, which comprises:

[0006] In the case where the puncture needle tip reaches the needle tip calibration module, the first spatial pose of the needle tip calibration module relative to the optical tracking module is obtained, and the second spatial pose of the spatial positioning tracking module relative to the optical tracking module is obtained; and according to the first spatial pose and the second spatial pose, the third spatial pose of the puncture needle tip relative to the movement starting position of the puncture sliding table module is determined.

[0007] The real-time distance of the movement of the puncture sliding table module is obtained, and according to the real-time distance of the movement and the third spatial pose, the first real-time pose of the puncture needle tip relative to the optical tracking module is determined.

[0008] The needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the movement starting position of the puncture sliding table module, and the puncture sliding table module is used to move the puncture needle installed thereon.

[0009] In combination with the first aspect, in an optional implementation manner, the first spatial pose of the needle tip calibration module relative to the optical tracking module is obtained, which comprises:

[0010] In the process that the puncture slide platform module drives the puncture needle to move in the first moving direction to the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded every preset time interval;

[0011] From all the recorded spatial positions, a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module is searched, and the spatial position is taken as an initial spatial position of the needle tip calibration module relative to the optical tracking module in the case that the puncture needle tip reaches the needle tip calibration module;

[0012] According to the initial spatial position, a first spatial pose of the needle tip calibration module relative to the optical tracking module is determined.

[0013] In combination with the first aspect, in an optional implementation, the obtaining of the first spatial pose of the needle tip calibration module relative to the optical tracking module includes:

[0014] In the case that the puncture slide platform module drives the puncture needle to move in the first moving direction to make the puncture needle tip reach the needle tip calibration module, when the puncture slide platform module drives the puncture needle to move in the second moving direction to make the puncture needle tip leave the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and the spatial position is taken as an initial spatial position of the needle tip calibration module relative to the optical tracking module in the case that the puncture needle tip reaches the needle tip calibration module;

[0015] According to the initial spatial position, a first spatial pose of the needle tip calibration module relative to the optical tracking module is determined.

[0016] In combination with the first aspect, in an optional implementation, the determining of the first real-time pose of the puncture needle tip relative to the optical tracking module according to the moving real-time distance and the third spatial pose includes:

[0017] A real-time translation matrix of the puncture needle tip is determined according to the moving real-time distance;

[0018] A first real-time pose of the puncture needle tip relative to the optical tracking module is determined according to the real-time translation matrix and the third spatial pose.

[0019] In combination with the first aspect, in an optional implementation, the determining of the real-time translation matrix of the puncture needle tip according to the moving real-time distance includes:

[0020] acquire a movement initial distance of the puncture slide table module when the puncture needle tip reaches the needle tip calibration module, and determine a movement distance of the puncture needle tip relative to the needle tip calibration module according to the movement real-time distance and the movement initial distance;

[0021] determine a real-time translation matrix of the puncture needle tip according to the movement distance.

[0022] In combination with the first aspect, in an optional implementation, the determining the first real-time pose of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial pose comprises:

[0023] acquiring a second real-time pose of the spatial positioning tracking module relative to the optical tracking module;

[0024] determining the first real-time pose of the puncture needle tip relative to the optical tracking module according to the second real-time pose, the third spatial pose and the real-time translation matrix.

[0025] In combination with the first aspect, in an optional implementation, the puncture needle tip calibration method further comprises:

[0026] calibrating a movement starting position of the puncture slide table module in a case that the puncture slide table module reaches the spatial positioning tracking module.

[0027] Secondly, the present application provides a puncture needle tip calibration device, which comprises:

[0028] a first determining module, configured to acquire a first spatial pose of a needle tip calibration module relative to an optical tracking module and acquire a second spatial pose of a spatial positioning tracking module relative to the optical tracking module in a case that a puncture needle tip reaches the needle tip calibration module, and determine a third spatial pose of the puncture needle tip relative to a movement starting position of a puncture slide table module according to the first spatial pose and the second spatial pose;

[0029] a second determining module, configured to acquire a movement real-time distance of the puncture slide table module, and determine a first real-time pose of the puncture needle tip relative to the optical tracking module according to the movement real-time distance and the third spatial pose;

[0030] The needle tip calibration module is configured to calibrate an initial calibration position of the puncture needle tip, the spatial positioning tracking module is configured to calibrate a movement starting position of the puncture slide table module, and the puncture slide table module is configured to move the puncture needle installed thereon.

[0031] In a third aspect, an electronic device is provided, which includes a processor, a memory, and an executable program stored in the memory and capable of being executed by the processor. When the processor executes the executable program, the steps of the puncture needle tip calibration method according to the first aspect are performed.

[0032] In a fourth aspect, a storage medium is provided, which stores an executable program. When the executable program is executed by a processor, the steps of the puncture needle tip calibration method according to the first aspect are implemented.

[0033] In a fifth aspect, a puncture needle tip calibration system is provided, which includes an optical tracking module, an end tool module, a puncture slide table initial positioning sensing module, a spatial positioning tracking module, a needle tip calibration module, and a processor.

[0034] The optical tracking module is configured to acquire a spatial position of the needle tip calibration module and a spatial pose of the spatial positioning tracking module.

[0035] The end tool module includes a puncture slide table module, which is configured to mount and move a puncture needle.

[0036] The puncture slide table initial positioning sensing module is fixed at an end of the end tool module, and is configured to indicate a starting position of the puncture slide table module.

[0037] The spatial positioning tracking module is fixed at the end of the end tool module, and is configured to calibrate the starting position of the puncture slide table module.

[0038] The needle tip calibration module is fixed at a head end of the end tool module, and is configured to calibrate an initial calibration position of a puncture needle tip.

[0039] The processor is configured to implement the steps of the puncture needle tip calibration method according to the first aspect.

[0040] In an optional embodiment of the fifth aspect, the end tool module further includes a puncture lead screw module and a rotary clamping puncture module.

[0041] The puncture lead screw module is configured to drive the puncture slide table module to move, so as to drive the puncture needle to move, and measure a distance of the puncture slide table module.

[0042] The rotary clamping puncture module is fixed on the puncture slide table module, and is configured to clamp the puncture needle.

[0043] The beneficial effects brought by the technical solutions provided in the embodiments of the present application include: by determining the real-time pose of the puncture needle tip relative to the optical tracking module, automatic calibration of the puncture needle can be realized when the puncture needle is replaced once or multiple times, human intervention is not needed for recalibration, the problem of repeated calibration and complex process caused by multiple needle replacements can be effectively solved, the calibration process is simplified, the operation time is shortened, the operation time cost is reduced, and the patient's pain is reduced. Moreover, the puncture needle calibration process does not need human intervention, errors caused by human factors can be reduced, and the calibration accuracy is improved. Moreover, in the puncture needle calibration process, only the optical tracking module and the device for installing, moving and calibrating the puncture needle are needed, other devices are not needed to assist in calibration, and the equipment procurement and training costs are reduced.

[0044] Some of the aspects and advantages of the embodiments of the present application will be given in the following description, some will become apparent from the following description, or will be understood by those skilled in the art through practice of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0045] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application, wherein the drawings are not necessarily drawn to scale, and some local features can be enlarged or reduced to more clearly show the details of the local features. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A flowchart of a specific example of a puncture needle tip calibration method in the embodiments of the present application;

[0047] Figure 2 A flowchart of another specific example of a puncture needle tip calibration method in the embodiments of the present application;

[0048] Figure 3 A principle block diagram of a specific example of a puncture needle tip calibration device in the embodiments of the present application;

[0049] Figure 4 A principle block diagram of a specific example of an electronic device in the embodiments of the present application;

[0050] Figure 5 A structure diagram of a specific example of a puncture needle tip calibration system in the embodiments of the present application. DETAILED DESCRIPTION

[0051] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0052] The embodiments of the present application are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present application. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing part of the steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, part or all steps of different embodiments can be combined arbitrarily, an embodiment can be combined with optional implementation manners of other embodiments.

[0053] In the embodiments of the present application, the terms and / or descriptions of the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0054] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and not as a limitation on the present application.

[0055] In the embodiments of the present application, unless otherwise specified, the elements expressed in singular form, such as "one", "a", "the", "above", "said", "preceding", "this" and the like, can represent "one and only one", or "one or more", "at least one" and the like. For example, in the case of using articles such as "a", "an", "the" and the like in English, the noun after the article can be understood as singular expression, or can be understood as plural expression.

[0056] In the embodiments of the present application, "a plurality of" means two or more.

[0057] In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple" and the like can be replaced with each other.

[0058] In some embodiments, the description of "at least one of A, B", "A and / or B", "in one case A, in another case B", "one case A, another case B", etc. can include the following technical solutions: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selected from A and B (A and B are selectively executed); in some embodiments, A and B (A and B are executed). When there are more branches such as A, B, C, etc., the above description is similar.

[0059] In some embodiments, the description of "A or B" and the like can include the following technical solutions according to the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above description is similar.

[0060] The prefix words "first", "second" and the like in the embodiments of the present application are only used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, value or content of the description objects. The description of the description objects should refer to the description in the context of the claims or embodiments, and should not constitute an unnecessary limitation because of the use of the prefix words. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields", and "first" and "second" do not limit whether the "fields" modified by them are in the same message or not, nor limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the value of the description object is not limited by the ordinal words, and can be one or more. For example, "first device", the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different; for another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and their contents can be the same or different.

[0061] In some embodiments, the terms "…", "determine …", "in the case of …", "when …", "when …", "if …", "if …" and the like can be replaced with each other.

[0062] In some embodiments, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", and the like can be replaced with each other.

[0063] In some embodiments, the apparatus and the like can be interpreted as entities, and can also be interpreted as virtual, and the names thereof are not limited to the names described in the embodiments. The terms "apparatus", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", and the like can be replaced with each other.

[0064] In some embodiments, the term "connection" can mean that there is a transfer of electrical signals or data between the connected end and the connected end, and can be understood as "electrical connection", "communication connection", and the like. The "connection" can be a direct connection between two components, or an indirect connection established through other components, or a connection within two components, or any other possible connection.

[0065] The present specification provides method operation steps such as embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. When the device, system or server product is actually executed, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment).

[0066] In the process of implementing the present application, the inventors found that the related art has the following problems:

[0067] In some examples, the needle tip calibration method of the orthopedic puncture needle (such as Kirschner wire, etc.) usually uses a three-dimensional coordinate measuring instrument to obtain the position of the needle tip in the working space; or fuses an optical tracking system to calibrate the needle tip by using a standard calibration tool, but these methods usually require manual installation of the puncture needle on the tool, and some even require manual alignment of the puncture needle tip with the preset reference position during installation. Manual participation in the calibration process is complicated and time-consuming, and there is human error. Different people in different states cause inconsistent error sizes, which can easily accumulate errors and cannot achieve automatic calibration of the puncture needle tip.

[0068] In addition, in a surgical procedure requiring multiple manual replacement of the puncture needle, the tip of the puncture needle needs to be recalibrated each time the puncture needle is replaced, the process is more complex, the operation time is long, the patient's pain time is increased, and unpredictable risks are brought to the operation.

[0069] The puncture needle tip calibration method provided in the embodiments of the present application can realize automatic calibration of the puncture needle, can be applicable to single puncture needle calibration, and can also be applicable to multiple puncture needle calibration, and simplifies the multiple needle replacement and repeated calibration process.

[0070] Figure 1 A flowchart of a specific example of the puncture needle tip calibration method of the embodiments of the present application is shown. As shown in the figure, Figure 1 The puncture needle tip calibration method comprises the following steps.

[0071] Step S100: In the case that the puncture needle tip reaches the needle tip calibration module, a first spatial pose of the needle tip calibration module relative to the optical tracking module is obtained, and a second spatial pose of the spatial positioning tracking module relative to the optical tracking module is obtained; and a third spatial pose of the puncture needle tip relative to a movement starting position of the puncture slide module is determined according to the first spatial pose and the second spatial pose.

[0072] Step S200: The real-time distance of the movement of the puncture slide module is obtained, and a first real-time pose of the puncture needle tip relative to the optical tracking module is determined according to the real-time distance of the movement and the third spatial pose.

[0073] The needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the movement starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

[0074] In the present application, the puncture needle can be used to puncture into a target to be detected. The target to be detected can include the body of a human or an animal. The puncture needle can have different names, such as a Kirschner wire, a bone cutter, a treatment needle, etc., and the names are not limited here.

[0075] The optical tracking module can have different names, such as an optical navigation device, etc., and the names are not limited here.

[0076] In some possible implementation manners, the optical tracking module can include at least one of the following: a binocular positioning camera, an OTS (Optical Tracking System) optical positioning device, an infrared tracker, and a structured light camera.

[0077] In some possible implementation manners, the optical tracking module can be placed in the working environment, and a field of view of the optical tracking module can capture the needle tip calibration module and the spatial positioning tracking module. The optical tracking module can output the acquired poses or spatial positions to achieve acquisition of the poses or the spatial positions.

[0078] For example, the optical tracking module can be placed such that a field of view of the optical tracking module captures an end tool module in the puncture robot system. The end tool module can be used to install and move the puncture needle.

[0079] In this application, a pose can be a description of a position and an attitude of an object in a three-dimensional space. In some possible implementation manners, the description of the pose can include at least one of the following: three translation parameters (for example, x, y, z coordinates) of the object in the three-dimensional space, three rotation parameters (for example, rotation angles around the x-axis, the y-axis, and the z-axis). In some possible implementation manners, the representation of the three rotation parameters can include at least one of the following: Euler angles, quaternions, and rotation matrices.

[0080] In this application, the spatial pose of A relative to B can be understood as a position and an attitude of A in a coordinate system of B. The pose can be referred to as a spatial coordinate, and the name is not limited herein.

[0081] In some possible implementation manners, the needle tip calibration module can include an active light-emitting marker (for example, an active light-emitting reflective ball) or a passive marker (for example, a passive light-reflecting reflective ball). In some possible implementation manners, the puncture needle tip reaching the needle tip calibration module can be understood as the puncture needle tip shielding the active light-emitting marker or the passive marker of the needle tip calibration module, so that the optical tracking module cannot detect the active light-emitting marker or the passive marker.

[0082] For example, the needle tip calibration module can be fixed at a leading end (corresponding to a tail end of the end tool module) of the end tool module, and used to indicate an initial calibration position of the puncture needle tip. In this application, the leading end and the tail end are relative positions, and are not limited to absolute positions.

[0083] For example, the active light-emitting marker or the passive marker of the needle tip calibration module can be installed on an extension line of the puncture needle, so that the puncture needle only needs to be translated along the extension line to reach the needle tip calibration module and shield the active light-emitting marker or the passive marker of the puncture needle tip, thereby simplifying the calibration process. It should be understood by those skilled in the art that the active light-emitting marker or the passive marker of the needle tip calibration module is not limited to being installed on the extension line of the puncture needle, and can also be installed in other ways, for example, the puncture needle tip can move along an arbitrary trajectory to reach the needle tip calibration module to shield the active light-emitting marker or the passive marker.

[0084] In some possible implementations, the spatial positioning tracking module can include a tracking bracket and more than three active light-emitting markers or passive markers, which are fixed on the tracking bracket in a preset manner, and the tracking bracket is fixed on a marker position (such as a patient, an end tool module, etc.) to be positioned and calibrated, for identifying the tracking of the marker position in the working space.

[0085] In some possible implementations, the optical tracking module can obtain at least the following:

[0086] The spatial position of the needle tip calibration module relative to the optical tracking module. For example, the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module can be recorded as P0.

[0087] The spatial pose of the spatial positioning tracking module relative to the optical tracking module. For example, the second spatial pose of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module can be recorded as T_OTS_Tool0.

[0088] In some possible implementations, the manner in which the optical tracking module obtains the spatial position or pose can include at least one of the following:

[0089] The optical tracking module can measure the spatial position of the needle tip calibration module or the pose of the spatial positioning tracking module, so as to obtain the spatial position or pose of the preset position relative to the optical tracking module.

[0090] The optical tracking module emits a laser beam to the preset position and receives a reflected laser signal, measures the time difference from emission to reception or the reflection angle of the laser, so as to obtain the spatial position or pose of the preset position relative to the optical tracking module.

[0091] In some possible implementations, the third spatial pose T_Tool0_P0 of the puncture needle tip relative to the movement starting position of the puncture slide module and the first real-time pose T_OTS_P of the puncture needle tip relative to the optical tracking module can be obtained by using pose conversion. In some possible implementations, the pose conversion can be implemented based on at least one intermediate pose. After the first real-time pose of the puncture needle tip relative to the optical tracking module is determined, the puncture needle tip calibration is completed.

[0092] In some possible implementation manners, in the case that the puncture needle tip reaches the needle tip calibration module, the first spatial pose of the needle tip calibration module relative to the optical tracking module is equivalent to the spatial pose of the puncture needle tip relative to the optical tracking module; and the second spatial pose of the spatial positioning tracking module relative to the optical tracking module is equivalent to the spatial pose of the movement starting position of the puncture slide table module relative to the optical tracking module.

[0093] For example, the calculation formula of the third spatial pose T_Tool0_P0 of the puncture needle tip relative to the movement starting position of the puncture slide table module is as follows:

[0094] T_Tool0_P0 = T_OTS_Tool0.inverse() * T_OTS_P0 (1)

[0095] Wherein,.inverse() represents the inverse of the matrix, T_OTS_Tool0 represents the second spatial pose of the spatial positioning tracking module relative to the optical tracking module, and T_OTS_P0 represents the first spatial pose of the needle tip calibration module relative to the optical tracking module.

[0096] Through the above step S100, the third spatial pose of the puncture needle tip relative to the movement starting position of the puncture slide table module can be automatically determined each time when the puncture needle is replaced once or multiple times, so as to facilitate the subsequent automatic tracking calibration of the puncture needle tip and simplify the calibration process. Moreover, the calibration accuracy can be improved without human intervention.

[0097] In some possible implementation manners, the real-time movement distance Lc of the puncture slide table module can be measured by the encoding sensing module.

[0098] Through the above step S200, the movement distance of the puncture needle tip relative to the needle tip calibration module can be obtained in combination with the real-time movement distance of the puncture slide table module, so as to perform pose conversion in combination with the third spatial pose, track the real-time pose of the puncture needle tip, realize the automatic calibration of the puncture needle tip, and simplify the calibration process. Moreover, the calibration accuracy can be improved without human intervention.

[0099] In this way, through the above steps S100 to S200, the real-time pose of the puncture needle tip relative to the optical tracking module can be automatically determined each time when the puncture needle is replaced once or multiple times, the automatic calibration of the puncture needle is realized, the problem of repeated calibration and complex process caused by multiple needle replacement can be effectively solved, the calibration process is simplified, the operation time is shortened, the operation cost is reduced, and the pain of the patient is reduced. Moreover, the puncture needle calibration process does not need human intervention, the error caused by human factors can be reduced, and the calibration accuracy is improved. Moreover, only the optical tracking module and the device for puncture needle installation, movement and calibration are needed in the puncture needle calibration process, and other devices are not needed to assist in calibration, so that the equipment procurement and training costs are reduced.

[0100] In an optional implementation, the obtaining, in step S100, of the first spatial pose of the needle tip calibration module relative to the optical tracking module comprises:

[0101] During movement of the puncture slide table module driving the puncture needle to move towards the needle tip calibration module in a first movement direction, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded every preset time interval;

[0102] From all the recorded spatial positions, a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module is searched, and the spatial position is taken as the initial spatial position of the needle tip calibration module relative to the optical tracking module in the case that the puncture needle tip reaches the needle tip calibration module;

[0103] According to the initial spatial position, the first spatial pose of the needle tip calibration module relative to the optical tracking module is determined.

[0104] In the present application, the determination of the puncture needle tip reaching the initial calibration position can comprise: the puncture needle tip moving to block the active light-emitting marker or the passive marker of the needle tip calibration module, so that the active light-emitting marker or the passive marker cannot be detected by the optical tracking module.

[0105] In some possible implementations, the first movement direction can be a direction from a movement starting position of the puncture slide table module to an initial calibration position of the puncture needle tip. The movement of the puncture needle along the first movement direction can be referred to as forward movement.

[0106] For example, the puncture slide table module carries the puncture needle to move forward until the puncture needle tip reaches the needle tip calibration module. At this time, the active light-emitting marker or the passive marker of the needle tip calibration module is blocked by the puncture needle tip, and the active light-emitting marker or the passive marker signal cannot be detected by the optical tracking module. By recording the spatial position of the needle tip calibration module relative to the optical tracking module at the time before the blocking, the recorded spatial position can be searched in reverse to obtain the spatial position of the active light-emitting marker or the passive marker measured by the optical tracking module at the time before the blocking (the spatial position of the needle tip calibration module), and the spatial position is taken as the initial spatial position P0 of the needle tip calibration module relative to the optical tracking module.

[0107] In some possible implementations, the time before the blocking can be at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module. For example, the time before the blocking can be one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module, or multiple preset time intervals (the specific number of multiple can be preset according to actual needs).

[0108] In some possible implementation manners, the preset time interval can be a system clock cycle or a multiple of the system clock cycle.

[0109] In some possible implementation manners, the initial spatial position P0 can be converted to a same coordinate system as a second spatial pose corresponding to the spatial positioning and tracking module, so that the first spatial pose T_OTS_P0 of the needle tip calibration module relative to the optical tracking module can be obtained according to requirements of the spatial positioning and tracking module.

[0110] In this way, during movement of the puncture needle to the needle tip calibration module in the first movement direction, the spatial position of the needle tip calibration module relative to the optical tracking module can be recorded in real time, measurement error can be reduced, and positioning accuracy can be improved.

[0111] In an optional embodiment, the obtaining, in the step S100, of the first spatial pose of the needle tip calibration module relative to the optical tracking module includes:

[0112] In the case where the puncture slide table module drives the puncture needle to move in the first movement direction so that the puncture needle tip reaches the needle tip calibration module, when the puncture slide table module drives the puncture needle to move in the second movement direction so that the puncture needle tip moves away from the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and the spatial position is taken as an initial spatial position of the needle tip calibration module relative to the optical tracking module in the case where the puncture needle tip reaches the needle tip calibration module.

[0113] According to the initial spatial position, the first spatial pose of the needle tip calibration module relative to the optical tracking module is determined.

[0114] In some possible implementation manners, the first movement direction and the second movement direction can be two different directions. For example, the second movement direction can be opposite to the first movement direction. The second movement direction can be a direction from the initial calibration position of the puncture needle tip to a movement starting position of the puncture slide table module. Movement of the puncture needle in the second movement direction can be referred to as backward movement.

[0115] For example, in the state of shielding the needle tip calibration module, the puncture slide module can carry the puncture needle to move backward until the puncture needle tip leaves the needle tip calibration module, at which time the puncture needle tip does not shield the active light-emitting marker or passive marker of the needle tip calibration module (indicating that the puncture needle tip leaves the needle tip calibration module), and the optical tracking module can detect the active light-emitting marker or passive marker signal (i.e. in the situation that the needle tip is shielded, the OTS is used in reverse to calibrate the needle tip), thereby measuring the spatial position of the needle tip calibration module relative to the optical tracking module at this time, and taking this as the initial spatial position P0 of the needle tip calibration module relative to the optical tracking module.

[0116] In this way, the puncture needle tip can be automatically identified and calibrated based on the reverse use of the OTS, which overturns the conventional practice of calibrating the puncture needle tip based on the forward use of the OTS, and is conducive to realizing the automation of puncture needle calibration, reducing measurement errors, and improving positioning accuracy.

[0117] In an optional embodiment, the determining, in step S200, of the first real-time pose of the puncture needle tip relative to the optical tracking module according to the moving real-time distance and the third spatial pose comprises:

[0118] determining a real-time translation matrix of the puncture needle tip according to the moving real-time distance;

[0119] determining the first real-time pose of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix, the second spatial pose and the third spatial pose.

[0120] In an optional embodiment, the determining of the real-time translation matrix of the puncture needle tip according to the moving real-time distance comprises:

[0121] obtaining a moving initial distance of the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and determining a moving distance of the puncture needle tip relative to the needle tip calibration module according to the moving real-time distance and the moving initial distance;

[0122] determining the real-time translation matrix of the puncture needle tip according to the moving distance.

[0123] In some possible implementations, when the puncture needle tip reaches the needle tip calibration module, i.e., is in the initial calibration position, the initial distance L1 of the puncture slide table module movement recorded by the encoding sensing module at this moment can be obtained. In this way, according to the real-time distance Lc of movement and the initial distance L1 of movement, the movement distance L of the puncture needle tip relative to the needle tip calibration module can be determined. In combination with the installation orientation of the spatial positioning tracking module coordinate system axis, the real-time translation matrix Tran c of the puncture needle tip can be determined. Exemplarily, the puncture needle tip can move in the axial direction of the lead screw module, but is not limited thereto. The spatial positioning tracking module installation can require that the spatial positioning tracking module coordinate system axis is parallel to the axial direction of the lead screw module, but is not limited thereto. The spatial positioning tracking module coordinate system axis is not limited to the X or Y or Z axis.

[0124] In this way, by determining the real-time translation matrix of the puncture needle tip, the first real-time pose of the puncture needle tip relative to the optical sensing module can be calculated by using pose conversion, and the real-time tracking accuracy of the puncture needle tip can be improved.

[0125] In an optional implementation, the determining, according to the real-time translation matrix and the third spatial pose, of the first real-time pose of the puncture needle tip relative to the optical tracking module includes:

[0126] obtaining a second real-time pose of the spatial positioning tracking module relative to the optical tracking module;

[0127] determining, according to the second real-time pose, the third spatial pose, and the real-time translation matrix, the first real-time pose of the puncture needle tip relative to the optical tracking module.

[0128] In some possible implementations, in the process of calibrating the puncture needle tip, the spatial positioning tracking module can be considered to be kept stationary relative to the optical tracking module, and the calculation formula of the first real-time pose T_OTS_P is as follows:

[0129] T_OTS_P = T_OTS_Tool0 * T_Tool0_P0 * Tran_c (2)

[0130] wherein T_OTS_Tool0 represents the second spatial pose of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module, and since the spatial positioning tracking module is kept stationary relative to the optical tracking module, the second real-time pose T_OTS_Tool of the spatial positioning tracking module relative to the optical tracking module; T_Tool0_P0 represents the third spatial pose of the puncture needle tip relative to the movement starting position (the calibration position of the spatial positioning tracking module) of the puncture slide table module when the puncture needle tip reaches the needle tip calibration module; and Tran c represents the real-time translation matrix of the puncture needle tip.

[0131] Thus, the real-time pose of the puncture needle tip relative to the optical tracking module can be calculated by the third spatial pose and the real-time translation matrix, and the first real-time pose of the puncture needle tip relative to the optical tracking module can be accurately located by combining the second real-time pose, thereby improving the real-time tracking accuracy of the puncture needle tip.

[0132] In some possible implementation manners, in the process of calibrating the puncture needle tip, the spatial positioning tracking module can be moved or slightly moved relative to the optical tracking module, and the calculation formula of the first real-time pose T_OTS_P is as follows:

[0133] T_OTS_P = T_OTS_Tool * T_Tool0_P0 * Tran_c (3)

[0134] wherein T_OTS_Tool represents the second real-time pose of the spatial positioning tracking module relative to the optical tracking module; T_Tool0_P0 represents the third spatial pose of the puncture needle tip relative to the moving start position (the calibration position of the spatial positioning tracking module) of the puncture slide table module when the puncture needle tip reaches the needle tip calibration module; and Tran_c represents the real-time translation matrix of the puncture needle tip.

[0135] Thus, the real-time pose of the puncture needle tip relative to the optical tracking module can be calculated by the third spatial pose and the real-time translation matrix, and the first real-time pose of the puncture needle tip relative to the optical tracking module can be accurately located by combining the second real-time pose, thereby improving the real-time tracking accuracy of the puncture needle tip.

[0136] In an optional embodiment, as shown in Figure 2 the puncture needle tip calibration method further comprises:

[0137] Step S300: calibrating the moving start position of the puncture slide table module in the case that the puncture slide table module reaches the spatial positioning tracking module.

[0138] In some possible implementation manners, step S300 can be located before step S100, or can also be located between steps S100 and S200.

[0139] In some possible implementation manners, the puncture slide table initial positioning sensing module can be used to measure whether the puncture slide table module reaches the moving start position. For example, the moving start position of the puncture slide table module can be the position where the spatial positioning tracking module is located or corresponds to the position where the spatial positioning tracking module is located.

[0140] In some possible implementations, the puncture slide table initial position sensing module can include a contact sensor or a non-contact sensor. The puncture slide table initial position sensing module can be named differently, such as a sensing measurement module, and the like, and the name is not limited herein.

[0141] For example, when the puncture slide table module reaches the movement starting position of the puncture slide table module, the data measured by the encoding sensing module at this time is taken as the movement starting position L0 of the puncture slide table module, so as to calibrate the movement starting position of the puncture slide table module.

[0142] In this way, by calibrating the movement starting position of the puncture slide table module, the accuracy of the obtained real-time movement distance of the puncture slide table module can be improved, and thus the real-time tracking accuracy of the puncture needle tip can be improved.

[0143] The following describes the device, equipment, storage medium, and system for performing the puncture needle tip calibration method provided in the present application, and the specific implementation process and technical effects are described above, and will not be described again here.

[0144] The present application also provides a puncture needle tip calibration device, as shown in the accompanying drawings, the puncture needle tip calibration device comprises: Figure 3 As shown in the accompanying drawings, the puncture needle tip calibration device comprises:

[0145] The first determination module 100 is configured to, when the puncture needle tip reaches the needle tip calibration module, acquire a first spatial pose of the needle tip calibration module relative to the optical tracking module and a second spatial pose of the spatial positioning tracking module relative to the optical tracking module, and determine a third spatial pose of the puncture needle tip relative to a movement starting position of the puncture slide table module according to the first spatial pose and the second spatial pose.

[0146] The second determination module 200 is configured to acquire a real-time movement distance of the puncture slide table module, and determine a first real-time pose of the puncture needle tip relative to the optical tracking module according to the real-time movement distance and the third spatial pose.

[0147] The needle tip calibration module is configured to calibrate an initial calibration position of the puncture needle tip, the spatial positioning tracking module is configured to calibrate a movement starting position of the puncture slide table module, and the puncture slide table module is configured to move the puncture needle installed thereon.

[0148] In an optional embodiment, the first determination module 100 comprises:

[0149] The recording module is configured to record the spatial position of the needle tip calibration module relative to the optical tracking module at each preset time interval during the movement of the puncture needle in the first movement direction to the needle tip calibration module by the puncture slide table module.

[0150] a first acquisition module configured to search for a spatial position corresponding to a preset time interval from at least one of preset time intervals before a preset time interval when the puncture needle tip reaches the needle tip calibration module, from all the recorded spatial positions, and take the spatial position as an initial spatial position of the needle tip calibration module relative to the optical tracking module in a case where the puncture needle tip reaches the needle tip calibration module;

[0151] a third determination module configured to determine a first spatial pose of the needle tip calibration module relative to the optical tracking module according to the initial spatial position.

[0152] In an optional embodiment, the first determination module 100 comprises:

[0153] a second acquisition module configured to, in a case where the puncture sliding table module drives the puncture needle to move in a first moving direction to make the puncture needle tip reach the needle tip calibration module, acquire a spatial position of the needle tip calibration module relative to the optical tracking module when the puncture sliding table module drives the puncture needle to move in a second moving direction to make the puncture needle tip leave the needle tip calibration module, and take the spatial position as an initial spatial position of the needle tip calibration module relative to the optical tracking module in a case where the puncture needle tip reaches the needle tip calibration module;

[0154] a fourth determination module configured to determine a first spatial pose of the needle tip calibration module relative to the optical tracking module according to the initial spatial position.

[0155] In an optional embodiment, the second determination module 200 comprises:

[0156] a fifth determination module configured to determine a real-time translation matrix of the puncture needle tip according to the moving real-time distance;

[0157] a sixth determination module configured to determine a first real-time pose of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial pose.

[0158] In an optional embodiment, the fifth determination module comprises:

[0159] a seventh determination module configured to acquire a moving initial distance of the puncture sliding table module when the puncture needle tip reaches the needle tip calibration module, and determine a moving distance of the puncture needle tip relative to the needle tip calibration module according to the moving real-time distance and the moving initial distance;

[0160] an eighth determination module configured to determine a real-time translation matrix of the puncture needle tip according to the moving distance.

[0161] In an optional implementation, the sixth determining module comprises:

[0162] a third acquiring module, configured to acquire a second real-time pose of the spatial positioning and tracking module relative to the optical tracking module;

[0163] a ninth determining module, configured to determine a first real-time pose of the puncture needle tip relative to the optical tracking module according to the second real-time pose, the third spatial pose and the real-time translation matrix.

[0164] In an optional implementation, the puncture needle tip calibration device further comprises:

[0165] a calibrating module, configured to calibrate a movement starting position of the puncture sliding table module in a case where the puncture sliding table module reaches the spatial positioning and tracking module.

[0166] It should be understood that the division of each unit or module in the above device is only a logical function division, and all or part of the units or modules can be integrated into one physical entity or physically separated in actual implementation. In addition, the units or modules in the device can be implemented in the form of processor calling software: for example, the device comprises a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any one of the above methods or to realize the functions of each unit or module of the above device.

[0167] The processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processor can implement certain functions through a logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement hardware circuit configuration. The process can be understood as a process in which the processor loads an instruction to implement a function described by the instruction. In addition, the hardware circuit can be designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. All units or modules of the above apparatus can be implemented by calling software through the processor, implemented by a hardware circuit, or partially implemented by calling software through the processor and partially implemented by a hardware circuit.

[0168] The memory can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor can run the program instructions to implement the steps in the above method and / or other desired functions.

[0169] The embodiments of the present application also provide an electronic device, such as Figure 4As shown, the electronic device 9100 can be a measuring device, a terminal (e.g., a user equipment, etc.), a chip, a chip system, or a processor supporting implementation of any of the above methods, etc., or a chip, a chip system, or a processor supporting implementation of any of the above methods by a terminal, etc. The electronic device 9100 can be used to implement the puncture needle tip calibration method described in the above method embodiments, and details can be referred to the descriptions in the above method embodiments.

[0170] As shown, the electronic device 9100 can include one or more processors 9101. The processor 9101 can be used to invoke instructions to cause the electronic device 9100 to perform any of the above methods. The processor 9101 can be the processor in the above embodiments. Figure 4

[0171] In some embodiments, the electronic device 9100 can further include one or more memories 9102 for storing instructions. Alternatively, all or part of the memory 9102 can also be outside the electronic device 9100.

[0172] In some embodiments, the electronic device 9100 can further include one or more transceivers 9103. When the electronic device 9100 includes one or more transceivers 9103, the steps of transmitting, receiving, and / or acquiring, etc. in the above methods can be performed by the transceiver 9103, and other steps can be performed by the processor 9101.

[0173] In some embodiments, the steps of acquiring, etc. in the above methods can also be performed by the processor 9101, such as acquiring information from the memory 9102, etc.

[0174] In some embodiments, the transceiver can include a receiver and a transmitter, which can be separate or integrated together. Alternatively, the terms of transceiver, transceiving unit, transceiver, transceiving circuit, etc. can be replaced by each other, the terms of transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced by each other, and the terms of receiver, receiving unit, receiver, receiving circuit, etc. can be replaced by each other.

[0175] Alternatively, the electronic device 9100 can further include one or more interface circuits 9104, which are connected with the memory 9102, and can be used to receive signals from the memory 9102 or other devices, and can be used to send signals to the memory 9102 or other devices. For example, the interface circuit 9104 can read the instructions stored in the memory 9102 and send the instructions to the processor 9101.

[0176] The electronic device 9100 described in the above embodiments can be a network device or a terminal, but is not limited thereto, and the structure of the electronic device 9100 can not be limited to the above. Figure 4 ​The electronic device can be a stand-alone device or can be part of a larger device. For example, the electronic device can be: (1) a stand-alone integrated circuit (IC), or chip, or chip system or subsystem; (2) a set of one or more ICs, optionally including memory and / or storage for storing data and / or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded within other devices; (5) a receiver, terminal device, intelligent terminal device, cellular telephone, wireless device, handset, mobile unit, vehicle-mounted device, network device, cloud device, artificial intelligence device, etc.; (6) other; etc.

[0177] The embodiments of the present application also provide a computer readable storage medium, which stores an executable program. The executable program is executed by a processor to implement the steps of the puncture needle tip calibration method.

[0178] In some embodiments, a computer readable storage medium can employ any combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium is a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch cards or punched tape, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0179] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0180] The embodiment of the present application also provides a puncture needle tip calibration system which can be used to implement the steps of the puncture needle tip calibration method in the above embodiment. As shown in the figure, the puncture needle tip calibration system comprises an optical tracking module 8, an end tool module 9, a puncture slide table initial positioning sensing module 3, a spatial positioning tracking module 2, a needle tip calibration module 1, and a processor (not shown in the figure); Figure 5 The optical tracking module 8 is used to acquire the spatial position of the needle tip calibration module 1 and the spatial pose of the spatial positioning tracking module 2.

[0181] The end tool module 9 comprises a puncture slide table module 4 which is used to install and move a puncture needle.

[0182] The puncture slide table initial positioning sensing module 3 is fixed at the end of the end tool module 9 and is used to indicate the movement starting position of the puncture slide table module 4.

[0183] The spatial positioning tracking module 2 is fixed at the end of the end tool module and is used to calibrate the movement starting position of the puncture slide table module 4.

[0184] The needle tip calibration module 1 is fixed at the head end of the end tool module 9 and is used to calibrate the initial calibration position of the puncture needle tip.

[0185] The processor is used to implement the steps of the puncture needle tip calibration method in the above embodiment.

[0186] In an optional implementation, the end tool module 9 further comprises a puncture lead screw module 7 and a rotary clamping puncture module 5.

[0187] The puncture lead screw module is used to drive the puncture slide table module to move so as to drive the puncture needle to move, and measure the distance of the movement of the puncture slide table module.

[0188] The rotary clamping puncture module is fixed on the puncture slide table module and is used to clamp the puncture needle.

[0189] In some possible implementation manners, the processor can adopt the processor in the above embodiment.

[0190] In some possible implementation manners, the puncture lead screw module 7 can comprise a driving motor module, a coding sensing module and a lead screw module. The driving motor module drives the lead screw module to rotate so as to push the puncture slide table module 4 to move linearly. The coding sensing module records the movement distance of the puncture slide table module 4. In this way, the calibration process can be simplified.

[0191]

[0192] ​In some possible implementations, the puncture sliding table module 4 can be installed in the form of a threaded screw rod on the puncture lead screw module 7, so that rotating the lead screw module pushes the puncture sliding table module 4 to move in parallel along the axis.

[0193] In some possible implementations, the rotating clamping puncture module 5 can include a rotating motor module and a clamping jaw module. The rotating clamping puncture module 5 is fixedly installed on the puncture sliding table module 4. The clamping jaw module can clamp the puncture needle 6. The rotating motor module can drive the clamping jaw module, and forward motion makes the clamping jaw module clamp the puncture needle and drive the puncture needle to perform axial rotation, and reverse motion makes the clamping jaw module release, and the puncture needle is separated from the clamping jaw module. In this way, automatic loading and unloading of the puncture needle can be realized, and the puncture needle can be replaced for single or multiple times.

[0194] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes can also be made on the basis of the above embodiments without departing from the scope of the disclosure. Similarly, any combination of the technical features of the above embodiments can also be made to form additional embodiments of the present application that can not be explicitly described. Therefore, the above embodiments only express several implementation manners of the present application, and do not limit the protection scope of the patent of the present application.

Claims

1. A method for calibrating the tip of a puncture needle, characterized in that, The method for calibrating the puncture needle tip includes: When the puncture needle tip reaches the needle tip calibration module, the first spatial pose of the needle tip calibration module relative to the optical tracking module and the second spatial pose of the spatial positioning tracking module relative to the optical tracking module are obtained; and based on the first spatial pose and the second spatial pose, the third spatial pose of the starting position of the movement of the puncture needle tip relative to the puncture slide module is determined. The real-time movement distance of the puncture slide module is obtained, and the first real-time pose of the puncture needle tip relative to the optical tracking module is determined based on the real-time movement distance and the third spatial pose. The needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning and tracking module is used to calibrate the starting position of the movement of the puncture slide module, and the puncture slide module is used to move the puncture needle mounted on it.

2. The method for calibrating the puncture needle tip according to claim 1, characterized in that, The step of obtaining the first spatial pose of the tip calibration module relative to the optical tracking module includes: During the process of the puncture slide module driving the puncture needle to move toward the needle tip calibration module in the first moving direction, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded at each preset time interval; Search from all the recorded spatial positions to obtain a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module, and use this spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module. Based on the initial spatial position, the first spatial pose of the tip calibration module relative to the optical tracking module is determined.

3. The method for calibrating the puncture needle tip according to claim 1, characterized in that, The step of obtaining the first spatial pose of the tip calibration module relative to the optical tracking module includes: When the puncture slide module moves the puncture needle in a first direction to bring the needle tip to the needle tip calibration module, and when the puncture slide module moves the puncture needle in a second direction to bring the needle tip away from the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and this spatial position is used as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the needle tip reaches the needle tip calibration module; Based on the initial spatial position, the first spatial pose of the tip calibration module relative to the optical tracking module is determined.

4. The method for calibrating the puncture needle tip according to claim 1, characterized in that, Determining the first real-time pose of the puncture needle tip relative to the optical tracking module based on the real-time movement distance and the third spatial pose includes: The real-time translation matrix of the puncture needle tip is determined based on the real-time movement distance; Based on the real-time translation matrix and the third spatial pose, the first real-time pose of the puncture needle tip relative to the optical tracking module is determined.

5. The method for calibrating the puncture needle tip according to claim 4, characterized in that, Determining the real-time translation matrix of the puncture needle tip based on the real-time movement distance includes: The initial movement distance of the puncture slide module is obtained when the puncture needle tip reaches the needle tip calibration module, and the movement distance of the puncture needle tip relative to the needle tip calibration module is determined based on the real-time movement distance and the initial movement distance. The real-time translation matrix of the puncture needle tip is determined based on the movement distance.

6. The method for calibrating the puncture needle tip according to claim 4, characterized in that, Determining the first real-time pose of the puncture needle tip relative to the optical tracking module based on the real-time translation matrix and the third spatial pose includes: Obtain the second real-time pose of the spatial positioning and tracking module relative to the optical tracking module; The first real-time pose of the puncture needle tip relative to the optical tracking module is determined based on the second real-time pose, the third spatial pose, and the real-time translation matrix.

7. The method for calibrating the puncture needle tip according to any one of claims 1-6, characterized in that, The method for calibrating the puncture needle tip also includes: When the puncture slide module reaches the spatial positioning and tracking module, the starting position of the movement of the puncture slide module is calibrated.

8. A puncture needle tip calibration device, characterized in that, The puncture needle tip calibration device includes: The first determining module is used to, when the puncture needle tip reaches the needle tip calibration module, acquire the first spatial pose of the needle tip calibration module relative to the optical tracking module and the second spatial pose of the spatial positioning tracking module relative to the optical tracking module; and determine the third spatial pose of the starting position of the movement of the puncture needle tip relative to the puncture slide module based on the first spatial pose and the second spatial pose. The second determining module is used to acquire the real-time movement distance of the puncture slide module, and determine the first real-time pose of the puncture needle tip relative to the optical tracking module based on the real-time movement distance and the third spatial pose. The needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning and tracking module is used to calibrate the starting position of the movement of the puncture slide module, and the puncture slide module is used to move the puncture needle mounted on it.

9. An electronic device comprising a processor, a memory, and an executable program stored in the memory and executable by the processor, characterized in that, When the processor runs the executable program, it performs the steps of the puncture needle tip calibration method as described in any one of claims 1-7.

10. A storage medium having an executable program stored thereon, characterized in that, When the executable program is executed by the processor, it implements the steps of the puncture needle tip calibration method as described in any one of claims 1-7.

11. A puncture needle tip calibration system, characterized in that, The puncture needle tip calibration system includes an optical tracking module, an end-effector module, an initial positioning and sensing module for the puncture slide, a spatial positioning and tracking module, a needle tip calibration module, and a processor; The optical tracking module is used to acquire the spatial position of the tip calibration module and the spatial pose of the spatial positioning and tracking module. The end-effector module includes a puncture slide module for mounting and moving the puncture needle; The initial positioning sensing module of the puncture slide is fixed to the end of the end tool module and is used to indicate the starting position of the movement of the puncture slide module. The spatial positioning and tracking module is fixed to the end of the end tool module and is used to calibrate the starting position of the movement of the puncture slide module; The needle tip calibration module is fixed to the head end of the end tool module and is used to calibrate the initial calibration position of the puncture needle tip; The processor is used to implement the steps of the puncture needle tip calibration method as described in any one of claims 1-7.

12. The puncture needle tip calibration system according to claim 11, characterized in that, The end-effector module also includes a puncture screw module and a rotary clamping puncture module; The puncture screw module is used to drive the puncture slide module to move, thereby moving the puncture needle; and to measure the distance the puncture slide module moves. The rotating clamping puncture module is fixed on the puncture slide module and is used to clamp the puncture needle.

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