Surgical robot registration method, device, terminal equipment, medium and system

Abstract

The embodiment of the invention is suitable for the technical field of medical instruments, and provides a surgical robot registration method and device, terminal equipment, a medium and a system, and the method comprises the steps: receiving a signal transmitted by each signal transmitting equipment according to a signal receiving assembly; based on the multiple signals and the preset relation between the signal receiving assembly and the surgical robot, the first coordinate of each signal transmitting device in a first mechanical coordinate system corresponding to the surgical robot is determined; scanning the medical image according to the scanning device, and determining a second coordinate of each signal transmitting device in the image coordinate system; the medical image comprises a signal transmitting device and a target object; and completing registration of the surgical robot based on the first coordinates and the second coordinates corresponding to the multiple signal transmitting devices. By adopting the method, the target object does not need to be wounded, and the registration efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular relates to a registration method, apparatus, terminal equipment, medium and system for a surgical robot. Background Art

[0002] "Registration" in the medical field refers to establishing a correspondence between the patient space (first mechanical coordinate system) where the surgical robot is located and the medical image space (image coordinate system), so that when the doctor operates the surgical robot, the surgical robot can be mapped to the medical image space, providing the doctor with location information reference.

[0003] At present, the registration method is usually to implant several marker points on the target object (for example, the head). For example, after the patient is anesthetized, a screwdriver is used to screw the skull nails on the skull for fixation as the above-mentioned marker points. The marker points are then scanned by a scanning device to obtain the coordinates of the marker points in the image coordinate system. In addition, the coordinates of the marker points in the first mechanical coordinate system are obtained by touching the corresponding marker points with the robotic arm. Then, the coordinates in the image coordinate system are matched with the coordinates in the first mechanical coordinate system to complete the registration. During the operation, the robotic arm is usually connected to the surgical robot. Therefore, it can be considered that the above-mentioned registration is the registration for the surgical robot.

[0004] However, the above registration method is an invasive operation. Implanting the markers not only takes a long time, but also inevitably causes certain trauma to the target object (for example, the skull), posing medical risks. Summary of the Invention

[0005] The embodiments of the present application provide a registration method, apparatus, terminal device, medium and system for a surgical robot, which can solve the problem that the existing registration method not only takes a long time but also causes certain trauma to the target object.

[0006] In a first aspect, an embodiment of the present application provides a registration method for a surgical robot, the method comprising:

[0007] receiving, according to the signal receiving component, a signal transmitted by each signal transmitting device;

[0008] Based on the multiple signals and the preset relationship between the signal receiving component and the surgical robot, respectively determine the first coordinates of each signal transmitting device in a first mechanical coordinate system corresponding to the surgical robot;

[0009] Scanning a medical image with a scanning device determines the second coordinate of each signal emitting device in an image coordinate system; the medical image includes the signal emitting device and the target object;

[0010] The registration of the surgical robot is completed based on the first coordinates and the second coordinates corresponding to the multiple signal transmitting devices.

[0011] In a second aspect, an embodiment of the present application provides a registration device for a surgical robot, the device comprising:

[0012] A receiving module, configured to receive the signal transmitted by each signal transmitting device according to the signal receiving component;

[0013] a first determining module, configured to determine, based on the plurality of signals and a preset relationship between the signal receiving component and the surgical robot, a first coordinate of each signal transmitting device in a first mechanical coordinate system corresponding to the surgical robot;

[0014] A second determination module is configured to determine the second coordinates of each signal emitting device in the image coordinate system according to the medical image scanned by the scanning device; the medical image includes the signal emitting device and the target object;

[0015] The registration module is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates corresponding to multiple signal transmitting devices.

[0016] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method of the first aspect described above.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method of the first aspect described above.

[0019] In a sixth aspect, an embodiment of the present application provides a registration system, including a signal receiving component, a plurality of signal transmitting devices, a scanning device, and a registration device;

[0020] The signal receiving component is used to receive the signal transmitted by each signal transmitting device, and based on the multiple signals and the preset relationship between the signal receiving component and the surgical robot, respectively determine the first coordinates of each signal transmitting device in the first mechanical coordinate system corresponding to the surgical robot;

[0021] The scanning device is used to scan the medical image and determine the second coordinate of each signal emitting device in the image coordinate system; the medical image includes the signal emitting device and the target object;

[0022] The registration device is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates corresponding to the multiple signal emitting devices.

[0023] Compared to the prior art, the embodiments of the present application offer the following advantages: by using a signal receiving component to separately receive the signals transmitted by each signal transmitting device, the positional relationship between the signal transmitting device and the signal receiving component can be determined based on the multiple signals. Furthermore, based on the preset relationship between the signal receiving component and the surgical robot, the first coordinates of each signal transmitting device in the first mechanical coordinate system can be determined. Furthermore, when the scanning device scans a target object to obtain a medical image, the coordinates of the target object and the signal transmitting device in the image coordinate system can be directly acquired during the scanning process. In other words, the second coordinates of each signal transmitting device in the image coordinate system can be directly acquired. Finally, based on the first and second coordinates of the multiple signal transmitting devices corresponding to the first mechanical coordinate system, the surgical robot is registered between the image coordinate system and the first mechanical coordinate system. Because the coordinates of the target object in the image coordinate system can be determined during the scanning process, after completing the registration, the position of the target object in the first mechanical coordinate system can be determined for medical treatment. Therefore, using the above method, the scanning device only needs to scan a medical image containing both the signal transmitting device and the target object to non-invasively complete the registration of the surgical robot. Furthermore, it not only avoids causing trauma to the target object and reduces medical risks, but also saves the time for implanting markers and improves registration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a schematic diagram of an application scenario for registering a surgical robot in the prior art;

[0026] Figure 2 This is a flowchart of an implementation method of a surgical robot registration method provided in one embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the structure of the signal receiving component in an embodiment of the present application;

[0028] Figure 4 is a perspective view of a signal receiving component in an embodiment of the present application;

[0029] Figure 5This is a schematic diagram of an implementation method for determining a first coordinate in a registration method for a surgical robot provided in an embodiment of the present application;

[0030] Figure 6 This is a schematic diagram of an implementation method for determining the third coordinate in a registration method for a surgical robot provided in one embodiment of the present application;

[0031] Figure 7 This is a schematic diagram of an implementation method for determining a first coordinate in a registration method for a surgical robot provided in another embodiment of the present application;

[0032] Figure 8 This is a schematic diagram of an implementation method for determining a third coordinate in a registration method for a surgical robot provided in another embodiment of the present application;

[0033] Figure 9 This is a structural diagram of a registration device for a surgical robot provided in one embodiment of the present application;

[0034] Figure 10 This is a schematic diagram of the structure of a terminal device provided in one embodiment of the present application;

[0035] Figure 11 This is a structural diagram of a registration system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0037] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0038] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0039] "Registration" in the medical field refers to establishing a correspondence between the patient space (first mechanical coordinate system) where the surgical robot is located and the medical image space (image coordinate system), so that when the doctor operates the surgical robot, the surgical robot can be mapped to the medical image space, providing the doctor with location information reference.

[0040] Currently, the registration method is usually to complete the registration by implanting several markers on the target object (for example, the head). Figure 1 , Figure 1 The following is a schematic diagram of an application scenario for registering a surgical robot in the prior art. A surgical robot can be considered a device that assists doctors in performing surgeries. Examples include orthopedic and dental surgical robots. Typically, different types of surgical robots include different components. For ease of explanation, this example uses a surgical robot consisting of a display, a robotic arm, and a surgical cart. The patient can be secured to the operating table using a headrest. The surgical cart can be equipped with a support arm to further stabilize the headrest. After the patient is anesthetized, a skull pin is screwed into the skull using a screwdriver to secure it, serving as the aforementioned marker. A scanning device is then used to scan the marker to obtain its coordinates in the image coordinate system. Furthermore, the robotic arm on the surgical cart touches the corresponding marker to obtain its coordinates in the first mechanical coordinate system. The coordinates in the image coordinate system are then matched with the coordinates in the first mechanical coordinate system to complete registration. During the surgical procedure, surgical instruments can be attached to the end of the robotic arm. At this time, based on the above registration of the surgical robot, the doctor can specify any point in the medical image displayed on the monitor, and the robotic arm can drive the surgical instrument to the location corresponding to the target object.

[0041] However, the above registration method is an invasive operation. Implanting the markers not only takes a long time, but also inevitably causes certain trauma to the target object (for example, the skull), posing medical risks.

[0042] Based on this, in order to enable non-invasive registration and improve registration efficiency, an embodiment of the present application provides a registration method for a surgical robot. This method can be applied to terminal devices such as tablet computers, laptop computers, ultra-mobile personal computers (UMPCs), and netbooks. The embodiment of the present application does not impose any restrictions on the specific type of terminal device.

[0043] See also Figure 2 , Figure 2 The following is a flowchart illustrating a registration method for a surgical robot provided in an embodiment of the present application. The method includes the following steps:

[0044] S201: Receive a signal transmitted by each signal transmitting device according to a signal receiving component.

[0045] In one embodiment, the aforementioned signals include, but are not limited to, Bluetooth signals and radar signals, and are not limited thereto. It is understood that when the signal is a Bluetooth signal, the aforementioned signal receiving component is a Bluetooth receiving device, and the aforementioned signal transmitting device is a Bluetooth transmitting device. Furthermore, when the signal is a radar signal, the aforementioned signal receiving component is a radar signal receiving component, and the aforementioned signal transmitting device is a radar signal transmitting device.

[0046] The signal receiving component may include one or more signal receiving devices, each of which may be used to receive a signal transmitted by each signal transmitting device to execute the various steps of the embodiments of the present application.

[0047] In this embodiment, in order to reduce hardware costs, a Bluetooth transmitting device and a Bluetooth receiving device may be used to transmit and receive Bluetooth signals respectively.

[0048] S202. Based on multiple signals and a preset relationship between each signal receiving component and the surgical robot, determine the first coordinates of each signal transmitting device in a first mechanical coordinate system corresponding to the surgical robot.

[0049] In one embodiment, the preset relationship between the signal receiving component and the surgical robot includes, but is not limited to, a relative coordinate position relationship between the signal receiving component and the surgical robot, and a relative coordinate system relationship between a second mechanical coordinate system corresponding to the signal receiving component and a first mechanical coordinate system of the surgical robot, which is not limited thereto. The second mechanical coordinate system can be established based on any one of a plurality of signal receiving components.

[0050] It should be noted that the signal is transmitted between the signal transmitting device and the signal receiving component. Based on the signal, the terminal device can generally only obtain the coordinates of the signal transmitting device in a preset second mechanical coordinate system. Therefore, the terminal device needs to convert the coordinates of the signal transmitting device in the second mechanical coordinate system based on the preset relationship to obtain the first coordinates.

[0051] The second mechanical coordinate system can be considered a pre-set coordinate system, and the position of the signal receiving component in the second mechanical coordinate system is known. Furthermore, the first mechanical coordinate system can be considered a pre-set coordinate system based on the robotic arm. To facilitate determining the pre-set relationship, the signal receiving component can be mounted on the robotic arm, and the pre-set relationship can be determined by processing the coordinates of the signal receiving component in the first mechanical coordinate system and the coordinates of the signal receiving component in the second mechanical coordinate system.

[0052] For example, refer to Figure 3and Figure 4 , Figure 3 This is a schematic diagram of the structure of the signal receiving component in an embodiment of the present application. Figure 4 This is a perspective view of a signal receiving assembly in an embodiment of the present application. The signal receiving assembly is provided with a plurality of signal receiving devices, and the signal receiving assembly includes an external mounting interface at the end of a robotic arm, through which the signal receiving assembly can be connected to the end of the robotic arm.

[0053] At this point, for the first mechanical coordinate system, it can determine the position of the signal receiving component in the first mechanical coordinate system. Simultaneously, when establishing a second mechanical coordinate system based on the signal receiving component, the terminal device can determine the position of the signal receiving component in the second mechanical coordinate system. Based on this, the terminal device can establish a first transformation matrix between the second mechanical coordinate system and the first mechanical coordinate system, combining the positions of the signal receiving component in the first and second mechanical coordinate systems. In this case, this first transformation matrix can be considered the preset relationship described above.

[0054] Based on the above description, as an example, the terminal device can adopt Figure 5 The steps S501-S503 shown determine the first coordinates of each signal emitting device. Detailed description is as follows:

[0055] S501 : Based on multiple signals, determine the third coordinates of each signal transmitting device in the second mechanical coordinate system.

[0056] The second mechanical coordinate system may be a coordinate system established based on the signal receiving component, for example, a coordinate system established based on any one of the signal receiving devices in the plurality of signal receiving components, which is not limited thereto.

[0057] It should be noted that when a signal transmitting device transmits a signal, it will be received by multiple signal receiving devices. That is, when there are multiple signal transmitting devices, each signal receiving device will also receive multiple signals.

[0058] For example, when there are three signal transmitting devices, all three signal transmitting devices need to transmit signals to the outside. At this time, the signal receiving component will also receive the signals transmitted by the three signal transmitting devices respectively.

[0059] In one embodiment, the terminal device can determine the transmission duration of each signal based on the transmission time of each signal transmitting device and the reception time of the signal receiving component. Then, based on the transmission duration and the transmission speed of the signal, the terminal device can determine the distance between each signal transmitting device and the signal receiving component. Finally, based on the multiple distances and the known coordinates of the signal receiving component in the second mechanical coordinate system, the terminal device can determine the third coordinates of each signal transmitting device.

[0060] The distance between the signal transmitter and the signal receiver is typically close, and the signal transmission speed is typically high, resulting in a shorter signal transmission time. Furthermore, in the medical field, the purpose of registration is to assist doctors in performing medical procedures. Therefore, registration accuracy is typically high.

[0061] However, when the signal transmission time is short and the signal transmission speed is in meters, the accuracy of the distance calculated based on the above method is usually not high. The accuracy of the third coordinate calculated based on the low-precision distance may also be low.

[0062] Based on this, in order to obtain a third coordinate with higher accuracy, the terminal device can Figure 6 The steps S601-S603 shown above obtain the third coordinate. Detailed description is as follows:

[0063] S601: For any signal transmitting device, determine the signal strength of a signal transmitted by the signal transmitting device received by a signal receiving component.

[0064] In one embodiment, the aforementioned signal strength is generally used to describe the strength of the signal received by the signal receiving component. Typically, a negative signal strength indicates that the received signal strength decreases with increasing distance. Therefore, the terminal device can calculate the distance between the signal receiving component and each signal transmitting device based on the signal strength, and thereby determine the third coordinates of each signal transmitting device.

[0065] S602: Calculate the distance between the signal receiving component and the signal transmitting device according to the signal strength.

[0066] In one embodiment, the terminal device may use a pre-trained distance prediction model to process the signal strength to obtain the above distance. In this embodiment, in order to improve the calculation accuracy of the distance, the terminal device may use the following formula to calculate the above distance:

[0067]

[0068] Where d represents the distance between the signal transmitter and the signal receiver, n represents the signal attenuation exponent, which is a known quantity and usually takes a value between 2 and 4, d0 represents the preset reference distance, PL(d) represents the signal strength at a distance d from the signal transmitter, which can be detected by the signal transmitter itself, N0 represents a random noise variable with a mean of 0, and PL(d0) represents the signal strength at a distance d0 from the signal transmitter, which can be found in the instruction manual. That is, in the above formula (1), only the distance d is an unknown quantity.

[0069] S603: Determine the third coordinates of the signal transmitting device based on the distance and the known coordinates of the preset signal receiving component in the second mechanical coordinate system.

[0070] In one embodiment, when the coordinates of the signal receiving component are known coordinates, the terminal device can calculate the third coordinate based on an existing distance calculation formula.

[0071] It should be noted that when the third coordinate is a one-dimensional coordinate, a distance equation between the signal receiving component and the signal transmitting device can be established based solely on the known coordinates of the signal receiving component and the distances between each component and the signal transmitting device. In this case, the distance equation is a one-dimensional equation. The third coordinate is then calculated based on the distance equation. Furthermore, when the third coordinate is a three-dimensional coordinate, at least three known coordinates and the distances between each component and the signal transmitting device are required to calculate the third coordinate. That is, the signal receiving component may include one or multiple signal receiving devices, each corresponding to a known coordinate.

[0072] In actual scenarios, the signal receiving component and the signal transmitting device are usually not in the same plane. Therefore, the signal receiving component can be equipped with multiple signal receiving devices to obtain the third three-dimensional coordinate for subsequent registration.

[0073] For example, for any signal transmitting device whose third coordinates are to be calculated, each signal receiving device can determine the distance between itself and the signal transmitting device based on the signal strength of the signal transmitted by the receiving device. The terminal device can then establish a distance equation between each of the multiple signal receiving devices and the signal transmitting device based on the distances between the multiple signal receiving devices and the signal transmitting device and the corresponding known coordinates. The third coordinates can then be calculated based on the multiple distance equations.

[0074] For example, the number of signal receiving devices included in the signal receiving component is 3, and the third coordinate of any signal transmitting device is calculated as an example. The terminal device calculates the distances d1, d2, and d3 between the three signal receiving devices and the signal transmitting device respectively according to the above formula (1). In addition, the known coordinates corresponding to the three signal receiving devices in the second mechanical coordinate system are obtained as (a1, b1, c1), (a2, b2, c2), and (a3, b3, c3) respectively. Afterwards, the unknown third coordinate of the signal transmitting device can be set to (x1, y1, z1). At this time, the distance equation shown in the following formula (2) can be established. Details are as follows:

[0075]

[0076] Afterwards, the terminal device can directly calculate based on the above formula (2) to obtain the third coordinates (x1, y1, z1) of the signal transmitting device in the second mechanical coordinate system. Similarly, using the above method, the terminal device can also calculate the third coordinates of the remaining signal transmitting devices in the second mechanical coordinate system.

[0077] It is understandable that calculating the distance based on the accurately measured signal strength can improve the accuracy of distance calculation, thereby improving the accuracy of the third coordinate calculated based on the above-mentioned higher-precision distance.

[0078] In summary, after obtaining the third coordinates of each signal transmitting device in the second mechanical coordinate system, the terminal device can process the third coordinates based on the preset relationship described above to obtain the first coordinates.

[0079] S502: If the preset relationship is that the second mechanical coordinate system coincides with the first mechanical coordinate system, each third coordinate is determined as the first coordinate.

[0080] S503 : If the preset relationship is that the second mechanical coordinate system and the first mechanical coordinate system do not overlap, each third coordinate is converted into the first coordinate according to a preset first conversion matrix between the second mechanical coordinate system and the first mechanical coordinate system.

[0081] It is understandable that if the second mechanical coordinate system coincides with the first mechanical coordinate system, the third coordinate calculated in the second mechanical coordinate system is the first coordinate in the first mechanical coordinate system. Therefore, the first coordinate can be directly determined as the first coordinate.

[0082] Furthermore, when the second mechanical coordinate system does not coincide with the first mechanical coordinate system, the terminal device needs to convert the third coordinate into the first coordinate based on the relative relationship between the second mechanical coordinate system and the first mechanical coordinate system (ie, the first conversion matrix described above).

[0083] For example, the third coordinates of all signal emitting devices in the second mechanical coordinate system BRC are set as And, the first coordinates of all signal emitting devices in the first mechanical coordinate system base are set as in, Indicates the third coordinate corresponding to the mth signal transmitting device, Indicates the first coordinate corresponding to the mth signal transmitting device.

[0084] Based on the above description, the homogeneous transformation matrix (first transformation matrix) of the second mechanical coordinate system relative to the first mechanical coordinate system can be set as Then we have:

[0085]

[0086] Among them, the first mechanical coordinate system can be established based on the base of the robot arm, and the second mechanical coordinate system can be established based on the signal receiving component, and the signal receiving component can be fixed at the end of the robot arm. Therefore, it can be considered that the second mechanical coordinate system is related to the mechanical size of the robot arm and the joint angle of each axis of the robot arm. Based on this, when determining the posture of the robot arm, it can be considered that is a known quantity. Furthermore, based on the above (3), the third coordinate set can be calculated The first coordinates corresponding to each third coordinate in .

[0087] It is important to note that, based on the above description, when the manipulator's posture is determined (the first mechanical coordinate system remains unchanged) and the target object is fixed, if the positions of the multiple signal emitting devices located on the target object's surface remain unchanged, the signal emitting devices should be stationary relative to the manipulator. In other words, the first coordinates of the signal emitting devices in the first mechanical coordinate system are fixed.

[0088] At this point, even if the position of the signal receiving component is adjusted (or the second mechanical coordinate system is changed), causing the distance between the signal receiving component and the signal transmitting device to change, resulting in a change in the third coordinate of each signal transmitting device obtained based on steps S601-S603 above, after the conversion process in step S503 above, the first coordinate of the signal transmitting device in the first mechanical coordinate system should remain unchanged.

[0089] However, in actual scenarios, the third coordinate calculated based on the signal may have measurement errors, resulting in low accuracy of the first coordinate obtained based on one processing.

[0090] Based on this, in order to improve the accuracy of the first coordinates obtained, in this embodiment, the terminal device can use the following Figure 7 The steps S701-S703 shown above obtain the first coordinates corresponding to each signal emitting device. Detailed description is as follows:

[0091] S701 : For any signal transmitting device, transform the third coordinate corresponding to the signal transmitting device according to a first transformation matrix to obtain an initial first coordinate corresponding to the signal transmitting device.

[0092] The method of transforming the third coordinate according to the first transformation matrix has been described above and will not be explained again.

[0093] It should be noted that, in order to improve the accuracy of the first coordinates finally obtained, the coordinates obtained after this conversion are only the initial first coordinates and need to be corrected through the following steps S702-S703.

[0094] S702 , adjusting the position of the signal receiving component multiple times, and after each adjustment of the position of the signal receiving component, sequentially performing the steps of receiving a signal, determining a third coordinate, and obtaining an initial first coordinate.

[0095] Based on the above steps, it can be seen that after adjusting the position of the signal receiving component once, the terminal device can execute the above steps S201 (receiving the signal), S601-S603 (determining the third coordinate), and S701 (obtaining the initial first coordinate) once. Among them, each step has been described above and will not be explained again.

[0096] The number of times of the above adjustment can be set according to actual conditions and is not limited thereto. For example, the number of times can be 4.

[0097] It should be noted that, based on the above steps, each signal transmitting device will correspond to multiple initial first coordinates. For example, when the number of times is 4, one signal transmitting device will eventually correspond to 5 initial first coordinates.

[0098] S703: Determine a first coordinate according to a plurality of initial first coordinates corresponding to the signal transmitting device.

[0099] In one embodiment, for any signal transmitting device, the terminal device may calculate the average of multiple initial first coordinates corresponding to the signal transmitting device to obtain the first coordinate. Alternatively, the terminal device may count the number of identical initial first coordinates among the multiple initial first coordinates corresponding to the signal transmitting device. The initial first coordinate corresponding to the maximum value is then determined as the first coordinate. In this embodiment, there is no limitation on the method for obtaining a more accurate first coordinate based on multiple initial first coordinates.

[0100] It is understandable that by obtaining the initial first coordinates through multiple adjustments, the point selection error generated when the second mechanical coordinate system determines the third coordinates can be reduced, and the accuracy of the subsequent determination of the final excess first coordinates based on multiple initial first coordinate systems can be improved.

[0101] S203 , determining the second coordinates of each signal emitting device in the image coordinate system according to scanning the medical image by the scanning device; the medical image includes the signal emitting device and the target object.

[0102] In one embodiment, the scanning device includes but is not limited to a magnetic resonance imaging device, an X-ray computed tomography device (CT device), an X-ray imaging device, and a molecular imaging device, and is not limited thereto.

[0103] In one embodiment, the image coordinate system may be a coordinate system established based on a scanning device or a coordinate system established based on a medical image, without limitation. In this embodiment, the image coordinate system may be considered to be a coordinate system established based on a scanning device.

[0104] The target object includes, but is not limited to, a patient's body part, a model, or other objects, and is not limited thereto. A preset positional relationship may exist between the signal transmitting device and the target object. For example, the preset positional relationship may be set based on actual circumstances. For example, to avoid trauma to the target object, the preset positional relationship may include the signal transmitting device being positioned on the surface of the target object.

[0105] As an example, when the preset positional relationship is that the signal emitting device is located on the surface of the target object, after the scanning device scans the target object to generate a medical image, the medical image will include the signal emitting device. At this time, the terminal device can determine any point in the medical image (for example, the center point or each corner point of the medical image) as the coordinate origin to establish an image coordinate system. Then, each signal emitting device is identified from the medical image and the position of each signal emitting device in the image coordinate system is determined. Finally, the terminal device can convert the position of each signal emitting device in the image coordinate system to a second coordinate in the image coordinate system based on the conversion matrix between the image coordinate system and the image coordinate system of the scanning device.

[0106] Furthermore, when the preset positional relationship indicates that the signal transmitting device is located elsewhere, the scanning device may first determine the image position of the target object in the medical image. Then, based on a transformation matrix between the image coordinate system and the scanning device's image coordinate system, the target object's image position is converted to coordinates in the image coordinate system. Subsequently, based on the preset positional relationship and the target object's coordinates in the image coordinate system, a second coordinate of the signal transmitting device in the image coordinate system is determined.

[0107] S204. Complete the registration of the surgical robot based on the first coordinates and the second coordinates corresponding to the multiple signal transmitting devices.

[0108] In one embodiment, each signal emitting device corresponds to a first coordinate and a second coordinate. Based on this, the terminal device can calculate the homogeneous transformation matrix between the image coordinate system and the first mechanical coordinate system according to multiple corresponding first coordinates and second coordinates to complete the registration of the surgical robot.

[0109] As an example, based on the first coordinates and the second coordinates corresponding to the multiple signal emitting devices, the second transformation matrix between the first mechanical coordinate system and the image coordinate system is determined to complete the registration of the surgical robot.

[0110] Specifically, the homogeneous transformation matrix (second transformation matrix) of the image coordinate system relative to the first mechanical coordinate system can be set as Then we have:

[0111]

[0112] in, It represents the third coordinate set of the signal transmitting device in the image coordinate system. It should be added that when calculating the second transformation matrix When the number of signal transmitting devices is increased, the SVD (Singular Value Decomposition) method can be used for calculation to improve the accuracy of the second conversion matrix.

[0113] It's important to note that after obtaining the second transformation matrix, each coordinate point in the medical image needs to be converted to the first mechanical coordinate system so that the patient space where the surgical robot resides corresponds to the medical image space. This allows the surgical robot to reach the corresponding position when the surgeon selects any point in the medical image during surgery.

[0114] In this embodiment, by receiving the signals transmitted by each signal transmitting device through the signal receiving component, the positional relationship between the signal transmitting device and the signal receiving component can be determined based on the multiple signals. The first coordinate of each signal transmitting device in the first mechanical coordinate system can then be determined based on the preset relationship between the signal receiving component and the surgical robot. Simultaneously, when the scanning device scans the target object to obtain a medical image, the coordinates of the target object and the signal transmitting device in the image coordinate system can be directly acquired during the scanning process. That is, the second coordinate of each signal transmitting device in the image coordinate system can be directly acquired. Finally, the surgical robot is registered between the image coordinate system and the first mechanical coordinate system based on the first and second coordinates of the multiple signal transmitting devices in the first mechanical coordinate system. Because the coordinates of the target object in the image coordinate system can be determined during the scanning process, after completing the registration, the position of the target object in the first mechanical coordinate system can be determined for medical treatment. Therefore, using this method, the scanning device only needs to scan the medical image containing the signal transmitting device and the target object simultaneously to complete the surgical robot registration non-invasively. This not only eliminates trauma to the target object, reducing medical risks, but also saves time in marker implantation, improving registration efficiency.

[0115] In another embodiment, based on the description of step S603 above, the terminal device can obtain the third coordinate by simply establishing a distance equation as shown in formula (2) based on the distances between the three signal receiving devices and the signal transmitting device. However, in actual scenarios, when the third coordinate is determined based on the signals transmitted by the three signal transmitting devices received by the three signal receiving devices, it is possible that the distances between the three signal receiving devices are relatively close (the relative positions are not dispersed) and the signal strengths fluctuate, resulting in the accuracy of the third coordinate calculated based on formula (2) still being relatively low.

[0116] Based on this, in order to improve the accuracy of the third coordinate, in this embodiment, more than three signal receiving devices can be used to receive signals from each signal transmitting device. In this case, for any signal transmitting device, the distance calculated between each signal receiving device and the signal transmitting device will also be greater than three. That is, each signal receiving device corresponds to a distance equation for each signal transmitting device. In this case, based on multiple distances and corresponding known coordinates, the distance equation is established as shown in the following formula (4):

[0117] Here, the calculation of the third coordinate of any one of the multiple signal transmitting devices is explained as an example, taking the number of signal receiving devices as q. The distances between the q signal receiving devices and the signal transmitting device can be: d1, d2, d3...d q Formula (4) is as follows:

[0118]

[0119] Among them, (x1, y1, z1) represents the unknown third coordinate of the signal transmitting device, (a q ,b q ,c q ) represents the known coordinates of the qth signal receiving device in the second mechanical coordinate system.

[0120] Based on the above description, after obtaining the above distance equation, the terminal device can use the following Figure 8 S801-S804 are shown to calculate the third coordinate. Details are as follows:

[0121] S801. Determine a target coordinate equation from multiple distance equations.

[0122] S802: Subtract the target coordinate equation from each of the remaining distance equations to obtain multiple linear distance equations.

[0123] In one embodiment, the target coordinate equation can be any one of the above formulas (4), and can be determined randomly, or d1 or d q The corresponding distance equation is determined as the target coordinate equation, which is not limited.

[0124] The multiple linear distance equations finally obtained can be expressed as the following formula (5):

[0125]

[0126] It can be understood that after the above steps, q-1 linear distance equations will be obtained.

[0127] S803. Based on multiple linear distance equations and preset random errors, a linear matrix equation is established; the linear matrix equation includes a vector formed by unknown coordinates of the signal transmitting device, a vector formed by random errors, a vector formed by multiple known coordinates, and a vector formed by multiple known coordinates and distances.

[0128] In one embodiment, the random error can be used to comprehensively represent errors such as signal strength errors and signal attenuation errors of signals measured by multiple signal receiving devices.

[0129] Among them, the linear matrix equation can transform the above formula (5) and add the random error into the changed linear distance equation to generate.

[0130] Specifically, the linear matrix equation can be expressed as follows:

[0131] AX+N=B; (6)

[0132] Wherein, X represents a vector formed by unknown coordinates of a signal transmitting device, N represents a vector formed by a random error, A represents a vector formed by a plurality of known coordinates, and B represents a vector formed by a plurality of known coordinates and distances.

[0133] Specifically, each vector is described as follows:

[0134] X=[x1y1z1] T

[0135]

[0136]

[0137] The vector N corresponding to the random error can be pre-set. It should be noted that the dimensions of the vectors A and B obtained based on the q-1 linear distance equations will also be q-1. In this case, the dimension of the preset vector N can also be q-1.

[0138] S804. Solve the unknown coordinates in the linear matrix equation to obtain the third coordinate.

[0139] In one embodiment, the terminal device may use the least squares method to solve the linear matrix equation to obtain the unknown coordinates corresponding to the minimum random error. Then, the unknown coordinates corresponding to the minimum random error are determined as the third coordinates. For example, the least squares method is used to minimize the square of the modulus of the vector N = B-AX, that is, ‖N‖ 2 =‖B-AX‖ 2 Minimum. Thus, the influence of random error on the measured third coordinate is minimized.

[0140] Specifically, the process of solving the linear matrix equation using the least squares method can be shown as the following formulas:

[0141]

[0142] Taking formula (7) as a function of X and setting the derivative to 0, we have:

[0143] 2A T AX-2A T B=0

[0144] A T AX=A T B

[0145] (A T A) -1 A T AX=(A T A) -1 A T B

[0146] X=(A T A) -1 A T B; (10)

[0147] Based on this, formula (10) can be used to solve X, which can determine the third coordinate (x1, y1, z1) of the signal transmitting device in the second mechanical coordinate system. Similarly, the above method can be used to obtain the point coordinates of each signal transmitting device in the second mechanical coordinate system.

[0148] In another embodiment, the first transformation matrix described in the example of step S202 above is determined by placing the signal receiving component at the end of the robotic arm. It should be noted that this approach requires special structural design of the signal receiving component to enable connection to the end of the robotic arm. However, the process of obtaining the first transformation matrix using this approach is generally complex. In other words, it is not possible to easily determine the first transformation matrix between the second mechanical coordinate system established by the signal receiving component and the first mechanical coordinate system.

[0149] In this embodiment, in the above step S204, it is necessary to obtain the homogeneous transformation matrix (second transformation matrix) of the image coordinate system relative to the first mechanical coordinate system. Among them, the second transformation matrix is ​​obtained However, during the generation of the second conversion matrix, the scanning device is not connected to the robotic arm.

[0150] Based on this, to facilitate determination of the first conversion matrix, in another embodiment, the signal transmitting device can be placed on the surface of the robotic arm, or at a known location around the base of the robotic arm. In this case, the signal receiving component need not be mounted on the robotic arm. This eliminates the need for design freedom for the signal receiving component, further facilitating the generation of the first conversion matrix.

[0151] The signal transmitting device is mounted on the robotic arm, so its coordinates in the first mechanical coordinate system are known. When establishing the second mechanical coordinate system based on the signal receiving component, the coordinates of the signal receiving component in the second mechanical coordinate system are known. Based on this, the terminal device can determine the position of the signal transmitting device in the signal coordinate system using a method similar to steps S201-S202. The first transformation matrix is ​​then generated based on the position of the signal transmitting device in the mechanical coordinate system.

[0152] For example, the homogeneous transformation matrix of the first mechanical coordinate system relative to the second mechanical coordinate system can be set as Then we have:

[0153]

[0154] in, Represents the set of coordinate positions of the signal transmitting device in the second mechanical coordinate system, The set of coordinate positions of the signal transmitting device in the first mechanical coordinate system is all known after similar processing as steps S201-S202. At this time, because represents the homogeneous transformation matrix of the first mechanical coordinate system relative to the second mechanical coordinate system. Therefore, After that, you can As the first transformation matrix

[0155] See also Figure 9 , Figure 9 This is a structural block diagram of a registration device for a surgical robot provided in an embodiment of the present application. The registration device for the surgical robot in this embodiment includes modules for executing Figure 2 、 Figures 5 to 8Each step in the corresponding embodiment. Please refer to Figure 2 、 Figures 5 to 8 as well as Figure 2 、 Figures 5 to 8 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 9 The registration device 900 of the surgical robot may include: a receiving module 910, a first determining module 920, a second determining module 930 and a registration module 940, wherein:

[0156] The receiving module 910 is configured to receive the signal transmitted by each signal transmitting device according to the signal receiving component.

[0157] The first determination module 920 is used to determine the first coordinates of each signal transmitting device in the first mechanical coordinate system corresponding to the surgical robot based on multiple signals and a preset relationship between the signal receiving component and the surgical robot.

[0158] The second determination module 930 is configured to determine the second coordinates of each signal emitting device in the image coordinate system according to the medical image scanned by the scanning device; the medical image includes the signal emitting device and the target object.

[0159] The registration module 940 is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates corresponding to the multiple signal emitting devices.

[0160] In one embodiment, the signal comprises a Bluetooth signal.

[0161] In one embodiment, the first determining module 920 is further configured to:

[0162] Based on multiple signals, the third coordinate of each signal transmitting device in the second mechanical coordinate system is determined respectively; the second mechanical coordinate system is a coordinate system established based on the signal receiving component; if the preset relationship is that the second mechanical coordinate system coincides with the first mechanical coordinate system, each third coordinate is determined as the first coordinate respectively; if the preset relationship is that the second mechanical coordinate system does not coincide with the first mechanical coordinate system, each third coordinate is converted into the first coordinate respectively according to the preset first transformation matrix of the second mechanical coordinate system and the first mechanical coordinate system.

[0163] In one embodiment, the first determining module 920 is further configured to:

[0164] For any signal transmitting device, determine the signal strength of the signal transmitted by the signal transmitting device received by the signal receiving component; calculate the distance between the signal receiving component and the signal transmitting device based on the signal strength; and determine the third coordinate of the signal transmitting device based on the distance and the known coordinates of the preset signal receiving component in the second mechanical coordinate system.

[0165] In one embodiment, the first determining module 920 is further configured to:

[0166] According to the distances and the corresponding known coordinates, distance equations between the signal receiving component and the signal transmitting device are respectively established; and the third coordinate is calculated according to the multiple distance equations.

[0167] In one embodiment, the signal receiving component includes more than three signal receiving devices; each signal receiving device corresponds to a distance equation with the signal transmitting device; and the first determining module 920 is further configured to:

[0168] Determine a target coordinate equation from multiple distance equations; subtract the target coordinate equation from each of the remaining distance equations to obtain multiple linear distance equations; establish a linear matrix equation based on the multiple linear distance equations and preset random errors; the linear matrix equation includes a vector formed by unknown coordinates of the signal transmitting device, a vector formed by random errors, a vector formed by multiple known coordinates, and a vector formed by multiple known coordinates and distances; solve the unknown coordinates in the linear matrix equation to obtain a third coordinate.

[0169] In one embodiment, the first determining module 920 is further configured to:

[0170] The linear matrix equation is solved by the least square method to obtain the unknown coordinates corresponding to the minimum random error; the unknown coordinates corresponding to the minimum random error are determined as the third coordinates.

[0171] In one embodiment, the first determining module 920 is further configured to:

[0172] For any signal transmitting device, the third coordinate corresponding to the signal transmitting device is transformed according to the first transformation matrix to obtain the initial first coordinate corresponding to the signal transmitting device; the position of the signal receiving component is adjusted multiple times, and after each adjustment of the position of the signal receiving component, the steps of receiving the signal and obtaining the initial first coordinate are performed in sequence; the first coordinate is determined based on the multiple initial first coordinates corresponding to the signal transmitting device.

[0173] When it is understood that Figure 9 In the structural block diagram of the registration device of the surgical robot shown, each module is used to execute Figure 2 、 Figures 5 to 8 The steps in the corresponding embodiments, and Figure 2 、 Figures 5 to 8 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 2 、 Figures 5 to 8 as well as Figure 2 、 Figures 5 to 8 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0174] Figure 10 This is a block diagram of a terminal device provided by an embodiment of the present application. Figure 10 As shown, the terminal device 1000 of this embodiment includes: a processor 1010, a memory 1020, and a computer program 1030 stored in the memory 1020 and executable by the processor 1010, such as a program for a registration method for a surgical robot. When the processor 1010 executes the computer program 1030, the steps of each embodiment of the registration method for a surgical robot described above are implemented, such as Figure 2 Alternatively, the processor 1010 executes the computer program 1030 to implement the above Figure 9 The functions of each module in the corresponding embodiment are, for example, Figure 9 For details on the functions of each module, please refer to Figure 9 Related description in the corresponding embodiment.

[0175] Exemplarily, the computer program 1030 can be divided into one or more modules, one or more of which are stored in the memory 1020 and executed by the processor 1010 to implement the surgical robot registration method provided in the embodiment of the present application. One or more modules can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 1030 in the terminal device 1000. For example, the computer program 1030 can implement the surgical robot registration method provided in the embodiment of the present application.

[0176] The terminal device 1000 may include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art will appreciate that Figure 10 It is merely an example of the terminal device 1000 and does not constitute a limitation of the terminal device 1000. The terminal device may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0177] The processor 1010 may be a central processing unit, or other general-purpose processor, digital signal processor, application-specific integrated circuit, off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0178] The memory 1020 may be an internal storage unit of the terminal device 1000, such as a hard disk or memory of the terminal device 1000. The memory 1020 may also be an external storage device of the terminal device 1000, such as a plug-in hard disk, smart memory card, flash memory card, etc. equipped on the terminal device 1000. Furthermore, the memory 1020 may include both an internal storage unit of the terminal device 1000 and an external storage device.

[0179] An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the registration method for the surgical robot as described in the above-mentioned embodiments is implemented.

[0180] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the registration method of the surgical robot in each of the above embodiments.

[0181] Reference Figure 11 The embodiment of the present application also provides a registration system 1, including a signal receiving component 11, multiple signal transmitting devices 12, a scanning device 13 and a registration device 14.

[0182] The signal receiving component 11 is used to receive the signal emitted by each signal emitting device 12, and based on multiple signals and the preset relationship between the signal receiving component 11 and the surgical robot, determine the first coordinate of each signal emitting device 12 in the first mechanical coordinate system corresponding to the surgical robot.

[0183] The scanning device 13 is used to scan the medical image and determine the second coordinate of each signal emitting device 12 in the image coordinate system; the medical image contains the signal emitting device 12 and the target object.

[0184] The registration device 14 is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates corresponding to the multiple signal transmitting devices 12 respectively.

[0185] In one embodiment, the specific structure of the signal receiving component 11 can refer to Figure 3 and Figure 4 , the registration device 14 can also be set at Figure 1 The various devices in the registration system can cooperate with each other to execute the registration methods of the surgical robot in the above-mentioned various embodiments.

[0186] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A registration method for a surgical robot, characterized in that: The method comprises: Acquire signals transmitted by a plurality of signal transmitting devices and received by a signal receiving component; Based on the plurality of signals and a preset relationship between the signal receiving component and the surgical robot, respectively determining a first coordinate of each of the signal transmitting devices in a first mechanical coordinate system corresponding to the surgical robot; Determining, based on a medical image scanned by a scanning device, a second coordinate of each of the signal emitting devices in an image coordinate system corresponding to the medical image; the medical image includes the signal emitting device and a target object; The registration of the surgical robot is completed based on the first coordinates and the second coordinates respectively corresponding to the multiple signal emitting devices.

2. The method according to claim 1, characterized in that The signal includes a Bluetooth signal.

3. The method according to claim 1 or 2, characterized in that The determining, based on the plurality of signals and a preset relationship between the signal receiving component and the surgical robot, respectively determining the first coordinate of each signal transmitting device in the first mechanical coordinate system corresponding to the surgical robot includes: Based on the plurality of signals, respectively determining a third coordinate of each of the signal transmitting devices in the second mechanical coordinate system corresponding to the signal receiving component; If the preset relationship is that the second mechanical coordinate system coincides with the first mechanical coordinate system, each of the third coordinates is determined as the first coordinate; If the preset relationship is that the second mechanical coordinate system and the first mechanical coordinate system do not overlap, each of the third coordinates is converted into the first coordinate according to a preset first conversion matrix between the second mechanical coordinate system and the first mechanical coordinate system.

4. The method according to claim 3, characterized in that The signal receiving component includes a plurality of signal receiving devices, and determining the third coordinate of each of the signal transmitting devices in the second mechanical coordinate system corresponding to the signal receiving component based on the plurality of signals includes: For any of the signal transmitting devices, respectively determining the signal strength of the signal transmitted by the signal transmitting device received by each of the signal receiving devices; Calculating the distance between each of the signal receiving devices and the signal transmitting device according to the multiple signal strengths; The third coordinate of the signal transmitting device is determined based on the multiple distances and the preset known coordinates of the multiple signal receiving devices in the second mechanical coordinate system.

5. The method according to claim 4, characterized in that The determining the third coordinate of the signal transmitting device based on the plurality of distances and the preset known coordinates of the plurality of signal receiving devices in the second mechanical coordinate system includes: Establishing a distance equation between each of the signal receiving devices and the signal transmitting device according to the multiple distances and the corresponding known coordinates; The third coordinate is calculated according to a plurality of the distance equations.

6. The method according to claim 5, characterized in that The signal receiving component includes more than three signal receiving devices; each of the signal receiving devices corresponds to one of the distance equations of the signal transmitting device; Calculating the third coordinate according to the distance equation includes: determining a target coordinate equation from a plurality of said distance equations; subtracting the target coordinate equation from each of the remaining distance equations to obtain a plurality of linear distance equations; Establishing a linear matrix equation based on the plurality of linear distance equations and a preset random error; the linear matrix equation includes a vector formed by the unknown coordinates of the signal transmitting device, a vector formed by the random error, a vector formed by the plurality of known coordinates, and a vector formed by the plurality of known coordinates and the distances; Solve the unknown coordinates in the linear matrix equation to obtain the third coordinates.

7. The method according to claim 6, characterized in that Solving the unknown coordinates in the linear matrix equation to obtain the third coordinates includes: Solving the linear matrix equation using the least squares method to obtain the unknown coordinates corresponding to the minimum random error; The unknown coordinate corresponding to when the random error is minimized is determined as the third coordinate.

8. The method according to claim 3, characterized in that If the preset relationship is that the second mechanical coordinate system and the first mechanical coordinate system do not overlap, converting each of the third coordinates into the first coordinate according to a preset first conversion matrix between the second mechanical coordinate system and the first mechanical coordinate system, includes: For any of the signal transmitting devices, transform the third coordinate corresponding to the signal transmitting device according to the first transformation matrix to obtain the initial first coordinate corresponding to the signal transmitting device; Adjusting the position of the signal receiving component multiple times, and sequentially performing the steps of receiving the signal and obtaining the initial first coordinate after each adjustment of the position of the signal receiving component; The first coordinate is determined according to the multiple initial first coordinates corresponding to the signal transmitting device.

9. A registration device for a surgical robot, characterized in that: The device comprises: A receiving module, configured to receive the signal transmitted by each signal transmitting device according to the signal receiving component; a first determining module, configured to determine, based on the plurality of signals and a preset relationship between the signal receiving component and the surgical robot, a first coordinate of each of the signal transmitting devices in a first mechanical coordinate system corresponding to the surgical robot; a second determining module, configured to determine a second coordinate of each of the signal emitting devices in an image coordinate system based on a medical image scanned by a scanning device; the medical image comprising the signal emitting device and a target object; A registration module is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates respectively corresponding to the multiple signal emitting devices.

10. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A registration system comprising a signal receiving component, a plurality of signal transmitting devices, a scanning device, and a registration device; The signal receiving component is used to receive the signal transmitted by each of the signal transmitting devices, and based on the plurality of signals and a preset relationship between the signal receiving component and the surgical robot, respectively determine the first coordinates of each of the signal transmitting devices in the first mechanical coordinate system corresponding to the surgical robot; The scanning device is used to scan a medical image and determine the second coordinate of each of the signal emitting devices in the image coordinate system; the medical image contains the signal emitting device and the target object; The registration device is used to complete the registration of the surgical robot based on the first coordinates and the second coordinates respectively corresponding to the plurality of signal emitting devices.

Images