Registration method, surgical robot system and registration tool

Abstract

The invention provides a registration method, a surgical robot system and a registration tool, and the method comprises the steps: determining a first conversion relation between a coordinate system of medical imaging equipment and a coordinate system of the surgical robot system through a scanning image of a registration frame; a first coordinate information set is determined, the first coordinate information set comprises coordinate information of a plurality of registration sites in a coordinate system of the medical image equipment, the plurality of registration sites are located in a scanning collimation range of the medical image equipment, and the plurality of registration sites are not collinear; converting coordinate information in the first coordinate information set according to the first conversion relation to obtain a second coordinate information set; according to the second coordinate information set, an execution arm of the surgical robot system is controlled to move, so that the registration ball is located at each registration site in sequence; and determining a second conversion relation between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system by using the plurality of scanning images of the registration ball. The method can realize accurate registration.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a registration method, a surgical robot system, and a registration tooling. Background Technology

[0002] Interventional radiology is a non-surgical treatment of diseases such as lung cancer, liver cancer, and transverse and mediastinal tumors, based on imaging diagnostics and under image guidance. It is also used to obtain histological, physiological, and biochemical materials to clarify the nature of the lesion. It includes puncture biopsy, ablation, and particle implantation. Among these, puncture biopsy is the gold standard for tumor diagnosis, while ablation and particle implantation have advantages such as being minimally invasive and having good prognostic effects for tumor treatment.

[0003] With the development of robotics technology, navigation-based surgical robots are now available on the market for use in interventional puncture surgeries, improving puncture accuracy. In the process of using a puncture robot system for surgery, the patient is first scanned using a medical imaging system to obtain medical images, and a surgical plan is formulated based on these images. Then, the puncture robot system is controlled to perform the puncture surgery according to the plan. The registration accuracy between the coordinate system of the puncture robot system and the coordinate system of the medical imaging system directly affects the puncture accuracy. Therefore, how to achieve precise registration between the coordinate systems of the puncture robot system and the medical imaging system has become an urgent technical problem to be solved. Summary of the Invention

[0004] This application provides a registration method, a surgical robot system, and a registration fixture, which can achieve accurate registration between the coordinate system of the surgical robot system and the coordinate system of the medical imaging equipment.

[0005] In a first aspect, embodiments of this application provide a registration method applied to a surgical robot system. The surgical robot system is used in conjunction with medical imaging equipment and a registration fixture. The surgical robot system includes a surgical robot, and the registration fixture is disposed on the execution arm of the surgical robot. The registration fixture includes a registration frame and a registration sphere connected to each other. The size of the registration frame is larger than the diameter of the registration sphere in at least one direction. The method includes: determining a first transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system using a scanned image of the registration frame, wherein the scanned image of the registration frame is obtained by the medical imaging equipment scanning the registration frame; and determining a first coordinate information set, the first coordinate information set including multiple registration points on the medical imaging equipment. The coordinate information in the coordinate system of the medical imaging equipment includes multiple registration points located within the scanning collimation range of the medical imaging equipment, and these multiple registration points are not collinear. Based on a first transformation relationship, the coordinate information in the first coordinate information set is transformed to obtain a second coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the surgical robot system. Based on the second coordinate information set, the movement of the surgical robot's execution arm is controlled so that the registration ball is sequentially positioned at each registration point. Using multiple scanned images of the registration ball, a second transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system is determined. These multiple scanned images include images obtained by the medical imaging equipment scanning the registration ball when it is positioned at each registration point.

[0006] For example, multiple registration sites are not collinear.

[0007] For example, multiple registration sites are located on at least two faces.

[0008] The registration method in the first aspect uses a registration framework to perform coarse registration to obtain a first transformation relationship. This first transformation relationship is a coarse registration transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system. Then, using the first transformation relationship, the first coordinate information set of multiple registration points located within the scanning collimation range of the medical imaging equipment is converted into a second coordinate information set. Then, based on the second coordinate information set, the execution arm of the surgical robot system is controlled to sequentially place the registration ball onto each registration point and scan the registration ball. Based on the obtained scan image, a second transformation relationship is determined between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system. This second transformation relationship is a fine registration transformation relationship. By converting the first coordinate information set into the second coordinate information set through the first transformation relationship, the placement of the registration ball at the registration points is very accurate, thus ensuring that the registration ball is placed within the scanning collimation range of the medical imaging equipment each time, thereby obtaining a more accurate second transformation relationship and achieving precise registration between the coordinate system of the surgical robot system and the coordinate system of the medical imaging equipment.

[0009] In one possible implementation of the first aspect, determining a first transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using the scanned image of the registration frame includes: obtaining a third coordinate information set from the scanned image of the registration frame, the third coordinate information set including coordinate information of multiple first scan points in the scanned image of the registration frame, each first scan point representing an imaging point formed by a feature point in the registration frame after scanning by the medical imaging device; determining a fourth coordinate information set based on the third coordinate information set and the shape parameters of the registration frame, the fourth coordinate information set including coordinate information of multiple feature points of the registration frame in the coordinate system of the registration fixture; converting the fourth coordinate information set into a fifth coordinate information set using the third transformation relationship, the fifth coordinate information set including coordinate information of multiple feature points of the registration frame in the coordinate system of the surgical robot system, the third transformation relationship representing the transformation relationship between the coordinate system of the registration fixture and the coordinate system of the surgical robot system; and determining the first transformation relationship based on the third coordinate information set and the fifth coordinate information set.

[0010] For example, the plurality of first scan points includes at least three non-collinear points.

[0011] For example, the plurality of first scan points includes at least four non-collinear points.

[0012] In one possible implementation of the first aspect, before determining the first set of coordinate information, the method further includes: determining the scanning collimation range of the medical imaging device based on the scanned image of the registration frame and the scanning collimation width parameter of the medical imaging device.

[0013] For example, the location of the scanned image of the registration frame is determined as the collimation center line, and the scanning collimation range of the medical imaging device includes: a range extending from the collimation center line towards the head side and the foot side, respectively, by half of the scanning collimation width parameter.

[0014] Alternatively, the scanning collimation range of a medical imaging device includes a range extending from the location of the scanned image of the registration frame toward the foot by a scanning collimation width parameter.

[0015] Alternatively, the scanning collimation range of medical imaging equipment includes: a range of scanning collimation width parameters extending cephalometrically from the location of the scanned image of the registration frame.

[0016] It is understood that in the embodiments of this application, the direction of the scanning layer thickness of the medical imaging device is the head-to-foot direction. In the scanning thickness direction, the side facing the head of the target object is the head side, and the side facing the feet of the target object is the foot side.

[0017] In one possible implementation of the first aspect, determining a second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using multiple scanned images of the registration sphere includes: obtaining a sixth coordinate information set from the multiple scanned images of the registration sphere, the sixth coordinate information set including coordinate information of multiple second scan points in the multiple scanned images of the registration sphere, each second scan point representing an imaging point formed after scanning by the medical imaging device when the registration sphere is located at a registration point; and determining the second transformation relationship based on the second coordinate information set and the sixth coordinate information set.

[0018] In one possible implementation of the first aspect, the registration frame is larger than the scanning collimation width of the medical imaging device in at least one direction, and the diameter of the registration ball is smaller than the scanning collimation width of the medical imaging device.

[0019] It should be understood that the registration frame is a three-dimensional structure, so the dimensions of the registration frame can be expressed as dimensions in three directions, namely: the dimensions along the length direction, the dimensions along the width direction, and the dimensions along the height direction.

[0020] Understandably, the registration frame is larger than the diameter of the registration sphere; that is, the registration frame is larger than the diameter of the registration sphere in all three directions. This allows the registration frame to be scanned by the medical imaging equipment over a larger area compared to the registration sphere. First, the registration is achieved by scanning the registration frame over a larger area. Then, based on the first registration, the registration sphere is scanned over a smaller area to achieve a second registration, ensuring two registrations with different levels of precision and improving the overall registration accuracy.

[0021] It should be understood that the larger the size of the registration frame in one direction, the easier it is for the registration frame to enter the scanning collimation range of the medical imaging equipment in that direction. Therefore, a larger registration frame makes it easier to obtain the scanning collimation range. Thus, by limiting the size of the registration frame to be larger than the scanning collimation width of the medical imaging equipment in at least one direction, the scanning collimation range of the medical imaging equipment can be obtained more quickly.

[0022] In some embodiments, the size of the registration frame in a certain direction may be smaller than the scanning collimation width, and this application does not impose any restrictions on this.

[0023] In one possible implementation of the first aspect, the relative positional relationship between the medical imaging equipment and the surgical robot system remains unchanged during the process of determining the first transformation relationship and the second transformation relationship.

[0024] Secondly, embodiments of this application provide a registration apparatus, the apparatus including units for performing the steps of the method described in any of the implementations of the first aspect above.

[0025] Thirdly, embodiments of this application provide a computer device, the computer device including a processor and a memory, the memory being used to store instructions, and the processor being used to read the instructions to execute the method described in any of the implementations of the first aspect above.

[0026] Fourthly, embodiments of this application provide a surgical robot system for use in conjunction with medical imaging equipment and registration fixtures. The surgical robot system includes a surgical robot and a processor. The registration fixture is disposed on the execution arm of the surgical robot, and the processor is used to execute the method described in any of the implementations of the first aspect above.

[0027] For example, a surgical robot can be a puncture robot, and a surgical robot system is a puncture robot system.

[0028] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

[0029] In a sixth aspect, embodiments of this application provide a registration fixture, which includes a registration ball, a connecting part, and a registration frame. The registration ball is connected to the registration frame through the connecting part, and the size of the registration frame is larger than the diameter of the registration ball in at least one direction.

[0030] In one possible implementation of the sixth aspect, the registration frame includes multiple rod-like structures that form at least two feature surfaces. The registration frame intersects with a first plane at least three times on at least one feature surface. The first plane is the plane on which the image scanning surface of the medical imaging device is located when the medical imaging device scans the registration frame.

[0031] In one possible implementation of the sixth aspect, multiple rod-like structures form two feature surfaces and one supplementary surface; the multiple rod-like structures include three Z-shaped rods, each Z-shaped rod comprising two parallel horizontal bars and one diagonal bar, the two horizontal bars of the Z-shaped rods being connected by the diagonal bar to form a Z shape; the three Z-shaped rods include a first Z-shaped rod, a second Z-shaped rod, and a third Z-shaped rod, the first Z-shaped rod and the second Z-shaped rod being located on a feature surface respectively, the third Z-shaped rod being located on a supplementary surface, the horizontal bars of the three Z-shaped rods being parallel to each other, and the first Z-shaped rod and the second Z-shaped rod sharing a horizontal bar with the third Z-shaped rod respectively.

[0032] In one possible implementation of the sixth aspect, the two feature surfaces are parallel to each other.

[0033] In one possible implementation of the sixth aspect, the two feature surfaces are perpendicular to the supplementary surface.

[0034] In one possible implementation of the sixth aspect, the plurality of rod-like structures include at least one group of rods, the group of rods being an axisymmetric structure having an axis of symmetry, and the group of rods being located on a feature surface.

[0035] In one possible implementation of the sixth aspect, at least one group of links includes a first group of links, which includes a semicircular rod and a first straight rod, wherein the semicircular rod and the first straight rod are connected, the first end of the first straight rod is connected to the middle of the semicircular rod, and the first straight rod passes through the center of the semicircular rod.

[0036] For example, the axis of the first straight bar in the first bar group is the axis of symmetry of the first bar group.

[0037] In one possible implementation of the sixth aspect, the second end of the first straight rod is located at the center of the semicircular rod.

[0038] In one possible implementation of the sixth aspect, at least one group of links includes a second group of links, which includes two second straight bars and a third straight bar, wherein the first ends of the two second straight bars and the first end of the third straight bar are connected to each other, the included angle between the two second straight bars is greater than 0 degrees and less than 180 degrees, the third straight bar is located on the angle bisector of the included angle between the two second straight bars, and the two second straight bars are symmetrical about the third straight bar.

[0039] For example, the axis of the third straight bar in the second bar group is the axis of symmetry of the second bar group.

[0040] In one possible implementation of the sixth aspect, the second end of the third straight rod is located at the midpoint of the line connecting the second ends of the two second straight rods.

[0041] In one possible implementation of the sixth aspect, the connecting part includes a tooling rod and at least two connecting rods, the first end of the tooling rod being fixedly connected to a registration ball, the first end of the connecting rod being connected to the side of the tooling rod, and the second end of the connecting rod being connected to a registration frame.

[0042] In one possible implementation of the sixth aspect, the axis of the tooling rod is parallel to the feature surface, and the axis of the connecting rod is perpendicular to the feature surface.

[0043] In one possible implementation of the sixth aspect, a fixing part is provided on the tooling rod, which is used to connect with the actuator arm of the surgical robot in the surgical robot system.

[0044] In one possible implementation of the sixth aspect, the X-ray attenuation coefficients of both the registration frame and the registration sphere are greater than the X-ray attenuation coefficient of the connecting part.

[0045] In one possible implementation of the sixth aspect, multiple rod-like structures form two feature surfaces that are parallel to each other.

[0046] In a seventh aspect, embodiments of this application provide a computer program product that, when run on a server, causes the server to execute any of the implementation methods in the first aspect above.

[0047] Eighthly, embodiments of this application provide a chip, including: a processor for calling and running a computer program from a memory, causing an electronic device on which the chip is mounted to perform a method as described in any of the implementations of the first aspect above.

[0048] It is understood that the beneficial effects of aspects two through eight mentioned above can be found in the relevant descriptions in aspect one above, and will not be repeated here. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the structure of a puncture robot system provided in the embodiments of this application;

[0051] Figure 2 This is a schematic diagram of the workflow of a puncture robot system provided in the embodiments of this application;

[0052] Figure 3 This is a schematic diagram illustrating the positioning of the trolley in an embodiment of this application;

[0053] Figure 4 This is a schematic diagram of the structure of a registration tooling provided in an embodiment of this application;

[0054] Figure 5 These are schematic diagrams of the two registration toolings provided in the embodiments of this application;

[0055] Figure 6 These are schematic diagrams of the two registration toolings provided in the embodiments of this application;

[0056] Figure 7 This is a schematic diagram of the image scanning process during the registration of the coordinate system of the puncture robot system with the coordinate system of the CT device in one embodiment of this application;

[0057] Figure 8 for Figure 7The schematic diagram shown is an enlarged view of the registration fixture.

[0058] Figure 9 A flowchart illustrating an example registration method provided in this application;

[0059] Figure 10 A schematic diagram of the registration points within the scanning collimation range of an imaging device;

[0060] Figure 11 This is a schematic diagram of the process for determining the first transformation relationship in one embodiment of this application;

[0061] Figure 12 This is a scanned image of the registration frame in one embodiment of this application;

[0062] Figure 13 for Figure 4 Side view of the registration fixture in the image;

[0063] Figure 14 for Figure 5 Side and rear views of the registration fixture;

[0064] Figure 15 This is a flowchart illustrating the process of determining the second transformation relationship in one embodiment of this application;

[0065] Figure 16 This is a schematic diagram of the structure of a registration device provided in one embodiment of this application;

[0066] Figure 17 This is a schematic diagram of the structure of a computer device provided in one embodiment of this application. Detailed Implementation

[0067] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0068] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0069] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0070] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0071] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0072] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0073] To achieve navigation and positioning control of the surgical robot, spatial registration and alignment between the coordinate system of the surgical robot system and the coordinate system of the medical imaging equipment system are required.

[0074] Some surgical robot systems employ a combination of ground-based fixed-location and image-based registration to align the coordinate system of the surgical robot with that of the medical imaging equipment (or spatial registration). This allows for registration once a day for multiple uses and offers high registration accuracy, enabling the surgical robot system to achieve high-precision navigation and positioning performance. However, this registration method still has certain limitations.

[0075] The following example, using a computed tomography (CT) scanner as the medical imaging equipment and a puncture robot system as the surgical robot system, illustrates the shortcomings of the current registration method.

[0076] Generally speaking, CT equipment has a small scanning collimation range, and the registration ball often falls completely within the scanning collimation range after multiple placements. This results in the inability to scan the registration ball or only scanning a portion of it, thus failing to obtain a complete scan image of the registration ball and making it impossible to achieve high-precision registration.

[0077] Generally speaking, the scanning collimation range of CT equipment is relatively small, which means that the registration ball cannot be placed within the scanning collimation range even after multiple positioning attempts. This results in the inability to scan the registration ball or only scanning a portion of it, making it difficult to obtain a complete scan image of the registration ball and thus making it impossible to achieve high-precision registration.

[0078] In some puncture robot systems, a registration frame is used for registration. The registration frame is more complex in structure than the registration sphere, and the error of the structure itself has a greater impact on the registration result. The projection of the registration points on the registration frame onto the scanned image is often not a regular circle, so it is difficult to obtain high-precision registration results.

[0079] To address the technical problem of obtaining high-precision registration results, this application proposes a registration method, a surgical robot system, and a registration fixture. The registration method is applied to the surgical robot system, which is used in conjunction with medical imaging equipment and the registration fixture. The surgical robot system includes a surgical robot, and the registration fixture is mounted on the execution arm of the surgical robot. The registration fixture includes a registration frame and a registration ball connected to each other, and the size of the registration frame is larger than the diameter of the registration ball in at least one direction. The registration method includes: determining a first transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using scanned images of the registration frame, wherein the scanned images of the registration frame are obtained by the medical imaging device scanning the registration frame; determining a first coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the medical imaging device, wherein the multiple registration points are located within the scanning collimation range of the medical imaging device and are not collinear; transforming the coordinate information in the first coordinate information set according to the first transformation relationship to obtain a second coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the surgical robot system; controlling the movement of the surgical robot's execution arm according to the second coordinate information set so that the registration ball is sequentially located at each registration point; and determining a second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using multiple scanned images of the registration ball, wherein the multiple scanned images include images obtained by the medical imaging device scanning the registration ball when it is located at each registration point. By employing a coarse-fine combination of positioning and registration methods, the registration accuracy is improved. While optimizing the positioning system design, the navigation accuracy of the surgical robot system is guaranteed, and an efficient workflow of registering once a day and using it multiple times can be achieved.

[0080] For example, the registration tool is set on the actuator arm of the surgical robot, specifically on the end of the actuator arm of the surgical robot.

[0081] For example, the registration tool can be detachably connected to the end of the surgical robot's actuator arm. The specific methods of detachable connection can be: snap-fit, sleeve connection, threaded connection, etc.

[0082] In some embodiments, the registration tooling is coupled to the end effector of the surgical robot's actuator arm.

[0083] It should be understood that medical imaging equipment is a medical scanning device capable of obtaining tomographic images, such as CT scanning equipment, MR (Magnetic Resonance) scanning equipment, PET / MR (Positron Emission Tomography / Magnetic Resonance) scanning equipment, PET-CT (Positron Emission Tomography-Computed Tomography) scanning equipment, or ultrasound scanning equipment. This application does not limit the specific type of medical imaging equipment, as long as the medical imaging equipment can obtain multiple tomographic images that can guide the puncture process.

[0084] The registration method, registration device, surgical robot system, and registration fixture provided in this application are described below with reference to specific embodiments.

[0085] This application provides a surgical robot system for use with medical imaging equipment and registration fixtures. The surgical robot system includes a surgical robot and a processor. The registration fixture is mounted on the execution arm of the surgical robot, and the processor is used to execute the registration method in this application embodiment.

[0086] It is understandable that surgical robots can also be orthopedic robots, neurosurgical robots, etc., and this application does not impose any restrictions on this.

[0087] For example, the surgical robot can be a puncture robot, in which case the surgical robot system is a puncture robot system. The following is an exemplary description of a puncture robot system.

[0088] See Figure 1 This is a schematic diagram of a puncture robot system provided in one embodiment of this application. Figure 1As shown, the puncture robot system in this embodiment includes a main control system located in the operating room and a surgical execution system located in the scanning room. Wherein:

[0089] The main control system includes: a main operator 111, a main unit 112, a display 113, and an exposure foot pedal (not shown in the figure). The surgeon controls the surgical execution system in the scanning room via the main control system in the operating room to perform preoperative surgical planning and intraoperative master-slave puncture procedures.

[0090] The surgical execution system includes: a surgical execution arm 121, a puncture tip 122, a surgical trolley 123, and a central control unit (not shown in the figure) deployed within the surgical trolley 123. The surgical execution system can be used for control execution during interventional puncture procedures, including precise positioning of the puncture insertion point and master-slave control execution.

[0091] For ease of understanding, the following is... Figure 1 The workflow of the puncture robot system shown is illustrated by way of example.

[0092] See Figure 2 This is a schematic diagram illustrating the workflow of a puncture robot system provided in one embodiment of this application. The puncture robot system is used in conjunction with a CT scanner and registration fixtures. Figure 2 As shown, the system's workflow includes steps S210 to S260. Each step is described below as an example.

[0093] S210, surgical robot placement or medical imaging equipment placement.

[0094] Understandably, the purpose of step S210 is to keep the relative position of the surgical robot and the scanning cavity of the imaging device unchanged.

[0095] This step is the system preparation phase. When positioning the surgical robot, its shape can be as follows: Figure 1 As shown in the scanning room, the surgical robot's surgical arm is mounted on a surgical trolley, primarily used to position and support the trolley next to the CT scanning bed. This step mainly achieves the coarse positioning of the surgical trolley.

[0096] Figure 3 This is a schematic diagram of cart positioning in one embodiment of this application. Figure 3As shown, the user places the surgical cart 123 within the positioning frame 310 on the ground next to the CT scanning bed 301. Coarse positioning of the surgical cart 123 is achieved by aligning the positioning laser lights 312 installed on three sides (left, right, and rear) with the positioning lines 311 on the ground. The positioning frame 310 and positioning lines 311 are determined by drawing lines on the ground during the installation phase. For example, the positioning laser lights 312 can be battery-powered, and the positioning laser light switches 313 are deployed inside the armrests of the surgical cart 123 (e.g., one on each side) to facilitate the use of the positioning laser lights 312 when positioning the surgical cart 123.

[0097] It should be understood that after the coarse positioning of the surgical trolley 123 is achieved, the registration stage begins. During the registration stage, at least a portion of the structure of the registration fixture 400 mounted on the puncture tip 122 is located within the image scanning area of ​​the CT equipment system's scanning gantry 500, and the image scanning surface 501 is located within the image scanning area.

[0098] In this embodiment, the image scanning area can also be referred to as the scanning collimation range, and the image scanning surface 501 is a plane located within the scanning collimation range. In CT scanning, this plane is perpendicular to the direction of the X-ray beam. During the scanning process, the image scanning surface 501 moves a distance equal to the scanning collimation width in the scanning direction to achieve scanning of the entire scanning collimation range.

[0099] The scanning direction includes axial (transverse), coronal or sagittal, etc., which will not be elaborated in this application.

[0100] S220, registration and alignment of the surgical execution system with the CT equipment.

[0101] Understandably, this step is the registration and alignment of the surgical execution system with the CT equipment, or it can be described as the registration and alignment stage of the puncture robot system with the CT equipment.

[0102] Before initiating the registration and registration process, the user installs the registration fixture 400 on the puncture tip 122, which is positioned on the surgical execution arm 121. Upon entering the registration and registration process, the central control unit within the surgical cart 123 controls the surgical execution arm 121 to enter the CT aperture, ensuring that a portion of the registration fixture 400 installed on the puncture tip 122 is within the image scanning area. By repeatedly changing the position of the surgical execution arm 121 and performing scans, a scan image is obtained. After transmitting the scan image to the host unit 112, the host unit 112 extracts the registration and registration points (i.e., the first and second scan points) from the scan image. Subsequent registration and registration calculations based on these registration and registration points can be performed on the host unit 112 or the central control unit. This application does not impose any restrictions on this.

[0103] In some embodiments, the host and the central control host can be the same entity, collectively referred to as the processor, and the extraction and registration registration process of the registration registration points can be performed on the processor.

[0104] In some embodiments, the host may be referred to as the first processor, the central control host may be referred to as the second processor, the extraction of registration registration points is performed on the first processor, and the registration registration process may be performed on the first processor or the second processor.

[0105] In this embodiment, the registration tool 400 is mounted on the puncture tip 122. In other embodiments, the registration tool 400 may also be directly connected to the surgical arm 121, which will not be described in detail here.

[0106] In this embodiment, the registration and registration stage is divided into a coarse registration stage and a fine registration stage. In the coarse registration stage, a coarse registration transformation relationship is obtained through registration and registration calculation; in the fine registration stage, a fine registration transformation relationship is obtained through registration and registration calculation. For example, both the coarse and fine registration transformation relationships are in the form of registration transformation matrices.

[0107] For example, if host 112 performs registration and registration calculation, then host 112 will send the fine registration and conversion relationship to the central control host after completing the registration and registration calculation.

[0108] S230, Patient scan.

[0109] In some embodiments, after registration and registration are completed, the position of the surgical cart can be kept the same as that during registration and registration to ensure that the relative positional relationship between the puncture robot system and the CT equipment remains unchanged, thereby ensuring that the fine registration conversion relationship obtained during the registration and registration stage can be directly used for subsequent puncture procedures.

[0110] In other embodiments, if the relative position of the surgical robot and the medical imaging equipment changes compared to the registration and registration, re-registration and registration are required. The new fine registration and conversion relationship obtained by re-registration and registration is used for scanning, planning, puncture, etc.

[0111] In some embodiments, the patient scan is a preoperative scan, and the obtained scan image is the patient's preoperative image. After the scan is completed, the obtained scan image is transmitted to the host 112.

[0112] S240, surgical planning determines the puncture point and target point.

[0113] For example, the doctor can plan the surgery on the host computer 112 by referring to the patient's preoperative images and determine the puncture point and target point.

[0114] S250, the surgical execution arm locates the puncture and needle insertion point.

[0115] It should be understood that the puncture point and target point determined by the host 112 based on the surgical planning of the patient's preoperative images are located in the patient's coordinate system.

[0116] In some embodiments, the host computer 112 can transform the puncture needle insertion point and target point from the patient coordinate system to the CT equipment coordinate system through coordinate transformation. The host computer 112 sends the puncture needle insertion point and target point in the CT equipment coordinate system to the central control host, which calculates the coordinates of the puncture needle insertion point and target point in the coordinate system of the puncture robot system (i.e., the surgical execution system coordinate system) based on the fine registration transformation relationship (or fine registration transformation matrix).

[0117] In some other embodiments, after determining the planned puncture point and target point in the surgery, the host computer 112 sends the planned puncture point and target point to the central control host. The central control host transforms the puncture point and target point from the patient coordinate system to the CT equipment coordinate system through coordinate transformation. Based on the fine registration transformation relationship (or fine registration transformation matrix) and the transformed puncture point and target point, the central control host calculates the coordinates of the puncture point and target point in the puncture robot system coordinate system (i.e., the surgical execution system coordinate system).

[0118] For example, the central control unit plans the motion path based on the coordinates of the puncture needle insertion point and the target point in the coordinate system of the surgical execution system, and controls the surgical execution arm to locate the target pose and locate the puncture needle insertion point according to the planned motion path.

[0119] For example, the coordinate transformation between the patient coordinate system and the medical imaging system coordinate system includes: position transformation and translation transformation. Position transformation is a known transformation relationship, with positions including head-first prone (HFP) and head-first supine (HFS), and the transformation relationship is a 180° rotation around the Z-axis of the patient coordinate system. Translation transformation refers to the transformation of the scanning bed in both horizontal and vertical directions. Translation transformation can be determined by the movement distance of the scanning bed, which is the current position of the scanning bed relative to its position during registration. The needle insertion point and target point are planned in the patient coordinate system. The position coordinates of the needle insertion point and target point in the medical imaging system are calculated based on the coordinate transformation relationship between the patient coordinate system and the medical imaging system coordinate system. The position coordinates of the needle insertion point and target point in the surgical robot coordinate system are calculated based on the transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system (i.e., the fine registration transformation relationship).

[0120] S260, surgery performed.

[0121] Understandably, the specific surgical procedure can be either master-slave puncture or positioning-assisted puncture. Based on the precise registration transformation matrix (i.e., the second transformation relationship), the coordinates of the needle insertion point and the target point, the surgical robot's surgical arm is positioned to the preset location, thus achieving the robot's navigation and positioning.

[0122] For example, when a doctor selects the master-slave puncture mode, the doctor performs the puncture in the operating room using intraoperative image guidance and master-slave control. After the slave surgical execution arm is positioned to the preset position, the doctor controls the master end to perform the puncture and sends puncture commands to the puncture tip to control the puncture tip to perform the puncture. When a doctor selects the manual puncture mode, the doctor uses the navigation and positioning of the surgical execution system in the scanning room. After the slave surgical execution arm is positioned to the preset position, the doctor manually performs the puncture at the slave end.

[0123] It should be understood that Figure 2 The illustrated puncture robot system is one example of its workflow, in which the position of the medical imaging equipment (i.e., CT equipment) is fixed, while the surgical execution arm 121 is located on the surgical cart 123, so the position of the surgical execution arm 121 can change as the position of the surgical cart 123 changes.

[0124] In some embodiments, the position of the surgical arm 121 may be fixed, for example, the surgical arm 121 may be suspended from the ceiling, while the position of the medical imaging equipment is variable. The medical imaging equipment may be a sliding CT scanner or other medical imaging equipment. In these embodiments, the workflow of the surgical robot system is similar to... Figure 2 The process shown may differ. For example, in S210-S260, a surgical trolley is not required. Step S210 involves positioning the medical imaging equipment. For example, after the scanning cavity of the medical imaging equipment is moved into place, its relative position with the surgical robot remains unchanged. The registration method in this application embodiment, and the method itself, are still applicable in these embodiments, and will not be elaborated upon here.

[0125] In some embodiments, the positions of the surgical arm 121 and the CT device can both be fixed. It is understood that in embodiments where the position of the surgical arm 121 is fixed, the need for multiple movements of the surgical arm 121 and the repeated instrument assembly at the puncture end 122 of the surgical arm 121 may reduce the accuracy of instrument assembly, leading to slight deviations in the coordinate system relationship. Both of these situations can be corrected using the registration and alignment method described in this application embodiment, which will not be elaborated upon here.

[0126] It is understood that the registration method in this application mainly involves improvements to the registration registration process. In this application, the registration registration process includes a coarse registration process and a fine registration process. To implement the coarse and fine registration processes, a registration fixture that includes both a registration frame and a registration sphere is required. Before introducing the registration method in this application, the registration fixture in this application will be described exemplarily below with reference to the accompanying drawings.

[0127] See Figure 4 , Figure 5 Figure a in the middle Figure 5 Figure b in the middle Figure 6 Figure a in the middle and Figure 6 Figure b in the document is a structural schematic diagram of a registration tooling provided in an embodiment of this application. Figures 4 to 6 As shown, the registration fixture 400 provided in this application embodiment includes a registration ball 410, a connecting part, and a registration frame 420. The registration ball 410 is connected to the registration frame 420 through the connecting part, and the size of the registration frame 420 is larger than the diameter of the registration ball 410 in at least one direction.

[0128] It is understandable that the registration frame 420 is a three-dimensional hollow frame structure. The size of the registration frame refers to the size of the space occupied by the frame structure. The size of the registration frame 200 can be expressed as the size in three directions, namely: the size along the length direction of the occupied space, the size along the width direction of the occupied space, and the size along the height direction of the occupied space.

[0129] It should be understood that the registration frame 420 is larger than the diameter of the registration sphere in at least one direction, making it easier to ensure that a portion of the structure of the registration frame 420 is located within the image scanning area of ​​the scanning gantry 500 of the medical imaging equipment (such as a CT equipment system), thereby ensuring that the coarse registration process using the registration frame is easily achieved. The registration fixture in this embodiment includes a registration frame and a registration sphere, thus enabling two-stage registration. After coarse registration is completed, fine registration is performed using the first transformation relationship obtained from coarse registration and the registration sphere 410. High-precision registration can be achieved through two registrations.

[0130] In some embodiments, the registration frame 420 includes multiple rod-like structures forming at least two feature surfaces. The registration frame 420 intersects with a first plane at different points on different feature surfaces, and at least three points on at least one feature surface. The first plane is the plane containing the image scanning area of ​​the medical imaging device when the registration frame is scanned. In this embodiment, the feature surface is the plane formed by the rod-like structures in the registration frame 420. The registration frame 420 intersects with the first plane at different points on different feature surfaces, and at least three points on at least one feature surface, so that the registration frame 420 can obtain more than three non-collinear scanning points under the scanning of the medical imaging device. Registration calculations are performed based on these non-collinear scanning points to ensure the accuracy of the registration result.

[0131] It is understandable that the first plane is any plane that can intersect with each feature plane. Taking a CT equipment system as an example of medical imaging equipment, when the CT equipment system scans the registration frame 420, the image scanning surface 501 scans along the first plane. At this time, the multiple intersection points are the feature points on the registration frame 420. The imaging points formed by the feature points on the registration frame 420 after scanning by the CT equipment system will be displayed on the scanned image of the registration frame 420.

[0132] For example, such as Figure 4 , Figure 5 Figure a in the middle and Figure 6 As shown in Figure a, the registration frame 420 can form three intersection points with the first plane on each feature surface. This design ensures that the computational load and accuracy of the subsequent registration calculation are within a suitable range.

[0133] In some embodiments, such as Figure 4 As shown, the multiple rod-like structures in the registration frame 420 form two feature surfaces, namely the first feature surface and the second feature surface, and the multiple rod-like structures also form a supplementary surface; the multiple rod-like structures include three Z-shaped rods, namely the first Z-shaped rod 401, the second Z-shaped rod 402 and the third Z-shaped rod 403. Each Z-shaped rod includes two parallel horizontal bars and one diagonal bar. The two horizontal bars are connected by the diagonal bar to form a Z shape; the first Z-shaped rod 401 is located on the first feature surface, the second Z-shaped rod 402 is located on the second feature surface, and the third Z-shaped rod 403 is located on the supplementary surface. The horizontal bars of the three Z-shaped rods are parallel to each other, and the first Z-shaped rod 401 and the second Z-shaped rod 402 share a horizontal bar with the third Z-shaped rod 403 respectively.

[0134] For example, the registration ball 410 is located outside the area defined by the registration frame 420, which makes the installation of the registration fixture 400 more convenient.

[0135] For example, the angle between the diagonal bar and the horizontal bar in the Z-shaped bar is approximately 45°. This setting makes the calculations for registration based on the registration fixture simpler and more convenient.

[0136] exist Figure 4 In the embodiment shown, the inclined rods in the first Z-shaped rod 401 and the inclined rods in the second Z-shaped rod 402 have the same inclination direction.

[0137] For example, the diagonal bar in the first Z-shaped bar 401 is parallel to the diagonal bar in the second Z-shaped bar 402. This arrangement makes the calculations for registration based on the registration fixture simpler and more convenient.

[0138] In some other embodiments, the inclination directions of the diagonal members in the first Z-shaped rod 401 and the second Z-shaped rod 402 may be opposite. For example, the diagonal member in the first Z-shaped rod 401 may be perpendicular to the diagonal member in the second Z-shaped rod 402.

[0139] It should be understood that the inclination direction of the diagonal bar in the third Z-shaped bar 403 can also be changed, which will not be elaborated here.

[0140] In some embodiments, the plane containing the first feature surface and the plane containing the second feature surface are parallel to each other.

[0141] In some other embodiments, the plane containing the first feature surface and the plane containing the second feature surface may also intersect. It should be understood that the planes containing the feature surfaces intersect, but a certain distance is maintained between the first Z-shaped rod 401 and the second Z-shaped rod 402, or the area containing the first Z-shaped rod 401 and the area containing the second Z-shaped rod 402 do not overlap.

[0142] For example, the length of the connecting rod 432 at different positions can be adjusted so that the feature surfaces are tilted at different angles, thereby making the two feature surfaces...

[0143] In some embodiments, the plane containing the first feature surface and the plane containing the second feature surface are perpendicular to the plane containing the supplementary surface, respectively.

[0144] In some other embodiments, the plane containing the first feature surface and the plane containing the second feature surface intersect the plane containing the supplementary surface, but are not perpendicular to it.

[0145] Understandable, Figure 4 As shown, the registration frame 420 is mainly composed of Z-shaped bars, therefore Figure 4The registration frame 420 shown can be called a Z-shaped frame; by changing the inclination direction of the diagonal rods in the Z-shaped rods, more Z-shaped frames with similar but not identical structures can be obtained. The functions of different Z-shaped frames are the same or similar, which will not be elaborated in this application.

[0146] In some embodiments, such as Figure 5 Figure a in the middle and Figure 6 As shown in Figure a, the multiple rod-like structures in the registration frame 420 include two rod groups. Each rod group is an axisymmetric structure with one axis of symmetry, and each rod group is located on a feature plane. In this embodiment, each rod group is located on a feature plane, or one rod group forms one feature plane. By setting the rod groups as axisymmetric structures, the subsequent registration calculations are simpler and more convenient.

[0147] In some embodiments, such as Figure 5 As shown in Figure a, the registration frame 420 includes a first rod group 404, which comprises a semicircular rod 405 and a first straight rod 406. In the first rod group 404, the semicircular rod 405 and the first straight rod 406 are connected, with the first end of the first straight rod 406 connected to the middle of the semicircular rod 405, and the first straight rod 406 passing through the center of the semicircular rod 405. In this embodiment, the first rod group 404 includes the semicircular rod 405 and the first straight rod 406 passing through the center of the semicircular rod 405, ensuring the symmetry of the registration frame 420 and simplifying subsequent registration calculations.

[0148] It is understandable that, such as Figure 5 As shown in Figure a, the axis of the semicircular rod 405 is semicircular, meaning that the semicircular rod 405 is named after the shape of its axis.

[0149] In this embodiment of the application, in the registration frame 200, the cross-section of each rod-shaped structure is circular, that is, each rod-shaped structure is a round rod.

[0150] For example, the second end of the first straight rod 406 is located at the center of the semicircular rod 405. By setting the second end of the first straight rod 406 at the center of the semicircular rod 405, the first straight rod 406 in the first rod group 404 is located within the area defined by the semicircular rod 405. This makes the scanning range of the CT equipment system for scanning the registration frame 420 more specific, that is, it only needs to scan the area defined by the semicircular rod 405. This ensures that each scan of the first rod group 404 can obtain three imaging points on the scanned image, ensuring that a certain number of points are available for subsequent registration calculations, and also ensuring the simplicity and aesthetics of the scanning registration frame 420 structure.

[0151] It is understandable that, such as Figure 5 As shown in Figure a, since the first member group 404 in the registration frame 420 is semi-circular, therefore Figure 5 The registration frame 420 shown in Figure a can also be called a semi-circular frame. It is understandable that... Figure 5 In the embodiment shown in Figure a, the registration frame 420 includes two first rod groups 404. In other embodiments, the registration frame 420 may also include three or more first rod groups 404. The three or more first rod groups 404 may be distributed on two feature surfaces or on three or more feature surfaces. This application will not elaborate on this.

[0152] exist Figure 5 In the embodiment shown in Figure a, the two first rod groups 404 are respectively located on a feature surface; the first rod group 404 is located on the feature surface, specifically the axis of the rod structure in the first rod group 404 is located on the feature surface.

[0153] like Figure 5 In Figure a, the two feature faces in this embodiment are parallel to each other. In other embodiments, the two feature faces may not be parallel. For example, Figure 5 In Figure a, after a first member group 404 is rotated by a certain angle α around a feature plane parallel to the location of the first member group 404, the feature plane containing the first member group 404 is no longer parallel to the feature plane containing the other first member group 404, where α ≠ N × 180° and N is an integer. That is, in addition to being parallel to each other, the two feature planes in the registration fixture 400 can also be at a certain angle.

[0154] Figure 5 Figure b in the figure is a structural schematic diagram of a registration tooling provided in another embodiment of this application, as shown below. Figure 5 Figure b in the middle and Figure 5 The difference in Figure a is that the number of the first member group 404 is different, and the positional relationship between the two feature surfaces is different.

[0155] exist Figure 5 In the embodiment shown in Figure a, the registration frame 420 includes two first member groups 404, while... Figure 5 In the embodiment shown in Figure b, the registration frame 420 includes a first rod group 404.

[0156] exist Figure 5 In the embodiment shown in Figure a, the two feature surfaces in the registration frame 420 are parallel to each other, while... Figure 5 In the embodiment shown in Figure b, the two feature surfaces in the registration frame 420 are perpendicular to each other.

[0157] Figure 5In the embodiment shown in Figure b, the multiple rod-like structures forming two feature surfaces include: a first rod group 404 forming a feature surface, and two first straight rods 406 forming feature surface A. Of the two first straight rods 406: one first straight rod 406 belongs to the first rod group 404, while the other first straight rod 406 is a separately configured rod-like structure.

[0158] It is understandable that on the feature surface formed by the first member group 404, the registration frame 420 forms three intersection points with the first plane; on feature surface A, the registration frame 420 forms two intersection points with the first plane. Since the first straight rod 406 in the first member group 404 belongs to two feature surfaces at the same time, the registration frame 420 forms a total of four different intersection points with the two feature surfaces.

[0159] In some embodiments, such as Figure 6 As shown in Figure a, the registration frame 420 includes a second rod group 407, which comprises two second straight rods 408 and one third straight rod 409. In the second rod group 407, the first ends of the two second straight rods 408 and the first end of the third straight rod 409 are connected to each other. The included angle between the two second straight rods 408 is greater than 0 degrees and less than 180 degrees. The third straight rod 409 lies on the angle bisector of the included angle between the two second straight rods 408. The two second straight rods 408 are symmetrical about the third straight rod 409. In this embodiment, the second rod group 407, comprising two second straight rods 408 and one third straight rod 409, with the two second straight rods 408 symmetrical about the third straight rod 409, ensures the symmetry of the registration frame 420, making subsequent registration calculations simple and convenient.

[0160] In some embodiments, the included angle between the two second straight rods 408 is 90 degrees. This arrangement makes the second rod group 407 as a whole form an isosceles right triangle, which makes the subsequent registration calculation simple and convenient.

[0161] For example, the second end of the third straight rod 409 is located at the midpoint of the line connecting the second ends of the two second straight rods 408. By setting the second end of the third straight rod 409 at the midpoint of the line connecting the second ends of the two second straight rods 408, the third straight rod 409 in the second rod group 407 is located within the isosceles triangle defined by the two second straight rods 408. This makes the scanning range of the medical imaging equipment for scanning the registration frame 420 more defined, that is, it only needs to scan the area defined by the two second straight rods 408. This ensures that three imaging points can be obtained on the scanned image for each second rod group 407, ensuring that a certain number of points are available for subsequent registration calculations, and also ensuring the simplicity and aesthetics of the scanning registration frame 420 structure.

[0162] Understandably, due to Figure 6 The second member group 407 in the registration frame 420 shown in Figure a is triangular in shape, therefore Figure 6 The registration frame 420 shown in Figure a can also be called a triangular frame. It is understandable that... Figure 6 In the embodiment shown in Figure a, the registration frame 420 includes two second rod groups 407. In other embodiments, the registration frame 420 may also include three or more second rod groups 407. The three or more second rod groups 407 may be distributed on two feature surfaces or on three or more feature surfaces. This application will not elaborate on this.

[0163] Figure 6 Figure b in the figure is a structural schematic diagram of a registration tooling provided in another embodiment of this application, as shown below. Figure 6 Figure b in the middle and Figure 6 The difference in Figure a is that the number of the second member group 407 is different, and the positional relationship between the two feature surfaces is different.

[0164] exist Figure 6 In the embodiment shown in Figure a, the registration frame 420 includes two second rod groups 407, while Figure 6 In the embodiment shown in Figure b, the registration frame 420 includes a second set of rods 407.

[0165] exist Figure 6 In the embodiment shown in Figure a, the two feature surfaces in the registration frame 420 are parallel to each other, while... Figure 6 In the embodiment shown in Figure b, the two feature surfaces in the registration frame 420 are perpendicular to each other.

[0166] Figure 6 In the embodiment shown in Figure b, the multiple rod-like structures forming two feature surfaces include: a feature surface formed by a second rod group 407, and a feature surface B formed by two third straight rods 409. Among the two third straight rods 409, one third straight rod 409 belongs to the second rod group 407, while the other third straight rod 409 is a separately set rod-like structure.

[0167] It is understandable that on the feature surface formed by the second member group 407, the registration frame 420 intersects with the first plane at three points; on feature surface B, the registration frame 420 intersects with the first plane at two points. Since the third straight bar 409 in the second member group 407 belongs to both feature surfaces, the registration frame 420 intersects with the two feature surfaces at a total of four different points.

[0168] It is understood that in the registration frame of this application embodiment, the relative positional relationship between feature surfaces is fixed, and the relative positional relationship between multiple rod-shaped structures is also fixed. For example, at least two feature surfaces can be connected by rod-shaped structures so that the registration frame 420 has integrity.

[0169] Figures 3 to 6 In the illustrated embodiment, the rod-shaped structures located on different feature surfaces within the same registration frame 420 can be connected in any possible way, as long as the imaging performance of the portion connecting the rod-shaped structures is lower than the imaging performance of the rod-shaped structures forming the registration frame.

[0170] In some embodiments, the rod assembly in the registration frame 420 may include both Figure 5 The first member group 404 shown also includes Figure 6 The second member group 407 shown; that is, the member group in the registration frame 420 can be a combination of two different member groups. For example, the member group in the registration frame 420 may include a first member group 404 and a second member group 407.

[0171] In other embodiments, the same feature surface may include two first rod groups 404, or the same feature surface may include two second rod groups 407; or the same feature surface may include one first rod group 404 and one second rod group 407.

[0172] It should be understood that the number of the first bar group 404 and the second bar group 407 in the registration frame 420, and the number of the first bar group 404 and the second bar group 407 on each feature face, can be changed as needed, and this application will not elaborate on this.

[0173] In some embodiments, each group of links is located on a feature surface, that is, a group of links forms a feature surface, such as Figure 5 Figure a in the middle and Figure 6 As shown in Figure a, the registration frame 420 has two feature surfaces that are parallel to each other. This design makes the structure of the registration frame 420 simpler and more aesthetically pleasing, and also makes its fabrication easier.

[0174] It is understood that the parallelism and perpendicularity described in the embodiments of this application can be within a certain error range, and this application does not make strict requirements on this.

[0175] like Figures 4 to 6As shown, the connecting part in the registration fixture 400 is used to connect the registration ball 410 and the registration frame 420 together, so that the relative positional relationship between the registration ball 410 and the registration frame 420 remains unchanged, and thus the registration fixture 400 is used as a whole in the registration process, which is convenient to use and has high registration accuracy.

[0176] The structure of the connecting part in the registration tooling 400 will be described exemplarily below with reference to the accompanying drawings.

[0177] In some embodiments, such as Figures 4 to 6 As shown, the connecting part includes a tooling rod 431 and four connecting rods 432. The first end of the tooling rod 431 is fixedly connected to the registration ball 410. The first end of each connecting rod 432 is connected to the side of the tooling rod 431, and the second end of each connecting rod 432 is connected to the registration frame 420. Specifically, the second end of each connecting rod 432 is connected to a feature surface of the registration frame. This arrangement ensures that the registration ball 410 is located outside the area defined by the registration frame 420, making the division of the different functions within the registration tooling 400 clearer, and simplifying and facilitating the processing of this registration tooling.

[0178] Understandably, in Figures 4 to 6 In the embodiment shown, each feature surface in the registration frame 420 is connected to the tooling rod 431 via two connecting rods 432.

[0179] In some other embodiments, each feature facet can be connected to the tooling rod body 431 by a connecting rod 432; of course, each feature facet can also be connected to the tooling rod body 431 by three or more connecting rods 432, which will not be elaborated here.

[0180] It is understood that in some other embodiments, the relative positional relationship between the registration ball 410 and the registration frame 420 can also be in other forms. For example, the registration ball 410 can also be located within the range defined by the registration frame 420. This application will not elaborate on this.

[0181] In some embodiments, such as Figure 4 , Figure 5 and Figure 6 As shown, a fixing part 433 is provided on the tooling rod 431, which is used to connect with the execution arm of the surgical robot in the surgical robot system.

[0182] For example, in Figures 4 to 6 In the embodiment shown, two fixing parts 433 are provided, which makes the connection between the surgical robot's execution arm and the fixing parts 433 more stable during use.

[0183] For example, the fixing part 433 can be directly connected to the execution arm of the surgical robot. For instance, the fixing part 433 can be detachably connected to the execution arm of the surgical robot. The specific method of detachable connection can be: snap-fit, sleeve connection, threaded connection, etc.

[0184] For example, the fixing part 433 can be connected to the end effector of the surgical robot's actuator arm, for example... Figures 4 to 6 In the embodiment shown, two fixing parts 433 are provided. In use, the execution end of the surgical robot's execution arm is clamped onto the fixing parts 433 to fix the registration fixture 400.

[0185] Understandably, in Figures 4 to 6 In the illustrated embodiment, the fixing part 433 is located near both ends of the tooling rod 431, making it easier to install the registration tooling 400 onto the actuator arm; in other embodiments, the fixing part 433 may also be located near the middle of the tooling rod, and this application does not limit this.

[0186] In addition, Figures 4 to 6 In the illustrated embodiment, there are two fixing parts 433, which ensure stable clamping of the puncture end of the actuator arm and prevent the registration tool from rotating relative to the puncture end. In other embodiments, the number of fixing parts 433 may be one, three, or more, and this application does not limit this.

[0187] In such Figures 4 to 6 In the embodiment shown, the fixing part 433 is located outside the range defined by the registration frame 420. This arrangement facilitates the connection between the registration fixture and the execution arm of the surgical robot.

[0188] In other embodiments, the fixing part 433 may also be located within the range defined by the registration frame 420, which will not be enumerated in this application.

[0189] In some embodiments, such as Figure 5 and Figure 6 As shown, the registration fixture 400 may also include a support rod 434, which is used to support the first rod group 404 and the second rod group 407 to ensure the stability of the first rod group 404 and the second rod group 407.

[0190] In some other embodiments, the registration tooling may not include the support rod 434, as long as the registration frame 420 can be stably formed. This application will not elaborate on this.

[0191] like Figure 5 As shown, the two ends of the support rod 434 are connected to the two ends of the semi-circular rod 405, and the second end of the first straight rod 406 is connected to the middle of the support rod 434. Figure 6As shown, the two ends of the support rod 434 are respectively connected to the second end of a second straight rod 408, and the second end of the third straight rod 409 is connected to the middle of the support rod 434.

[0192] In some embodiments, such as Figure 4 , Figure 5 and Figure 6 As shown, the tooling rod 431 is a straight rod structure. The axis of the tooling rod 431 is parallel to the feature surface. The axes of the first straight rod 406 and the third straight rod 409 are perpendicular to the axis of the tooling rod 431, respectively. The axis of the connecting rod 432 is perpendicular to the axis of the tooling rod 431. The axis of the tooling rod 431 is perpendicular to the feature surface where the corresponding rod group is located. This arrangement results in numerous right-angle connections in the registration tooling 400, facilitating the processing and fabrication of the registration tooling 400.

[0193] It should be understood that the registration ball 410 and registration frame 420 in the registration fixture 400 need to be developed under the scanning of the imaging equipment so that registration calculation can be performed based on the imaging points of the registration ball 410 and registration frame 420 in the scanned image. Therefore, the registration ball 410 and registration frame 420 can be made of materials that are easy to image under the scanning of the imaging equipment, while the connecting part is made of materials that are not easy to image under the scanning of the imaging equipment.

[0194] For example, in a CT scanner, the X-ray attenuation coefficients of both the registration frame 420 and the registration ball 410 are greater than the X-ray attenuation coefficient of the connecting part.

[0195] For example, the connecting parts can be made of materials such as acrylic or PC (Polycarbonate); the registration ball 410 and the registration frame 420 can be made of materials such as aluminum alloy, steel or iron.

[0196] Understandably, in Figures 4 to 6 In the illustrated embodiment, the registration ball 410 and the registration frame 420 are connected by a connecting part, which includes a tooling rod 431 and at least one connecting rod 432. That is, the registration ball 410 and the registration frame 420 are connected by some rod-like structures. In other embodiments, the registration ball 410 and the registration frame 420 may also be connected using other forms of connecting parts.

[0197] For example, in some embodiments, the registration fixture includes a registration sphere 410, a connecting portion, and a registration frame 420. The connecting portion includes a positioning outer frame, within which a spherical cavity and a frame cavity are formed. The spherical cavity is filled with a material to form the registration sphere 410, and the frame cavity is filled with a material to form the registration frame 420. The imaging performance of the material is higher than that of the positioning outer frame. In this embodiment, by filling the cavity formed in the positioning outer frame with a material to form the registration sphere 410 and the registration frame 420, the overall stability of the registration fixture structure is improved.

[0198] It is understandable that the imaging performance of the material body is higher than that of the positioning frame. Specifically, the material body is made of a material that is easy to image under the scanning of an image scanning device, while the connecting part is made of a material that is not easy to image under the scanning of an image scanning device.

[0199] It should be understood that the specific form of the material body can be solid particles, liquid, or gas, etc. In actual production, a positioning frame with cavities can be formed first, then the aforementioned material body can be injected into the cavities of the positioning frame, and then the injection holes of the material body can be sealed. Alternatively, the material body forming the registration sphere can be a complete solid sphere, and the material body forming the registration frame can be multiple mutually separated solid rod-like structures. The positioning frame can be composed of multiple parts spliced ​​together, with the multiple parts spliced ​​at the cavities, so that the solid sphere and solid rod-like structures can be placed into the cavities before splicing, and then fixed into the cavities after splicing.

[0200] For example, the positioning frame can be made of acrylic or PC material, and the material body that fills the cavity to form the registration ball 410 and the registration frame 420 can be a contrast agent, such as iodine, propofol, gadolinium, barium, etc., or it can be made of aluminum alloy, steel or iron, etc. This application does not specifically limit the specific materials of the positioning frame and the material body.

[0201] It should be understood that the specific materials of the registration ball 410, the registration frame 420 and the connecting part are all commonly used materials in the prior art, and this application will not elaborate or enumerate them.

[0202] It is understood that the specific structure of the registration ball 410 and the registration frame 420 can be found in the description in the foregoing embodiments, and will not be repeated here.

[0203] It is understood that the registration fixture 400 in the embodiments of this application is used to achieve accurate registration between the coordinate system of the surgical robot system and the coordinate system of the medical imaging system.

[0204] For example, based on Figure 1The puncture robot system shown is used in conjunction with medical imaging equipment and a registration fixture, which can be placed at the end of the actuator arm of the puncture robot system.

[0205] After introducing the registration fixture in the embodiments of this application, the registration method in the embodiments of this application will be described below with reference to the accompanying drawings.

[0206] Reference Figure 7 This is a schematic diagram of the image scanning process during the registration of the coordinate system of the puncture robot system with the coordinate system of the CT equipment in one embodiment of this application. Figure 7 As shown, when entering the registration and registration process, the central control unit in the surgical cart 123 controls the surgical execution arm 121 to enter the CT aperture. The registration fixture 400, which is installed on the puncture end 122, has part of its structure located in the image scanning area. By changing the position of the surgical execution arm 121 multiple times and performing scanning, a scan image is obtained. The scan image is then transmitted to the host 112 for registration and registration calculation.

[0207] Figure 8 for Figure 7 The schematic diagram shown is an enlarged view of the registration fixture 400, where the registration fixture 400 is... Figure 4 The Z-shaped fixture shown.

[0208] like Figure 8 As shown in this embodiment, the scanning surface of the CT device and the scanning of the registration fixture will be tilted to a certain extent. Assuming that the cross-section of all the rods of the registration frame is circular, the scanning surface of the CT device and the scanning of the registration fixture will be tilted to a certain extent. Therefore, the scanning points on the scanned image are not ideal circular points. As a result, there will be a certain error in the extraction of the scanning points of the scanned image, which ultimately leads to low navigation and positioning accuracy of the image system.

[0209] like Figure 7 and Figure 8 As shown, several important coordinate systems are displayed. The origin of the surgical arm base coordinate system is O1, the origin of the scanning gantry coordinate system is O3, the origin of the registration fixture's fixed part coordinate system is O4, and the center point of the registration sphere of the registration fixture is O5.

[0210] In the following description, O1 represents the coordinate system of the surgical arm, O3 represents the coordinate system of the scanning gantry, and O5 represents the coordinate system of the registration fixture.

[0211] It is understood that, in the embodiments of this application: the coordinate system of the surgical execution arm is the coordinate system of the surgical robot system, and the coordinate system of the scanning gantry is the coordinate system of the medical imaging system. Therefore, in Figure 7 and Figure 8In the embodiments shown, the registration method in this application is mainly for determining the transformation relationship between the surgical arm base coordinate system O1 and the scanning frame coordinate system O3.

[0212] See Figure 9 This is a flowchart illustrating an example registration method provided in this application. This method is applicable to surgical robot systems, for example, it can be applied to... Figure 1 The puncture robot system shown below, in conjunction with Figure 9 The registration method in the embodiments of this application will be described. For example... Figure 9 As shown, the puncture method includes: S910 to S950.

[0213] S910 uses the scanned image of the registration frame to determine the first transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system. The scanned image of the registration frame is obtained by the medical imaging equipment scanning the registration frame.

[0214] It is understandable that, based on the coordinate information of the imaging points or scanning points in the scanned image, the relative positional relationship of the corresponding feature points on the registration frame can be obtained. The coordinate information of the imaging points or scanning points in the scanned image is the coordinate information of the corresponding points on the registration frame in the coordinate system of the medical imaging device.

[0215] It should be understood that, since the accuracy of the first transformation relationship obtained through the registration framework is relatively low, the first transformation relationship is a coarse registration transformation relationship.

[0216] It is understood that the registration framework in this implementation can be the registration framework in any registration tooling of this application.

[0217] S920, determine the first coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the medical imaging device. The multiple registration points are located within the scanning collimation range of the medical imaging device and are not collinear.

[0218] In this embodiment, the registration points are selected from the scanning collimation range of the imaging device. To ensure the accuracy of subsequent calculations, the selected registration points are not collinear.

[0219] It is understandable that the number of registration sites is K, where K is an integer greater than or equal to 3.

[0220] For example, the number of registration sites can be 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, etc. The number of registration sites can be selected as needed, and this application does not impose any restrictions on this.

[0221] Reference Figure 10This is a schematic diagram of the registration points within the scanning collimation range of the imaging equipment. Figure 10 Figure a shows a schematic diagram of the registration points within the scanning collimation range from a top view. Figure 10 Figure b in the diagram shows a schematic diagram of the registration points within the scanning collimation range under a frontal view. For example... Figure 10 As shown, in this embodiment, there are 10 registration points within 10 of the scanning collimation range boundary.

[0222] It is understood that the coordinate information set refers to a collection of coordinate information. In the embodiments of this application, the first coordinate information set is the coordinate information of multiple registration points in the coordinate system of the medical imaging equipment (i.e., the scanning gantry coordinate system O3).

[0223] S930, according to the first transformation relationship, the coordinate information in the first coordinate information set is transformed to obtain the second coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the surgical robot system.

[0224] In this embodiment, the second coordinate information set consists of the coordinate information of multiple registration points in the coordinate system of the surgical robot system (i.e., the base coordinate system O1 of the surgical execution arm). The calculation process for coordinate system transformation using the first transformation relationship is mainly a mathematical calculation process, which will not be elaborated here.

[0225] S940, based on the second coordinate information set, controls the movement of the surgical robot system's execution arm so that the registration ball is sequentially positioned at each registration point.

[0226] In this embodiment, since the second coordinate information set consists of the coordinate information of multiple registration points in the coordinate system of the surgical robot system (i.e., the base coordinate system O1 of the surgical execution arm), the movement of the execution arm of the surgical robot system can be controlled to move the registration ball to each registration point in sequence.

[0227] S950 uses multiple scanned images of the registration ball to determine a second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system. The multiple scanned images include images obtained by the medical imaging device scanning the registration ball when the registration ball is located at each registration point.

[0228] In this embodiment of the application, the second transformation relationship obtained by the registration ball has high accuracy, therefore the second transformation relationship is a fine registration transformation relationship.

[0229] The registration method in this embodiment obtains a first transformation relationship through coarse registration using a registration framework. This first transformation relationship is a coarse registration transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system. Then, the first coordinate information set of multiple registration points located within the scanning collimation range of the medical imaging device is converted into a second coordinate information set using the first transformation relationship. Based on the second coordinate information set, the execution arm of the surgical robot system is controlled to sequentially position the registration ball at each registration point and scan the registration ball. The second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system is determined based on the obtained scan image. This second transformation relationship is a fine registration transformation relationship. By converting the first coordinate information set into the second coordinate information set through the first transformation relationship, the placement of the registration ball at the registration points is very accurate, ensuring that the registration ball is always within the scanning collimation range of the medical imaging device during each placement. This results in a more accurate second transformation relationship, achieving precise registration between the coordinate system of the surgical robot system and the coordinate system of the medical imaging device.

[0230] In some embodiments, before determining the first coordinate information set, the registration method further includes: determining the scanning collimation range of the medical imaging device based on the scanned image of the registration frame and the scanning collimation width parameter of the medical imaging device.

[0231] For example, the location of the scanned image of the registration frame is determined as the collimation center line, and the scanning collimation range of the medical imaging device includes: a range extending from the collimation center line towards the head side and the foot side, respectively, by half of the scanning collimation width parameter.

[0232] Alternatively, the scanning collimation range of a medical imaging device includes a range extending from the location of the scanned image of the registration frame toward the foot by a scanning collimation width parameter.

[0233] Alternatively, the scanning collimation range of medical imaging equipment includes: a range of scanning collimation width parameters extending cephalometrically from the location of the scanned image of the registration frame.

[0234] For ease of understanding, the implementation of step S910 is described below as an example. Figure 11 This is a schematic diagram of the process for determining the first transformation relationship in one embodiment of this application, as shown below. Figure 11 As shown, the process includes steps S1110 to S1140:

[0235] S1110, Obtain a third coordinate information set from the scanned image of the registration frame. The third coordinate information set includes the coordinate information of multiple first scan points in the scanned image of the registration frame. Each first scan point represents an imaging point formed by a feature point in the registration frame after scanning by the medical imaging device.

[0236] For example, the plurality of first scan points includes at least three non-collinear points.

[0237] For example, the plurality of first scan points includes at least four non-collinear points.

[0238] It is understandable that the number of first scan points is the same as the number of intersection points between the registration frame 420 and the first plane. Since the registration frame 420 and the first plane have at least four non-collinear intersection points, the number of first scan points is at least four, and at least four of the first scan points are non-collinear.

[0239] Reference Figure 12 This is a scanned image of the registration frame in one embodiment of this application. The registration frame in this embodiment is a Z-shaped frame, such as... Figure 12 As shown, there are seven scan points on the scanned image of the registration frame, with the first scan point having seven points. It can be understood that the first scan point is the intersection of the registration frame and the image scan plane. From... Figure 12 The coordinates of the scanned points are extracted from the scanned image shown, and the set of coordinates of the 7 scanned points is the third coordinate information set.

[0240] It should be understood that Figure 12 The seven scan points shown are merely examples and are not intended to limit the number of first scan points in the embodiments of this application. Other embodiments may include more or fewer first scan points.

[0241] It is understandable that the coordinates in the third coordinate information set are the coordinate information under the coordinate system of the medical imaging equipment (i.e., the scanning gantry coordinate system O3).

[0242] S1120. Based on the third coordinate information set and the shape parameters of the registration frame, determine the fourth coordinate information set. The fourth coordinate information set includes the coordinate information of multiple feature points of the registration frame in the coordinate system of the registration fixture.

[0243] It is understandable that the fourth coordinate information set includes the coordinate information of multiple feature points of the registration frame in the coordinate system of the registration fixture. Therefore, the process of determining the fourth coordinate information set in step S1120 is the process of transforming the coordinates of the scan points obtained in the scanned image to the coordinate system of the registration fixture.

[0244] It should be understood that each first scan point in the scanned image is an imaging point obtained by scanning a feature point in the registration frame using medical imaging equipment; the positional relationship of multiple first scan points in the scanned image is the same as the positional relationship of multiple feature points in the registration frame. Therefore, the fourth coordinate information set can be determined based on the third coordinate information set and the shape parameters of the registration frame.

[0245] In some embodiments, the coordinate system of the registration tool can be based on the center of the registration sphere as the origin, and therefore the coordinate system of the registration tool can be represented by the center coordinate O5.

[0246] In other embodiments, other coordinate systems of the registration tool can also be used as the coordinate system of the registration tool.

[0247] For example, the coordinate system of the fixed part of the registration fixture can be used as the coordinate system of the registration fixture. In this case, the coordinate system of the registration fixture can be represented by the origin O4 of the coordinate system of the fixed part.

[0248] For example, the coordinate system of the registration frame can also be used as the coordinate system of the registration tool, which will not be elaborated in this application.

[0249] To facilitate understanding, the process of obtaining the fourth coordinate information set will be illustrated below with reference to the accompanying drawings.

[0250] Figure 13 for Figure 4 The side view of the registration fixture in the middle. Figure 13 The feature points on one feature surface of the Z-shaped frame are illustrated. Figure 12 The scanned image is as follows: on the scanned surface 501, facing the SS direction. Figure 13 Images obtained by scanning within a registration frame. For example... Figure 12 and Figure 13 As shown, assuming Figure 13 Point A in Figure 12 The scan point 1203 corresponds to, Figure 13 point M in Figure 12 The scan point 1202 corresponds to, Figure 13 Point B in Figure 12 The scan point 1201 corresponds to this.

[0251] like Figure 13 As shown, the Z-shaped frame is based on Figure 12 The coordinates of each scan point in the medical image can be extracted, and then the length l of AM can be calculated based on the coordinates of the scan points corresponding to points A, B, and M. 11 BM length l 12 Then, based on the principle of similar triangles, the positional proportion of point M on the hypotenuse of the Z-shape can be obtained; finally, based on the physical length L2 of the hypotenuse and the angle θ between the hypotenuse and the Z-shape, the coordinates of point M in the physical coordinate system of the registration frame can be calculated. Points A and B, and in... Figure 13 The coordinates of other feature points of the registration frame not shown in the figure in the physical coordinate system of the registration frame can be obtained based on a similar method, which will not be elaborated here.

[0252] It is understandable that if point M is the center point of the inclined section on the Z-shaped rod, and assuming that line P passes through point M and is perpendicular to the straight section of the Z-shaped rod, then points A1 and B1 exist on the Z-shaped rod, where points A1 and A are symmetrical about line P, and points B1 and B are symmetrical about line P. Therefore, based on the above calculation, it is impossible to determine... Figure 12 The scanned image in the image is either obtained by scanning plane 501 on the plane containing points A, B, and M, or by scanning plane 501 on the plane containing points A1, B1, and M. There are two possible results. The first result is... Figure 12 Scan point 1203 and Figure 13 Point A in the middle corresponds to, Figure 12 Scan point 1202 and Figure 13 Point M corresponds to, Figure 12 Scan point 1201 and Figure 13 Point B in the middle corresponds to; the second result: Figure 12 Scan point 1203 and Figure 13 Point A1 in the middle corresponds to, Figure 12 Scan point 1202 and Figure 13 Point M corresponds to, Figure 12 Scan point 1201 and Figure 13 Point B1 corresponds to this.

[0253] Through Figure 4 The registration fixture shown also includes a Z-shaped bar located on the supplementary surface, wherein: the intersection of the inclined bar of the Z-shaped bar on the supplementary surface and the scanning surface 501 ( Figure 13 (not shown in the image), and Figure 12 This corresponds to scan point 1204. By utilizing the relationship between the coordinates of scan point 1204 and the coordinates of other scan points, a unique and definite result can be obtained.

[0254] For ease of understanding, the following will use... Figure 5 Taking the registration fixture with a semi-circular frame shown as an example, the process of calculating the coordinates of the feature points in the registration frame 420 in the registration frame coordinate system is illustrated. Figure 14 for Figure 5 The side and rear views of the registration fixture.

[0255] exist Figure 14 In Figure a, the feature points on a feature surface of the semi-circular frame of the registration fixture are shown as points A, B, and M. The coordinate information of the scan points corresponding to points A, B, and M can be extracted from the scan image of the registration frame (that is, the three coordinate information in the third coordinate information set).

[0256] Based on the coordinates of the scanning points corresponding to points A, B, and M, the lengths of AM and BM can be calculated and denoted as l1 and l2, respectively. Assuming the radius of the semicircular frame is R, for triangle OAB, the length of side OA is R, the length of side OB is also R, and the length of side AB is l = l1 + l2. Since the lengths of the three sides of triangle OAB are known, ∠OAB and ∠OBA can be calculated and denoted as α and β, respectively. Therefore, α and β satisfy the following formula:

[0257]

[0258] Therefore, the length of OM can be calculated as: Substituting angle α into the equation, we get

[0259]

[0260] ∠AOM is denoted as

[0261] ∠BOM is denoted as

[0262] In this embodiment, the two feature surfaces of the registration fixture are parallel to each other, and the distance between the two feature surfaces is L, where the distance L is specifically as follows: Figure 14 As shown in Figure b, by establishing the coordinate system of the registration frame at the center of the semicircle, the coordinates of points A, B, and M in this coordinate system are as follows:

[0263]

[0264] Based on the above, it can be concluded that Figure 14 The coordinates of other feature points of the registration frame (not shown) in the coordinate system of the registration frame can be obtained using a similar method, and will not be elaborated here.

[0265] It is understandable that, such as Figure 14 As shown in Figure a, when the scanning surface 501 is located in different positions, the distances between the multiple intersection points between the scanning surface 501 and the members in the registration frame are different, and / or the proportional relationships between these distances are also different on the medical image. Therefore, the intersection points between the scanning surface 501 and the registration frame can be uniquely determined by the distances between the various scanning points on the medical image and the proportional relationships between these distances. Similarly... Figure 6 The registration framework in [the context] also has similar characteristics. Therefore, in [the context] Figure 5 and Figure 6The registration fixture shown includes at least one group of rods, which is an axisymmetric structure with one axis of symmetry. It does not require the setting of supplementary surfaces, so the structure is simple and the processing difficulty is small. Furthermore, since it is not necessary to calculate the scanning points on the supplementary surfaces, the calculation difficulty is small.

[0266] It is understandable that, since the registration fixture is a pre-designed structure, the coordinate systems in the registration fixture can be transformed into each other through translation transformation. For example, the coordinate system of the registration frame can be transformed into the coordinate system of the center of the registration sphere through translation. This application will not elaborate on this.

[0267] For example, when the sphere-centered coordinate system is used as the coordinate system of the registration tool, the coordinates of the calculated feature points in the coordinate system of the registration frame can be transformed to the sphere-centered coordinate system through translation transformation.

[0268] S1130, using the third transformation relationship, the fourth coordinate information set is transformed into the fifth coordinate information set. The fifth coordinate information set includes the coordinate information of multiple feature points of the registration frame in the coordinate system of the surgical robot system. The third transformation relationship represents the transformation relationship between the coordinate system of the registration tool and the coordinate system of the surgical robot system.

[0269] It should be understood that the third transformation relationship represents the transformation relationship between the coordinate system of the registration tool and the coordinate system of the puncture robot system, which can be obtained through the calibration of the coordinate system.

[0270] In this embodiment of the application, after determining the set of coordinate information of multiple feature points including the registration frame in the coordinate system of the registration tool (i.e., the fourth coordinate information set), the coordinate information in the fourth coordinate information set can be directly transformed using the third transformation relationship to obtain the fifth coordinate information set.

[0271] S1140, Determine the first transformation relationship based on the third coordinate information set and the fifth coordinate information set.

[0272] It should be understood that the first transformation relationship can be the registration transformation matrix between the third coordinate information set and the fifth coordinate information set. The registration transformation matrix between the third coordinate information set and the fifth coordinate information set can be determined by point set registration algorithms such as ICP (Iterative Closest Point) and RPM (Robust Point Matching).

[0273] After introducing the method for obtaining the first transformation relationship, the implementation of step S950 will be described below by way of example. Figure 15 This is a schematic diagram of the process for determining the second transformation relationship in one embodiment of this application, as shown below. Figure 15As shown, the process includes steps S1510 to S1520:

[0274] S1510, obtain a sixth coordinate information set from multiple scan images of the registration sphere. The sixth coordinate information set includes the coordinate information of multiple second scan points in the multiple scan images of the registration sphere. Each second scan point represents an imaging point formed after scanning by the medical imaging equipment when the registration sphere is located at a registration point.

[0275] It is understandable that when the registration ball moves to each registration point, the medical imaging equipment will scan the registration ball to obtain the scan image corresponding to that registration point. The registration ball will form an imaging point in each scan image, which is a second scan point. The coordinate information of the second scan point can be obtained by extracting the coordinates of the scan image. The set of coordinate information of multiple second scan points is the sixth coordinate information set.

[0276] S1520, Determine the second transformation relationship based on the second coordinate information set and the sixth coordinate information set.

[0277] It should be understood that the second transformation relationship can be the registration transformation matrix between the second coordinate information set and the sixth coordinate information set. The registration transformation matrix between the third coordinate information set and the fifth coordinate information set can be determined by point set registration algorithms such as ICP (Iterative Closest Point) and RPM (Robust Point Matching).

[0278] To facilitate understanding, the following example uses a CT scanner scanning a Z-shaped registration fixture to illustrate the registration method. The registration process is divided into two stages: coarse registration and fine registration. Before initiating the registration process, the user mounts the registration fixture 400 onto the puncture tip 122 of the surgical arm 121 of the puncture robot system.

[0279] I. Coarse Registration Stage

[0280] The central control unit of the puncture robot system controls the surgical arm 121 to enter the CT aperture, moving a portion of the registration frame 420 into the image scanning area of ​​the CT scanner gantry. It then starts the CT scanner to complete the scanning operation and transmits the obtained scanned image of the registration frame 420 to the host unit 112. The host unit 112 performs coarse registration calculations according to the following steps:

[0281] (1) Extract the first scan point from the scanned image of the registration frame 420 and denot it as Λ1, such as Figure 7 As shown, the registration frame 420 has a total of 7 scanning points on the scanned image, and Λ1 is the third coordinate information set.

[0282] (2) Based on the positional relationship of each point in Λ1, calculate the coordinates of the points corresponding to each first scanning point on the registration frame in the coordinate system O5 of the registration fixture, and denot them as Θ1. Among them, the corresponding points are multiple feature points of the registration frame, and Θ1 is the fourth coordinate information set.

[0283] (3) Calculate the coordinates of the points corresponding to each coordinate in Λ1 in the surgical execution arm base coordinate system O1, and denote them as Ψ1. Among them, the points corresponding to each coordinate in Λ1 are the multiple feature points of the registration frame, M1 is the transformation matrix between the coordinate system O5 of the registration tool and the coordinate system O1 of the surgical execution arm, and M1 can be obtained through calibration; Ψ1 is the fifth coordinate information set, and M1 is the third transformation relationship.

[0284] (4) Calculate the registration matrix of the point pair set {Λ1, Ψ1}. This registration matrix is ​​the coarse registration transformation matrix between the surgical arm base coordinate system O1 and the gantry coordinate system O3, denoted as M2. Among them, the gantry coordinate system O3 is the coordinate system of the medical imaging equipment, and M2 is the first transformation relationship.

[0285] II. Precision Matching Stage

[0286] After obtaining the first transformation relation, a fine registration process is performed using the first transformation relation. The fine registration process is as follows:

[0287] (1) Select N registration points within the scanning collimation range of the CT scanner and denote them as Γ2. For example, N can be an integer greater than or equal to 10. For instance, the following can be selected within the scanning collimation range of the CT scanner: Figure 10 The 10 points shown.

[0288] Wherein, Γ2 is the set of coordinate information of N registration points in the coordinate system of the medical imaging equipment (i.e., the scanning frame coordinate system O3), which is the first coordinate information set.

[0289] (2) The N registration points can be transformed into the surgical execution arm base coordinate system O1 by the coarse registration transformation matrix M2, and denoted as Ψ2, where Ψ2=M2Γ2.

[0290] Among them, the coarse registration transformation matrix M2 is the first transformation relationship, and Ψ2 is the second coordinate information set.

[0291] (3) Control the movement of the surgical arm 121 to move the registration ball to each registration point in Ψ2 in sequence, and start the CT equipment to scan and obtain N scan images. Among them, the N scan images are multiple scan images of the registration ball.

[0292] (4) Extract the coordinate information of the second scan point from the scan image of N scans and denote it as Λ2. Λ2 is the sixth coordinate information set.

[0293] (5) Calculate the registration matrix of the point pair set {Λ2, Ψ2}. This registration matrix is ​​the fine registration transformation matrix between the surgical arm base coordinate system O1 and the scanning gantry coordinate system O3, denoted as M3. M3 is the second transformation relationship.

[0294] It is understandable that the scanning bed position can remain unchanged during the coarse registration stage and the fine registration stage.

[0295] It should be understood that the fine registration transformation matrix M3 (i.e., the second transformation relation) can be applied to the navigation and positioning process. Specifically, during the positioning and navigation process, based on the fine registration transformation matrix (i.e., the second transformation relation), the coordinates of the needle insertion point, and the coordinates of the target point, the positioning of the surgical robot's surgical arm is planned to achieve the navigation and positioning of the surgical robot.

[0296] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0297] Corresponding to the registration method in the above embodiments, this application also provides a registration apparatus, which includes units for performing the various steps in the registration method as in any of the above embodiments.

[0298] The registration apparatus in the embodiments of this application will be described exemplarily below with reference to the accompanying drawings. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0299] Reference Figure 16 The registration device 1600 includes: a first determining unit 1610, a second determining unit 1620, a coordinate transformation unit 1630, a motion control unit 1640, and a third determining unit 1650; wherein:

[0300] The first determining unit 1610 is used to determine a first transformation relationship between the coordinate system of the medical imaging equipment and the coordinate system of the surgical robot system using the scanned image of the registration frame. The scanned image of the registration frame is obtained by the medical imaging equipment scanning the registration frame.

[0301] The second determining unit 1620 is used to determine the first coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the medical imaging device. The multiple registration points are located within the scanning collimation range of the medical imaging device and are not collinear.

[0302] The coordinate transformation unit 1630 is used to transform the coordinate information in the first coordinate information set according to the first transformation relationship to obtain the second coordinate information set, which includes the coordinate information of multiple registration points in the coordinate system of the surgical robot system.

[0303] The motion control unit 1640 is used to control the movement of the surgical robot system's execution arm according to the second coordinate information set, so that the registration ball is sequentially located at each registration point;

[0304] The third determining unit 1650 is used to determine a second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using multiple scan images of the registration ball. The multiple scan images include images obtained by the medical imaging device scanning the registration ball when the registration ball is located at each registration point.

[0305] In some embodiments, the first determining unit 1610 is used to determine a first transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using the scanned image of the registration frame. The scanned image of the registration frame is obtained by the medical imaging device scanning the registration frame. Specifically, it includes: obtaining a third coordinate information set from the scanned image of the registration frame, the third coordinate information set including the coordinate information of multiple first scan points in the scanned image of the registration frame, each first scan point representing an imaging point formed by a feature point in the registration frame after scanning by the medical imaging device; determining a fourth coordinate information set based on the third coordinate information set and the shape parameters of the registration frame, the fourth coordinate information set including the coordinate information of multiple feature points of the registration frame in the coordinate system of the registration fixture; converting the fourth coordinate information set into a fifth coordinate information set using the third transformation relationship, the fifth coordinate information set including the coordinate information of multiple feature points of the registration frame in the coordinate system of the surgical robot system, the third transformation relationship representing the transformation relationship between the coordinate system of the registration fixture and the coordinate system of the surgical robot system; and determining the first transformation relationship based on the third coordinate information set and the fifth coordinate information set.

[0306] In some embodiments, the second determining unit 1620 is further configured to: determine the scanning collimation range of the medical imaging device based on the scanned image of the registration frame and the scanning collimation width parameter of the medical imaging device.

[0307] In some embodiments, the third determining unit 1650 is used to determine a second transformation relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system using multiple scan images of the registration sphere. The multiple scan images include images obtained by the medical imaging device scanning the registration sphere when the registration sphere is located at each registration point. Specifically, this includes: obtaining a sixth coordinate information set from the multiple scan images of the registration sphere. The sixth coordinate information set includes coordinate information of multiple second scan points in the multiple scan images of the registration sphere. Each second scan point represents an imaging point formed after scanning by the medical imaging device when the registration sphere is located at a registration point. The second transformation relationship is determined based on the second coordinate information set and the sixth coordinate information set.

[0308] In some embodiments, the registration frame is larger than the scanning collimation width of the medical imaging device in at least one direction, and the diameter of the registration ball is smaller than the scanning collimation width of the medical imaging device.

[0309] In some embodiments, during the process of the registration device 1600 determining the first conversion relationship and the second conversion relationship, the relative positional relationship between the medical imaging device and the surgical robot system remains unchanged.

[0310] It should be understood that the specific process of each unit in the registration device 1600 performing the corresponding steps in the above-mentioned recommended method is described in the previous section on the registration method. For the sake of brevity, it will not be repeated here.

[0311] After introducing the registration method and registration device in the embodiments of this application, the structure of the computer device in the embodiments of this application will be described below with reference to the accompanying drawings.

[0312] See Figure 17 This is a schematic diagram of the structure of a computer device provided in one embodiment of this application. Figure 17 As shown, the computer device 17 in this embodiment includes at least one processor 1700. Figure 17 The diagram shows only one processor, a memory 1701, and a computer program 1702 stored in the memory 1701 and executable on the at least one processor 1700, wherein the processor 1700 executes the computer program 1702 to implement the steps in any of the above registration methods.

[0313] Figure 17 The computer device 17 is merely an example and does not constitute a limitation on the computer device 17. The computer device 17 may include more or fewer components than shown, or combine certain components, or different components.

[0314] The processor 1700 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0315] In some embodiments, the memory 1701 may be an internal storage unit of the computer device 17, such as a hard disk or memory of the computer device 17. In other embodiments, the memory 1701 may be an external storage device of the computer device 17, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device 17. Furthermore, the memory 1701 may include both internal and external storage units of the computer device 17. The memory 1701 is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of the computer program. The memory 1701 can also be used to temporarily store data that has been output or will be output.

[0316] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0317] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0318] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0319] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0320] This application also provides a chip located in an electronic device, the chip including: a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, pins, or circuits. The processing unit can execute computer instructions to cause the electronic device to perform any of the registration methods provided in the embodiments of this application.

[0321] Optionally, the computer instructions are stored in a storage unit.

[0322] Optionally, the storage unit can be an internal storage unit within the chip, such as a register or cache. Alternatively, it can be an external storage unit located within the terminal, such as a ROM or other types of static storage devices capable of storing static information and instructions, such as random access RAM. The processor mentioned above can be a CPU, microprocessor, ASIC, or one or more integrated circuits used to control the execution of a program for transmitting the aforementioned feedback information. The processing unit and the storage unit can be decoupled and located on different physical devices, connected via wired or wireless means to implement their respective functions, thereby supporting the system chip in implementing the various functions described in the above embodiments. Alternatively, the processing unit and the memory can also be coupled to the same device.

[0323] In this embodiment, the computer device, computer-readable storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0324] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a projection device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0325] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0326] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0327] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0328] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0329] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method of registration, characterized by, The application is applied to a surgical robot system used in cooperation with a medical imaging device and a registration tool, the surgical robot system comprising a surgical robot, the registration tool being arranged on an execution arm of the surgical robot, the registration tool comprising a registration frame and a registration ball connected with each other, the registration frame having a size in at least one direction greater than a diameter of the registration ball, the method comprising: determining a first conversion relationship between a coordinate system of the medical imaging device and a coordinate system of the surgical robot system by using a scanning image of the registration frame, the scanning image of the registration frame being obtained by scanning the registration frame by the medical imaging device; determining a first coordinate information set, the first coordinate information set comprising coordinate information of a plurality of registration points in the coordinate system of the medical imaging device, the plurality of registration points being located within a scanning collimation range of the medical imaging device, and the plurality of registration points not being collinear; converting the coordinate information in the first coordinate information set according to the first conversion relationship to obtain a second coordinate information set, the second coordinate information set comprising coordinate information of the plurality of registration points in the coordinate system of the surgical robot system; controlling the execution arm of the surgical robot to move according to the second coordinate information set so that the registration ball is located at each registration point in turn; determining a second conversion relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system by using a plurality of scanning images of the registration ball, the plurality of scanning images comprising images obtained by scanning the registration ball by the medical imaging device when the registration ball is located at each registration point.

2. The method of claim 1, wherein, The method further comprises, before the determining the first coordinate information set, determining a scanning collimation range of the medical imaging device according to the scanning image of the registration frame and a scanning collimation width parameter of the medical imaging device. The determining the first conversion relationship comprises: obtaining a third coordinate information set from the scanning image of the registration frame, the third coordinate information set comprising coordinate information of a plurality of first scanning points in the scanning image of the registration frame, each of the first scanning points representing an imaging point of a feature point in the registration frame after scanning by the medical imaging device; determining a fourth coordinate information set according to the third coordinate information set and a shape parameter of the registration frame, the fourth coordinate information set comprising coordinate information of a plurality of feature points of the registration frame in a coordinate system of the registration tool; converting the fourth coordinate information set to a fifth coordinate information set by using a third conversion relationship, the fifth coordinate information set comprising coordinate information of the plurality of feature points of the registration frame in the coordinate system of the surgical robot system, the third conversion relationship representing a conversion relationship between the coordinate system of the registration tool and the coordinate system of the surgical robot system; 3. The method of claim 1, wherein, determining the first conversion relationship according to the third coordinate information set and the fifth coordinate information set.

4. The method of claim 1, wherein, The second conversion relationship between the coordinate system of the medical imaging device and the coordinate system of the surgical robot system is determined by using the plurality of scan images of the registration ball, including: From the plurality of scan images of the registration ball, a sixth coordinate information set is obtained, the sixth coordinate information set including coordinate information of a plurality of second scan points in the plurality of scan images of the registration ball, each of the second scan points representing an imaging point formed after the medical imaging device scans when the registration ball is located at a registration site; The second conversion relationship is determined according to the second coordinate information set and the sixth coordinate information set.

5. The method according to any one of claims 1 to 4, characterized in that, The size of the registration frame in at least one direction is greater than the scan collimation width of the medical imaging device, and the diameter of the registration ball is less than the scan collimation width of the medical imaging device.

6. The method according to any one of claims 1 to 4, characterized in that, During the determination of the first conversion relationship and the determination of the second conversion relationship, the relative positional relationship between the medical imaging device and the surgical robot system remains unchanged.

7. A surgical robotic system, characterized by, The surgical robot system is used in cooperation with a medical imaging device and a registration tool, and the surgical robot system includes a surgical robot and a processor, the registration tool is arranged on an execution arm of the surgical robot, and the processor is used to execute the method according to any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. The computer program is executed by the processor to execute the registration method according to any one of claims 1 to 6.

9. A registration tool characterized by, The registration tool includes a registration ball (410), a connecting part, and a registration frame (420), the registration ball (410) is connected with the registration frame (420) through the connecting part, and the size of the registration frame (420) in at least one direction is greater than the diameter of the registration ball (410).

10. The registration fixture of claim 9, wherein, The registration frame (420) includes a plurality of rod-shaped structures, the plurality of rod-shaped structures form at least two feature surfaces, the registration frame (420) forms at least three intersection points with a first plane on at least one feature surface, and the first plane is a plane where an image scanning surface of a medical imaging device is located when the medical imaging device scans the registration frame.

11. The registration fixture of claim 10, wherein, The plurality of rod-shaped structures form two feature surfaces and one supplementary surface. The plurality of rod-shaped structures include three Z-shaped rods, the Z-shaped rod includes two mutually parallel horizontal rods and an inclined rod, and the two horizontal rods in the Z-shaped rod are connected through the inclined rod to form a Z shape. The three Z-shaped rods include a first Z-shaped rod (401), a second Z-shaped rod (402), and a third Z-shaped rod (403), the first Z-shaped rod (401) and the second Z-shaped rod (402) are located on one of the feature surfaces respectively, the third Z-shaped rod (403) is located on the supplementary surface, the horizontal rods of the three Z-shaped rods are mutually parallel, and the first Z-shaped rod (401) and the second Z-shaped rod (402) respectively share a horizontal rod with the third Z-shaped rod (403).

12. The registration tool according to claim 11, wherein the two feature surfaces are mutually parallel, and / or the two feature surfaces are respectively perpendicular to the supplementary surface.

13. The registration fixture of claim 10, wherein, The plurality of rod-shaped structures comprises at least one rod group, the rod group being an axis-symmetrical structure having an axis of symmetry, and one rod group is located on one feature surface.

14. The registration fixture of claim 13, wherein, The at least one rod group comprises a first rod group (404), the first rod group (404) comprising a semicircular rod (405) and a first straight rod (406), and in the first rod group (404): the semicircular rod (405) and the first straight rod (406) are connected, a first end of the first straight rod (406) is connected to a middle part of the semicircular rod (405), and the first straight rod (406) passes through a center of the semicircular rod (405).

15. The registration fixture of claim 13, wherein, The at least one rod group comprises a second rod group (407), the second rod group (407) comprising two second straight rods (408) and a third straight rod (409), and in the second rod group (407): first ends of the two second straight rods (408) and a first end of the third straight rod (409) are connected to each other, an included angle between the two second straight rods (408) is greater than 0 degrees and less than 180 degrees, the third straight rod (409) is located on an angle bisector of the included angle between the two second straight rods (408), and the two second straight rods (408) are symmetrical about the third straight rod (409).

16. The registration tooling of any one of claims 9 to 15, wherein, The connecting part comprises a tool rod body (431) and at least two connecting rods (432), a first end of the tool rod body (431) is fixedly connected to the registration ball (410), first ends of the connecting rods (432) are connected to side surfaces of the tool rod body (431), and second ends of the connecting rods (432) are connected to the registration frame (420).

17. The registration fixture of claim 16, wherein, The tool rod body (431) is provided with a fixing part (433) for being connected to an execution arm of a surgical robot in a surgical robot system.

18. The registration tooling of any one of claims 9 to 15, wherein, The connecting part comprises a positioning outer frame, a spherical cavity and a frame cavity are formed in the positioning outer frame, a material body is filled in the spherical cavity to form the registration ball (410), a material body is filled in the frame cavity to form the registration frame (420), and an imaging performance of the material body is higher than an imaging performance of the positioning outer frame.

Images