Calibration method, calibration device, non-volatile storage medium, and surgical operation device

Abstract

A calibration method, a calibration device, a non-volatile storage medium, and a surgical operation device. The calibration method comprises: acquiring a first conversion relation matrix between a coordinate system of a base of the surgical operation device and a coordinate system of a calibration module mounted on the base of the surgical operation device; performing ultrasonic imaging on the calibration module by means of using an ultrasonic probe, and extracting a feature of the ultrasonic image; and correlating the feature of the ultrasonic image to an actual three-dimensional feature corresponding to the ultrasonic image, so as to obtain a second conversion relation matrix between a coordinate system of the ultrasonic image and the coordinate system of the base of the surgical operation device, and determining a position deviation between the base of the surgical operation device and a physical space of the ultrasonic probe according to the second conversion relation matrix. By means of the described technical solution, the technical problem in the prior art that puncturing accuracy is greatly affected by the deviation of the clamping angle and the position of the ultrasonic probe can be solved.

Description

Calibration methods, calibration devices, non-volatile storage media, and surgical instruments Technical Field

[0001] This invention relates to the field of surgical operating device technology, and more specifically, to a calibration method, a calibration device, a non-volatile storage medium, and a surgical operating device. Background Technology

[0002] Currently, percutaneous biopsy is a minimally invasive surgical procedure widely used in oncology fields such as biopsy, ablation, and particle implantation. With the aid of medical imaging, a needle is percutaneously inserted into the target area, establishing a feasible channel for interventional procedures or biopsy sampling, thereby facilitating disease diagnosis or treatment. In traditional biopsy procedures, under ultrasound guidance, the doctor typically holds the ultrasound probe in one hand and the needle in the other, using ultrasound images to identify the lesion area and manually pushing the needle into the body.

[0003] However, in existing technologies, due to the varying shapes of ultrasound probes used in different hospitals, angular and positional shifts can occur during the clamping process. Since surgical robots use ultrasound images as a positioning reference, deviations in the clamping angle and position of the ultrasound probe will significantly affect the accuracy of the puncture. Summary of the Invention

[0004] The main objective of this invention is to provide a calibration method, calibration device, non-volatile storage medium, and surgical operation device to solve the technical problem that the deviation of the clamping angle and position of the ultrasound probe in the prior art has a significant impact on the puncture accuracy.

[0005] To achieve the above objectives, according to a first aspect of the present invention, a method for calibrating an ultrasound probe of a surgical device is provided, comprising:

[0006] Obtain the first transformation matrix between the coordinate system {F} of the surgical device base and the coordinate system {P} of the calibration module used to mount on the base of the surgical device.

[0007] The calibration module is subjected to ultrasonic imaging using an ultrasonic probe, and the features of the ultrasonic image are extracted.

[0008] The features of the ultrasound image are mapped to the corresponding actual three-dimensional features to obtain the second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

[0009] Furthermore, a first transformation matrix is ​​obtained between the coordinate system {F} of the surgical device base and the coordinate system {P} of the calibration module used to mount on the base of the surgical device. include:

[0010] Obtain the coordinate system {F} of the surgical device base and the coordinate system {M} of the visual markers mounted on the surgical device to obtain the third transformation matrix between the Maker coordinate system and the surgical device base coordinate system.

[0011] Obtain the coordinate system {P} of the calibration module mounted on the base of the surgical operating device, and then obtain the fourth transformation matrix between the coordinate system {P} of the calibration module and the Maker coordinate system.

[0012] According to the third transformation relation matrix and the fourth transformation relation matrix The first transformation matrix between the coordinate system {P} of the calibration module and the coordinate system {F} of the surgical device base is obtained.

[0013] Furthermore, the features of the ultrasound image are mapped to the corresponding actual three-dimensional features to obtain a second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical instrument and the ultrasound imaging space and physical space, including:

[0014] Set the pixel scaling factors of the ultrasound image to Sx and Sy;

[0015] Let (u,v) be the pixel coordinates in the coordinate system {I} of the ultrasound image, and let (x,y,z) be the three-dimensional coordinates of (u,v) in the coordinate system {P} of the calibration module:

[0016] Establish the formula:

[0017] Furthermore, the calibration module is an N-line module; it maps the features of the ultrasound image to the corresponding actual three-dimensional features to obtain a second transformation matrix between the coordinate system of the ultrasound image and {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determining the positional deviation between the base of the surgical device and the ultrasound image space and physical space also includes:

[0018] The three points where the ultrasound imaging plane intersects with each N-shape of the N-line module are denoted as P1, P2, and P3, respectively. The coordinates of the four endpoints A1, A2, B1, and B2 of each N-shape in the coordinate system {P} of the calibration module are then obtained as P1. A1 ,P A2 ,P B1 ,P B2 Among them, points P1, P2, and P3 are the intersections of the ultrasound imaging plane with the lines on the first side of the N-shape, the middle line of the N-shape, and the second side of the N-shape, respectively.

[0019] Extract the pixel coordinates p1, p2, p3 of points P1, P2, and P3 in the coordinate system {I} of the ultrasound image, respectively.

[0020] Based on the similar triangles, calculate the coordinates P2 of point P2 in the coordinate system {P} of the calibration module.

[0021] Where, P2=(1-λ)P B1 +λP A2 ;

[0022] The two-dimensional pixel coordinates and the three-dimensional coordinates of point P2 in the model coordinate system {P} are respectively p i =[u i ,v i ] T and P i i = 1, ..., K; where K is the number of N lines;

[0023] Let R and t be the first transformation relation matrices, respectively. From the rotation matrix and translation vector, we can derive:

[0024] s x u i r1+s y v i r² + t = y i ;

[0025] Where r1 and r2 are the second transformation relation matrices. The first two columns of the rotated part R, t is The translation vector, y i =RP i +t; let a 1 =s x r 1 ,a 2 =s y r 2 , Rewriting the above equation in matrix form: A i x = y i

[0026] in:

[0027] All A i and y i Stacking (i = 1, ..., K) along the row direction forms the final linear equation: Ax = y, whose least squares solution is: x = (A T A) -1 A T y;

[0028] After finding x, we obtain a1, a2, and t;

[0029] After calculation, s was obtained x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y r3 = r1 × r2, to calculate the second transformation relation matrix.

[0030] Furthermore, after calculation, s is obtained. x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y After calculating the second transformation relation matrix, r3 = r1 × r2, the calibration method also includes:

[0031] Calculate the root mean square error

[0032] The definition formula for outliers in data is {∪P}. i |||T FP P P i - F P i ||>RMSE}, removes outliers from the original data that meet the definition formula for outliers;

[0033] Calculate s again x and s y And calculate T again. FP .

[0034] According to a second aspect of the present invention, a calibration device for a surgical operating apparatus is provided, comprising:

[0035] The acquisition module is used to acquire the first transformation matrix between the coordinate system {F} of the surgical operating device base and the coordinate system {P} of the calibration module mounted on the base of the surgical operating device.

[0036] The ultrasound imaging module is used to perform ultrasound imaging on the calibration module using an ultrasound probe and extract the features of the ultrasound image.

[0037] The calculation module is used to map the features of the ultrasound image to the corresponding actual three-dimensional features of the ultrasound image, so as to obtain the second transformation relationship matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

[0038] Furthermore, the computing module includes:

[0039] The first setting module is used to set the pixel scaling factors of the ultrasound image to Sx and Sy;

[0040] The second setting module is used to set (u,v) as the pixel coordinates in the coordinate system {I} of the ultrasound image, and to set (x,y,z) as the three-dimensional coordinates of (u,v) in the coordinate system {P} of the calibration module.

[0041] The formula creation module is used to create formulas:

[0042] According to a third aspect of the present invention, a non-volatile storage medium is provided, which stores a plurality of instructions adapted to be loaded by a processor and executed by the calibration method provided above.

[0043] According to a fourth aspect of the present invention, a surgical operating device is provided, applicable to the calibration method provided above, the surgical operating device comprising:

[0044] Operating components, which are movably set;

[0045] An ultrasonic probe is mounted on the operating component;

[0046] The calibration module is detachably mounted on the operating component. The calibration module includes calibration lines with multiple N-shaped structures, which are positioned opposite to the ultrasonic probe.

[0047] Furthermore, the calibration module also includes:

[0048] The mounting body is detachably mounted on the operating component. The mounting body has a first mounting sidewall and a second mounting sidewall that are arranged opposite to each other. The first mounting sidewall is provided with a plurality of first through holes, and the second mounting sidewall is provided with a plurality of second through holes. The calibration line passes back and forth between the plurality of first through holes and the plurality of second through holes to form a plurality of N-shaped structures.

[0049] Furthermore, the calibration module also includes:

[0050] The first and second disassembly arms are spaced apart and are positioned opposite each other on both sides of the mounting body. The first and second disassembly arms are respectively used to be engaged on both sides of the ultrasonic probe and detachably connected to the ultrasonic probe. The mounting body is located below the detection head of the ultrasonic probe.

[0051] Furthermore, the ultrasonic probe includes an interconnected mounting body and a probe portion. The mounting body has a mounting channel, the probe portion is mounted on the mounting body, a portion of the probe portion is located within the mounting channel, and another portion of the probe portion extends out of the mounting channel. The mounting body has a fixed end and an opening / closing end spaced apart, and the opening / closing end is rotatably disposed relative to the fixed end.

[0052] Wherein, the mating surfaces of the fixed end and the opening / closing end coincide with the center surface of the probe portion; and / or,

[0053] The surgical device also includes a puncture needle, which is located at the center of the probe.

[0054] Furthermore, the surgical device also includes a puncture needle; the operating components include:

[0055] An angle control module, wherein the drive unit of the angle control module is rotatably disposed relative to the body unit of the angle control module, and the ultrasonic probe is mounted on the body unit of the angle control module.

[0056] The depth control module and the angle control module are connected to the depth control module. The drive end of the depth control module is movably set along a preset direction and is connected to the puncture needle.

[0057] Furthermore, the angle control module includes a slider and a connecting rod. The slider is movably disposed on the body of the angle control module in a predetermined direction; the connecting rod forms the drive unit of the angle control module, one end of the connecting rod is hinged to the slider, and the other end of the connecting rod is hinged to the depth control module; and / or,

[0058] The depth control module includes a lead screw guide module and a drive block. The lead screw guide module is rotatably mounted, and the drive block passes through the lead screw guide module and is threadedly connected to the lead screw guide module so that the drive block moves in a predetermined direction when the lead screw guide module rotates.

[0059] Furthermore, the surgical operating device also includes a micro-motion control module, mounted on the operating component, which is used to adjust the angle control module and the depth control module; and / or,

[0060] The operating component has an initial state and an operating state for puncture; when the operating component is in the initial state, the angle control module and the depth control module are fitted together.

[0061] Furthermore, the surgical device also includes a puncture needle and a quick-release structure, with the puncture needle mounted on the quick-release structure, which is detachably mounted on the operating component.

[0062] Furthermore, the quick-release structure includes a base and a quick-release plate, the quick-release plate being movably disposed on the base to move to a clamping position that is disposed opposite to at least a portion of the base and clamps the puncture needle, and to a disassembly position that avoids the base.

[0063] The base is provided with a first snap-fit ​​structure, and the quick-release plate is provided with a second snap-fit ​​structure adapted to the first snap-fit ​​structure; when the quick-release plate is in the clamping position, the first snap-fit ​​structure and the second snap-fit ​​structure snap together; the quick-release structure also includes an elastic element, which is disposed on the first snap-fit ​​structure or the second snap-fit ​​structure, and the elastic element is located between the first snap-fit ​​structure and the second snap-fit ​​structure; and / or

[0064] The puncture needle includes a mounting part and a needle body. The base is provided with a first mounting groove that is adapted to the mounting part, and the quick release plate is provided with a second mounting groove that is adapted to the mounting part. When the quick release plate moves to the clamping position, the first mounting groove and the second mounting groove are joined together to surround the periphery of the mounting part, and the needle body extends out of the quick release structure.

[0065] Furthermore, the surgical operating device also includes:

[0066] An isolation plate is detachably mounted on the operating component, and a puncture needle is detachably mounted on the side of the isolation plate away from the operating component.

[0067] By applying the technical solution of this invention, the first transformation relationship matrix is ​​obtained. It facilitates the calculation of the second transformation relation matrix. This facilitates the determination of the positional deviation between the base of the surgical device and the ultrasound probe due to the clamping angle and position, based on the second transformation relationship matrix. This improves the puncture accuracy of the ultrasound probe and the operational accuracy of the surgical device. Therefore, the technical solution provided by this invention solves the technical problem in the prior art where deviations in the clamping angle and position of the ultrasound probe significantly affect the accuracy of puncture. Attached Figure Description

[0068] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0069] Figure 1 shows a flowchart of a calibration method provided according to an embodiment of the present invention;

[0070] Figure 2 shows a schematic diagram of the positions of the four coordinate systems of the surgical device provided according to an embodiment of the present invention;

[0071] Figure 3 shows a schematic diagram of the surgical operation device provided according to an embodiment of the present invention;

[0072] Figure 4 shows a schematic diagram of the structure of an ultrasonic probe provided according to an embodiment of the present invention;

[0073] Figure 5 shows a schematic diagram of the calibration module provided according to an embodiment of the present invention;

[0074] Figure 6 shows a schematic diagram of the intersection between the ultrasonic imaging plane and the N-line of an ultrasonic probe provided according to an embodiment of the present invention;

[0075] Figure 7 shows a schematic diagram of another angle of the intersection between the ultrasonic imaging plane and the N-line of the ultrasonic probe provided according to an embodiment of the present invention;

[0076] Figure 8 shows an ultrasound imaging image of an ultrasound probe provided according to an embodiment of the present invention;

[0077] Figure 9 shows a schematic diagram of the surgical device provided according to an embodiment of the present invention in its initial position;

[0078] Figure 10 shows a schematic diagram of the structure of the angle control module of the surgical operation device provided according to an embodiment of the present invention when it rotates a certain angle;

[0079] Figure 11 shows a schematic diagram of the depth control module provided according to an embodiment of the present invention;

[0080] Figure 12 shows a schematic diagram of the quick-release structure provided according to an embodiment of the present invention;

[0081] Figure 13 shows a schematic diagram of the quick-release structure provided according to an embodiment of the present invention when it is opened;

[0082] Figure 14 shows a schematic diagram of the structure of the isolation plate provided according to an embodiment of the present invention.

[0083] The above-mentioned figures include the following reference numerals: 10, operating component; 11, angle control module; 111, body; 112, slider; 113, connecting rod; 114, motor; 115, lead screw guide assembly; 12, depth control module; 121, lead screw guide module; 122, drive block; 123, drive motor; 124, main synchronous pulley; 125, synchronous belt; 126, driven synchronous pulley; 20, ultrasonic probe; 21, mounting body; 211, mounting channel; 22, probe part; 30, calibration module; 31, calibration line; 32, mounting body; 33, first disassembly arm; 34, second disassembly arm; 40, puncture needle; 41, mounting part; 42, needle body; 50, micro-motion control module; 60, quick-release structure; 61, base; 611, first mounting slot; 62, quick-release plate; 621, second mounting slot; 63. First snap-fit ​​structure; 64. Second snap-fit ​​structure; 65. Elastic element; 70. Isolation plate; 71. Adapter plate; 72. Insertion structure; 73. Pressing structure. Detailed Implementation

[0084] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0085] As shown in Figure 1, Embodiment 1 of the present invention provides a calibration method for an ultrasound probe of a surgical operating device, comprising: obtaining a first transformation matrix between the coordinate system {F} of the surgical operating device base and the coordinate system {P} of a calibration module mounted on the base of the surgical operating device. Ultrasonic imaging of the calibration module is performed using an ultrasonic probe to extract the features of the ultrasonic image. The features of the ultrasonic image are then mapped to the corresponding actual three-dimensional features to obtain a second transformation matrix between the coordinate system of the ultrasonic image and {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

[0086] Using the calibration method provided in this embodiment, the first transformation relation matrix is ​​obtained. It facilitates the calculation of the second transformation relation matrix. This facilitates the determination of the positional deviation between the base of the surgical device and the ultrasound probe due to the clamping angle and position, based on the second transformation relationship matrix, thereby improving the puncture accuracy of the ultrasound probe and the operational accuracy of the surgical device.

[0087] Furthermore, since the calibration module has already calibrated the first transformation matrix in the above process, the second transformation matrix can be quickly obtained after the calibration module is installed and calculated. Based on the second transformation matrix, the deviation of the ultrasound probe in the physical space corresponding to the clamping angle and position can be obtained, thereby effectively improving the operating accuracy of the surgical device.

[0088] As shown in Figures 6 to 8, in this embodiment, the calibration module is threaded through a perforated model using thin lines. Two parallel lines and one diagonal line form an "N" shape, and each "N" shape can be considered a basic unit. The ultrasound imaging plane intersects with it at three points (P1, P2, and P3). The four endpoints of each "N" shape are A1, A2, B2, and B1, respectively.

[0089] In this embodiment, a first transformation matrix is ​​obtained between the coordinate system {F} of the surgical device base and the coordinate system {P} of the calibration module used to mount on the base of the surgical device. This includes: acquiring the coordinate system {F} of the surgical device base and the coordinate system {M} of the visual markers mounted on the surgical device, to obtain a third transformation matrix between the Maker coordinate system and the surgical device base coordinate system. Obtain the coordinate system {P} of the calibration module mounted on the base of the surgical operating device, and then obtain the fourth transformation matrix between the coordinate system {P} of the calibration module and the Maker coordinate system. According to the third transformation relation matrix and the fourth transformation relation matrix The first transformation matrix between the coordinate system {P} of the calibration module and the coordinate system {F} of the surgical device base is obtained. This method facilitates the calculation of the first transformation relation matrix, which in turn enables the subsequent calculation of the second transformation relation matrix. Specifically, the first transformation relation matrix is ​​typically calculated and calibrated before shipment, thus enabling the rapid calculation of the second transformation relation matrix.

[0090] Specifically, the features of the ultrasound image are mapped to the corresponding actual three-dimensional features to obtain the second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical instrument and the ultrasound imaging space and physical space, including:

[0091] Set the pixel scaling factors of the ultrasound image to Sx and Sy;

[0092] Let (u,v) be the pixel coordinates in the coordinate system {I} of the ultrasound image, and let (x,y,z) be the three-dimensional coordinates of (u,v) in the coordinate system {P} of the calibration module:

[0093] Establish the formula:

[0094] This method facilitates the establishment of the relationship between the ultrasound image coordinate system T and the coordinate system of the calibration module, which makes it easier to perform further calculations and obtain the corresponding second transformation matrix more accurately.

[0095] In this embodiment, the calibration module is an N-line module; the features of the ultrasound image are mapped to the corresponding actual three-dimensional features of the ultrasound image to obtain a second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determining the positional deviation between the base of the surgical device and the ultrasound image space and physical space also includes: designating the three points where the ultrasound imaging plane intersects with the middle of each N-shape of the N-line module as points P1, P2, and P3, respectively; and obtaining the coordinates of the four endpoints A1, A2, B1, and B2 of each N-shape in the coordinate system {P} of the calibration module as P... A1 ,P A2 ,P B1 ,P B2 Among them, points P1, P2, and P3 are the intersections of the ultrasound imaging plane with the lines on the first side of the N-shape, the middle line of the N-shape, and the second side of the N-shape, respectively.

[0096] Extract the pixel coordinates p1, p2, p3 of points P1, P2, and P3 in the coordinate system {I} of the ultrasound image, respectively.

[0097] Based on the similar triangles, calculate the coordinates P2 of point P2 in the coordinate system {P} of the calibration module.

[0098] Where, P2=(1-λ)P B1 +λP A2 ;

[0099] The two-dimensional pixel coordinates and the three-dimensional coordinates of point P2 in the model coordinate system {P} are respectively p i =[u i ,v i ] T and P i , i = 1, ..., K; where K is the number of N lines;

[0100] Let R and t be the first transformation relation matrices, respectively. From the rotation matrix and translation vector, we can derive:

[0101] s x u i r1+s y v i r² + t = y i ;

[0102] Where r1 and r2 are the second transformation relation matrices. The first two columns of the rotated part R, t is The translation vector, y i =RP i +t; Let a1 = s x r1,a2=s y r2, Rewriting the above equation in matrix form: A i x = y i

[0103] in:

[0104] All A i and y i Stacking (i = 1, ..., K) along the row direction forms the final linear equation: Ax = y, whose least squares solution is: x = (A T A) -1 A T y;

[0105] After finding x, we obtain a1, a2, and t;

[0106] After calculation, s was obtained x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y r3 = r1 × r2, to calculate the second transformation relation matrix.

[0107] Using this method, it is easy to calculate the second transformation relation matrix, thereby making it easier to accurately obtain the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

[0108] Specifically, after calculation, s is obtained. x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y After calculating the second transformation relation matrix, r3 = r1 × r2, the calibration method also includes:

[0109] Calculate the root mean square error

[0110] The definition formula for outliers in data is {∪P}. i |||T FP P P i - F P i ||>RMSE}, removes outliers from the original data that meet the definition formula for outliers;

[0111] Calculate s again x and s y And the second transformation relation matrix T is calculated again. FP This method facilitates the improvement of the accuracy of solving the second transformation relation matrix, thereby enabling a more accurate determination of the positional deviation between the base of the surgical device and the ultrasound probe in physical space, and further improving the operational precision of the surgical device.

[0112] Specifically, the ultrasonic probe calibration in this patent involves solving the coordinate transformation relationship T_FI between the robot end flange coordinate system {F} and the two-dimensional ultrasonic image coordinate system {I}. Once the ultrasonic probe is installed on the robot end and the imaging parameters of the ultrasonic probe are fixed, this transformation relationship is fixed. Using it, pixels on the ultrasonic image can be mapped to points in three-dimensional space and correspond to the position of the puncture needle of the puncture mechanism.

[0113] As shown in Figure 2, the figure illustrates the positions of the four coordinate systems of the surgical device. The four coordinate systems include: the Maker coordinate system {M} of the visual marker, the coordinate system {P} of the calibration module, the coordinate system {I} of the ultrasound image, and the coordinate system {F} of the surgical device base.

[0114] Specifically, in this embodiment, the ultrasound probe calibration mainly involves: installing a visual marker at the end of the surgical manipulation device (which can also be understood as the robotic arm of a surgical robot), performing hand-eye calibration to obtain the relationship T_FM between the marker and the end effector; installing the N-line calibration module at the end of the robotic arm via a quick-release structure and probing the grooves on the model with a probe, registering the N-line calibration module in the marker coordinate system, and transforming it to the robot's end effector coordinate system via T_FM to obtain T_FP. As long as the installation relationship between the N-line calibration module and the robot's end effector remains unchanged, calibration only needs to be performed once, greatly facilitating clinical calibration. By performing ultrasound imaging on the designed N-line calibration module with known geometric dimensions, features in the ultrasound image are extracted and matched with actual three-dimensional features; finally, the least squares algorithm is used to optimize the matching loss function between features to estimate the unknown transformation relationship.

[0115] Specifically, the coordinate system of the surgical manipulation device base can also be called the robot end effector coordinate system {F}, the Maker coordinate system of the visual markers on the surgical manipulation device can also be called the Marker coordinate system on the robot end effector {M}, the coordinate system of the ultrasound image can also be called the image coordinate system {I}, and the coordinate system of the calibration module can also be called the calibration model coordinate system {P}. The transformation matrix T between the image coordinate system and the robot end effector coordinate system... FI These are unknown parameters, along with the ultrasound image pixel size s. x and s y Together, they constitute the object to be solved. Let (u,v) be the pixel coordinates in the image coordinate system, and its corresponding three-dimensional coordinates (x,y,z) in the model coordinate system are:

[0116] The N-line calibration module consists of two parallel lines and one oblique line forming an "N" shape. Each "N" can be considered a basic unit, intersecting the ultrasound imaging plane at three points, denoted as P1, P2, and P3. The positions of the endpoints A1, A2, B1, and B2 of the N-line in the model coordinate system are known and denoted as vectors P1, P2, and P3, respectively. A1 ,P A2 ,PB1, This embodiment employs an adjustable threshold segmentation, morphological processing, connected component analysis, and clustering image processing algorithm to extract the pixel coordinates of P1, P2, and P3 on the ultrasound image, as shown in the figure below, denoted as p1, p2, and p3 respectively.

[0117] Based on the principle of similar triangles, the coordinates of point P2 in the model coordinate system can be calculated. P2=(1-λ)P B1 +λP A2

[0118] The actual ultrasound image is a top view of the intersection point between the N-line model and the ultrasound image, obtained based on the N-line calibration.

[0119] Specifically, the calibration model has 3 rows, each consisting of 4 "N"s. Red dots represent P1 or (and) P3, and blue dots represent P2. A single ultrasound image can extract 12 P2 points, whose two-dimensional pixel coordinates and three-dimensional coordinates in the model coordinate system are p... i =[u i ,v i ] T and P i , i = 1, ..., 12. P i The calculation can be performed according to the formula above. Let R and t be T, respectively. FP Given the rotation matrix and translation vector, we can calculate s using the expression above:x u i r1+s y v i r² + t = y i ;

[0120] Where r1 and r2 are unknown matrices T FI Rotating part R The first two columns, t is T FI The translation vector, y i =RP i +t. Let a1 = s x r1,a2=s y r2, Rewriting the above equation in matrix form: A i x = y i ;

[0121] in:

[0122] All A i and y i Stacking (i = 1, ..., 12) along the row direction forms the final linear equation: Ax = y, whose least squares solution is: x = (A T A) -1 A T y. After finding x, we obtain a1, a2, and t, and further: s x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y r3 = r1 × r2. Thus, all the unknown transformation parameters have been determined.

[0123] To further improve accuracy, the results can be further optimized. Due to errors in the experimental operation or extraction process, the collected data here is based on the initially obtained T... FI To calculate the error, remove points with excessively large errors and perform a second calculation. The root mean square error is defined as follows:

[0124] Specifically, outliers in the data are defined as {∪P} i |||T FP P P i - F P i ||>RMSE}, remove these points from the original data and recalculate s. x s y With T FP The value of can improve the accuracy of calculations.

[0125] Embodiment 2 of the present invention provides a calibration device for a surgical operating device. The calibration device includes an acquisition module, an ultrasound imaging module, and a calculation module. The acquisition module is used to acquire a first transformation matrix between the coordinate system {F} of the surgical operating device base and the coordinate system {P} of the calibration module mounted on the base of the surgical operating device. The ultrasound imaging module is used to perform ultrasound imaging on the calibration module using an ultrasound probe and extract the features of the ultrasound image; the calculation module is used to map the features of the ultrasound image to the corresponding actual three-dimensional features of the ultrasound image, so as to obtain the second transformation relationship matrix between the coordinate system of the ultrasound image and {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

[0126] Specifically, the calculation module includes a first setting module, a second setting module, and a formula establishment module. The first setting module is used to set the pixel scaling factors of the ultrasound image to Sx and Sy. The second setting module is used to set (u, v) as the pixel coordinates in the coordinate system {I} of the ultrasound image, and set (x, y, z) as the three-dimensional coordinates of (u, v) in the coordinate system {P} of the calibration module.

[0127] The formula creation module is used to create formulas:

[0128] Embodiment 3 of the present invention provides a non-volatile storage medium that stores multiple instructions, which are applicable to being loaded and executed by a processor using the calibration method described above.

[0129] As shown in Figures 3-5 and 9-14, Embodiment 4 of the present invention provides a surgical operating device applicable to the calibration method described above. The surgical operating device includes: an operating component 10, an ultrasound probe, and a calibration module 30. The operating component 10 is movably mounted; the ultrasound probe is mounted on the operating component 10; the calibration module 30 is detachably mounted on the operating component 10, and the calibration module 30 includes calibration lines 31 with multiple N-shaped structures, which are arranged opposite to the ultrasound probe. With this structural arrangement, the calibration module 30 is mounted on the operating component 10 before the surgical puncture is performed. The ultrasound probe is calibrated through the cooperation of the ultrasound probe and the calibration module 30. After calibration, the calibration module 30 can be detached from the operating component 10. This avoids the influence of the calibration module 30 on the surgical operating device during the actual puncture process, ensuring the operational accuracy of the surgical operating device.

[0130] In this embodiment, the calibration module 30 further includes a mounting body 32, which is detachably mounted on the operating component 10. The mounting body 32 has a first mounting sidewall and a second mounting sidewall disposed opposite to each other. The first mounting sidewall has a plurality of first through holes, and the second mounting sidewall has a plurality of second through holes. The calibration line 31 passes back and forth between the plurality of first through holes and the plurality of second through holes to form a plurality of N-shaped structures. This structural arrangement facilitates the passing of the calibration line 31 to form a plurality of N-shaped structures, thereby facilitating subsequent calibration operations.

[0131] Specifically, the calibration module 30 further includes a first disassembly arm 33 and a second disassembly arm 34 spaced apart. The first disassembly arm 33 and the second disassembly arm 34 are arranged opposite each other on both sides of the mounting body 32. The first disassembly arm 33 and the second disassembly arm 34 are respectively used to engage with both sides of the ultrasonic probe and are detachably connected to the ultrasonic probe. The mounting body 32 is located below the detection head of the ultrasonic probe. This facilitates the installation and disassembly of the calibration module 30.

[0132] Specifically, the first disassembly arm 33 is provided with two parallel first connecting arms at intervals, and the second disassembly arm 34 is provided with two parallel second connecting arms at intervals. The two first connecting arms and the two second connecting arms are arranged opposite to each other. Each of the two first connecting arms is provided with a first disassembly hole, and each of the two second connecting arms is provided with a second disassembly hole. The installation and disassembly of the ultrasonic probe are realized through the two first disassembly holes and the two second disassembly holes.

[0133] In this embodiment, the ultrasound probe includes a mounting body 21 and a probe portion 22 connected to each other. The mounting body 21 has a mounting channel 211. The probe portion 22 is mounted on the mounting body 21, with a portion of the probe portion 22 located within the mounting channel 211 and the other portion extending out of the mounting channel 211. The mounting body 21 has a fixed end and an opening / closing end spaced apart. The opening / closing end is rotatably disposed relative to the fixed end to facilitate adaptive adjustment of the angle of the probe portion 22. Specifically, the probe portion 22 can be a B-mode ultrasound probe portion 22.

[0134] The mating surfaces of the fixed end and the opening / closing end coincide with the center surface of the probe part 22, so as to ensure that the plane of rotation coincides with the center surface of the probe part 22, and to ensure that the relative relationship between the probe part 22 and the mounting body 21 does not shift during the rotation of the mounting body 21.

[0135] Specifically, the opening and closing end opens and closes by rotation. In order to ensure that the ultrasound probe and the puncture needle are coplanar, the contact surfaces of the fixed end and the opening and closing end are set on the plane where the puncture needle is located. This ensures that the ultrasound probe and the puncture needle are coplanar, thereby effectively improving the accuracy of puncture.

[0136] Specifically, the surgical device also includes a puncture needle 40, which is located at the center of the probe portion 22. This structural arrangement ensures that the probe portion 22 and the puncture needle 40 are coplanar, allowing for more precise acquisition of the position of the puncture needle 40 through the probe portion 22 and improving the accuracy of the acquired position.

[0137] In this embodiment, the surgical device further includes a puncture needle 40; the operating component 10 includes an angle control module 11 and a depth control module 12. The driving part of the angle control module 11 is rotatably disposed relative to the body part 111 of the angle control module 11, and the ultrasound probe 20 is mounted on the body part 111 of the angle control module 11. The driving part of the angle control module 11 is drivenly connected to the depth control module 12, and the driving end of the depth control module 12 is movably disposed along a preset direction. The driving end of the depth control module 12 is drivenly connected to the puncture needle 40. This structural arrangement facilitates the control of the rotation angle and insertion depth of the puncture needle 40, thereby better guiding the puncture needle 40 to the lesion location and improving the accuracy of puncture at the lesion location. Specifically, the angle control module 11 enables the puncture needle 40 to rotate around an axis, thereby achieving automatic adjustment of the angle of the puncture needle 40.

[0138] Specifically, the angle control module 11 includes a slider 112 and a connecting rod 113. The slider 112 is movably mounted on the body 111 of the angle control module 11 along a predetermined direction. The connecting rod 113 forms the driving part of the angle control module 11, with one end of the connecting rod 113 hinged to the slider 112 and the other end of the connecting rod 113 hinged to the depth control module 12. This structural arrangement is simple, provides stable transmission, and facilitates stable angle deflection.

[0139] The angle control module 11 also includes a motor 114 and a lead screw guide assembly 115. The motor 114 drives the lead screw of the lead screw guide assembly 115 to rotate. The slider 112 passes through the lead screw and is threadedly connected to the lead screw, so as to drive the slider 112 to move through the lead screw guide assembly 115.

[0140] Specifically, the depth control module 12 includes a lead screw guide module 121 and a drive block 122. The lead screw guide module 121 is rotatably mounted, and the drive block 122 passes through the lead screw guide module 121 and is threadedly connected to it, so that when the lead screw guide module 121 rotates, it drives the drive block 122 to move in a predetermined direction. This structural arrangement facilitates stable driving of the drive block 122 in the predetermined direction, improving the driving stability of the drive block 122.

[0141] The depth control module 12 also includes a drive motor 123, a main synchronous pulley 124, a synchronous belt 125, a driven synchronous pulley 126, a lead screw guide module 121, and a drive block 122. The drive motor 123 rotates the main synchronous pulley 124, which in turn drives the synchronous belt 125 to move. The synchronous belt 125 then drives the driven synchronous pulley 126 to rotate, which in turn drives the lead screw to rotate. The lead screw then drives the drive block 122 to move linearly up and down. The slider 112 then drives the quick removal device for the puncture needle 40 to move, and the quick removal device for the puncture needle 40 then drives the puncture needle 40 to move linearly, thereby enabling the tip of the puncture needle 40 to reach the lesion.

[0142] In this embodiment, the surgical operating device further includes a micro-motion control module 50, which is mounted on the operating component 10. The micro-motion control module 50 is used to adjust the angle control module 11 and the depth control module 12. With this structural arrangement, the micro-motion control module 50 is used to adjust the angle or depth of the puncture needle 40 when the lesion position shifts during the puncture process. The doctor can switch to manual adjustment mode to fine-tune the angle or depth of the puncture needle 40. The micro-motion control module 50 can achieve automated control. Specifically, the micro-motion control module 50 can be a PLC or a microcontroller. Remote control is also possible, allowing the doctor to conveniently adjust the puncture needle 40 outside the operating room via the micro-motion control module 50, reducing the radiation hazards posed by medical equipment in the operating room.

[0143] Specifically, the depth control module 12 can be remotely controlled, allowing doctors to adjust the puncture needle 40 outside the operating room via the micro-motion control module 50. The angle control module 11 can also be remotely controlled, allowing doctors to adjust the puncture needle 40 outside the operating room via the micro-motion control module 50.

[0144] Specifically, the operating component 10 has an initial state and an operating state for puncture; when the operating component 10 is in the initial state, the angle control module 11 and the depth control module 12 are fitted together to reduce the overall space occupied by the operating component 10 and improve the compactness of the structural layout of the operating component 10.

[0145] In this embodiment, the surgical device further includes a puncture needle 40 and a quick-release structure 60. The puncture needle 40 is mounted on the quick-release structure 60, which is detachably mounted on the operating component 10. This structural arrangement facilitates rapid operation of the puncture needle 40. Specifically, once the puncture needle 40 accurately locates the lesion, the surgeon can disassemble the quick-release structure 60 to separate the puncture needle 40 from the operating component 10, allowing the puncture needle 40 to remain on the body, thus facilitating the next surgical procedure.

[0146] Specifically, the quick-release structure 60 includes a base 61 and a quick-release plate 62. The quick-release plate 62 is movably disposed on the base 61 to move to a clamping position that is at least partially opposite to the base 61 and clamps the puncture needle 40, and to a disassembly position that avoids the base 61, so as to more conveniently clamp or disassemble the puncture needle 40 and further improve the convenience of operation.

[0147] Specifically, the quick-release plate 62 is rotatably mounted on the base 61.

[0148] In this embodiment, a first locking structure 63 is provided on the base 61, and a second locking structure 64 adapted to the first locking structure 63 is provided on the quick-release plate 62. When the quick-release plate 62 is in the clamping position, the first locking structure 63 and the second locking structure 64 are locked together. The quick-release structure 60 also includes an elastic element 65, which is disposed on the first locking structure 63 or the second locking structure 64, and is located between the first locking structure 63 and the second locking structure 64. This structural arrangement facilitates the stability of the clamping of the puncture needle 40. At least one of the first locking structure 63 and the second locking structure 64 is rotatably disposed. The elastic element 65 can be an elastic silicone pad to ensure the locking stability of the first locking structure 63 and the second locking structure 64, ensuring that the first locking structure 63 and the second locking structure 64 do not disengage during the operation.

[0149] Specifically, the puncture needle 40 includes a mounting portion 41 and a needle body 42. A first mounting groove 611 adapted to the mounting portion 41 is provided on the base 61, and a second mounting groove 621 adapted to the mounting portion 41 is provided on the quick-release plate 62. When the quick-release plate 62 moves to the clamping position, the first mounting groove 611 and the second mounting groove 621 are joined to surround the periphery of the mounting portion 41, and the needle body 42 extends out of the quick-release structure 60. This facilitates better installation of the mounting portion 41 and improves the installation stability of the puncture needle 40.

[0150] In this embodiment, the surgical device further includes an isolation plate 70, which is detachably mounted on the operating component 10. The puncture needle 40 is detachably mounted on the side of the isolation plate 70 away from the operating component 10. This structural arrangement facilitates the isolation of the operating component 10 and the puncture needle 40, separating the sterile and non-sterile areas, ensuring a sterile surgical environment, and preventing bacteria from the operating component 10 from entering the puncture needle 40, thus providing better sterile protection for the puncture needle 40. Specifically, the isolation plate 70 is a sterile isolation plate and is a consumable structure; one puncture needle 40 corresponds to one isolation plate 70 for use, and the isolation plate 70 also needs to be replaced when the puncture needle 40 is replaced.

[0151] Specifically, a sterile membrane is provided on the isolation plate 70.

[0152] Specifically, the isolation plate 70 is detachably mounted on the operating component 10, and the puncture needle 40 is detachably mounted on the isolation plate 70 via the quick-release structure 60. Specifically, the isolation plate 70 is provided with an installation rail, and the quick-release structure 60 is provided with an installation block that matches the installation rail. The quick-release structure 60 is mounted on the isolation plate 70 by the cooperation of the installation block and the installation rail.

[0153] Specifically, the isolation plate 70 is equipped with an adapter plate 71, which is connected to the drive block 122 via a plug-in structure 72. The adapter plate 71 moves linearly up and down under the drive block 122 of the depth control module 12, thereby driving the quick-release structure to move linearly up and down. This, in turn, drives the sprint needle to move linearly up and down. The sterile membrane isolation plate 70 is connected to the base 61 via a pin structure, and the two can be assembled and disassembled via a pressing structure 73.

[0154] Specifically, the end of the sterile membrane isolation plate 70 is provided with a plug pin, which can be inserted into the corresponding plug hole of the base 61.

[0155] Specifically, the pressing structure 73 is a quick-release pressing structure, which includes a spring telescopic stop plate. When the sterile membrane isolation plate 70 contacts the spring telescopic stop plate, the spring stop plate is pushed open; when the sterile membrane isolation plate 70 is pressed into place, the spring stop plate returns to its original position, thereby achieving quick installation; during disassembly, pressing the side causes the spring stop plate to retract, thereby achieving quick release.

[0156] Specifically, the location of the lesion is acquired through ultrasound imaging, and the puncture path is calculated and planned using an algorithm. The puncture path is the line connecting the needle insertion point and the lesion. The angle control module 11 further controls the rotation of the puncture needle 40 onto the puncture path, and the depth control module 12 further controls the puncture, thus achieving fully automated puncture. During the fully automated puncture process, the pixel information of the ultrasound image is converted into dimensional information by an algorithm, and the dimensional information is further converted into the rotation angle information of the motor 114. A clamping module based on the imaging midline of the ultrasound probe 20 ensures that the ultrasound probe 20 and the puncture needle 40 are collinear. The calibration module 30 compensates for the positional deviation of the ultrasound probe 20 on the imaging plane, further improving the accuracy of ultrasound image acquisition.

[0157] Specifically, puncture is a dynamic process, and the location of the lesion may shift during the puncture due to factors such as the patient's breathing and changes in body position. To further ensure the accuracy of the puncture procedure, this invention also provides a fine-tuning device. During the movement of the puncture needle 40, the ultrasound probe monitors the position of the puncture needle 40 and the lesion in real time. If a change in the position of the lesion is detected, the angle of the puncture needle 40 is adjusted by the fine-tuning button to align the puncture needle 40 with the lesion, further improving the accuracy of the puncture.

[0158] From the above description, it can be seen that the embodiments of the present invention achieve the following technical effects: The calibration module compensates for the clamping error of the ultrasound probe; the angle control module uses a stable lead screw mechanism and crank-slider mechanism, enabling automatic angle positioning and matching the planned puncture path. The depth control module uses a stable lead screw mechanism, ensuring good dimensional stability of key components and enabling automatic needle insertion. The micro-motion controller can solve the problem of lesion deviation through real-time observation of ultrasound images. Doctors can manually control or remotely adjust the angle and depth control modules, thereby achieving precise control of the puncture needle. The quick-release structure of the puncture needle allows for rapid disassembly of the puncture needle from the operating components after puncture, significantly shortening surgical time and improving surgical efficiency. The consumable assembly, consisting of a sterile membrane, isolation plate, quick-release structure, and puncture needle, is quickly removed via a plug-in and press-type structure, thus shortening preoperative preparation and postoperative removal time. By precisely controlling the angle and puncture position, the puncture needle reaches the prosthesis lesion location, and the changes in the lesion position during the operation are simulated. By fine-tuning the angle and puncture depth, the lesion position can be tracked in real time, further improving the accuracy of the puncture.

[0159] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0160] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0161] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0162] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0163] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0164] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A calibration method for an ultrasound probe of a surgical operating device, characterized in that, include: Obtain the first transformation matrix between the coordinate system {F} of the surgical device base and the coordinate system {P} of the calibration module mounted on the base of the surgical device. The calibration module is subjected to ultrasonic imaging using the ultrasonic probe to extract features from the ultrasonic image; The features of the ultrasound image are mapped to the corresponding actual three-dimensional features to obtain a second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

2. The calibration method according to claim 1, characterized in that, The first transformation matrix between the coordinate system {F} of the surgical device base and the coordinate system {P} of the calibration module mounted on the base of the surgical device is obtained. include: Obtain the coordinate system {F} of the surgical device base and the coordinate system {M} of the visual markers mounted on the surgical device to obtain the third transformation matrix between the Maker coordinate system and the coordinate system of the surgical device base. Obtain the coordinate system {P} of the calibration module mounted on the base of the surgical operating device, and then obtain the fourth transformation matrix between the coordinate system {P} of the calibration module and the Maker coordinate system. According to the third transformation relationship matrix and the fourth transformation relation matrix The first transformation matrix between the coordinate system {P} of the calibration module and the coordinate system {F} of the surgical device base is obtained.

3. The calibration method according to claim 1, characterized in that, The process involves mapping the features of the ultrasound image to the corresponding actual three-dimensional features to obtain a second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determining the positional deviation between the base of the surgical device and the ultrasound image space and physical space includes: The pixel scaling factors of the ultrasound image are set to Sx and Sy; Let (u,v) be the pixel coordinates in the coordinate system {I} of the ultrasound image, and let (x,y,z) be the three-dimensional coordinates of (u,v) in the coordinate system {P} of the calibration module. Establish the formula:

4. The calibration method according to claim 3, characterized in that, The calibration module is an N-line module; the feature of the ultrasound image is mapped to the corresponding actual three-dimensional feature to obtain a second transformation matrix between the coordinate system of the ultrasound image {I} and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determining the positional deviation between the base of the surgical device and the ultrasound image space and physical space further includes: The three points where the ultrasound imaging plane intersects with the middle of each N-shape of the N-line module are denoted as P1, P2, and P3, respectively. The coordinates of the four endpoints A1, A2, B1, and B2 of each N-shape in the coordinate system {P} of the calibration module are obtained as P. A1 P A2 P B1 P B2 Wherein, points P1, P2, and P3 are the intersection points between the ultrasound imaging plane and the lines on the first side of the N-shape, the middle line of the N-shape, and the second side of the N-shape, respectively. Extract the pixel coordinates p1, p2, p3 of points P1, P2, and P3 in the coordinate system {I} of the ultrasound image, respectively; Based on the similar triangles, the coordinates P2 of point P2 in the coordinate system {P} of the calibration module are calculated. Where, P2=(1-λ)P B1 +λP A2 ; The three-dimensional coordinates of point P2 in the two-dimensional pixel coordinates and the model coordinate system {P} are respectively p i =[u i ,v i ] T and P i , i = 1, ..., K; where K is the number of N lines; According to the first transformation relationship matrix From the rotation matrix and translation vector, we can derive: s x u i r1+s y v i r2+t=y i ; Where r1 and r2 are the second transformation relation matrices. The first two columns of the rotated part R, t is The translation vector, y i =RP i +t; Let a1 = s x r1,a2=s y r2, Rewrite the above equation in matrix form: TO i x=y i in: All A i and y i Stacking (i = 1, ..., K) along the row direction forms the final linear equation: Ax = y, whose least squares solution is: x = (A T A) -1 A T y; After finding x, we obtain a1, a2, and t; After calculation, s was obtained x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y r3 = r1 × r2, to calculate the second transformation relation matrix.

5. The calibration method according to claim 4, characterized in that, The calculated s x =||a1||,s y =||a2||, r1 = a1 / s x r2 = a2 / s y After calculating the second transformation relation matrix, r3 = r1 × r2, the calibration method further includes: Calculate the root mean square error The definition formula for outliers in data is {∪P}. i |||T FP P P i - F P i ||>RMSE}, remove outliers that conform to the definition formula of outliers from the original data; Calculate s again x and s y And calculate T again. FP .

6. A calibration device for a surgical operating apparatus, characterized in that, include: The acquisition module is used to acquire a first transformation matrix between the coordinate system {F} of the surgical operating device base and the coordinate system {P} of the calibration module mounted on the base of the surgical operating device. An ultrasound imaging module is used to perform ultrasound imaging on the calibration module using the ultrasound probe of the surgical device and extract features of the ultrasound image. The calculation module is used to map the features of the ultrasound image to the corresponding actual three-dimensional features of the ultrasound image, so as to obtain a second transformation relationship matrix between the coordinate system {I} of the ultrasound image and the coordinate system {F} of the surgical device base. According to the second transformation relation matrix Determine the positional deviation between the base of the surgical device and the ultrasound probe in physical space.

7. The calibration device according to claim 6, characterized in that, The computing module includes: The first setting module is used to set the pixel scaling factors of the ultrasound image to Sx and Sy; The second setting module is used to set (u,v) as the pixel coordinates in the coordinate system {I} of the ultrasound image, and to set (x,y,z) as the three-dimensional coordinates of (u,v) in the coordinate system {P} of the calibration module. The formula creation module is used to create formulas:

8. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores multiple instructions, which are adapted to be loaded by a processor and executed by the calibration method of any one of claims 1 to 5.

9. A surgical operating device, characterized in that, The calibration method applicable to any one of claims 1 to 5, wherein the surgical operating device comprises: An operating component (10) is movably disposed; An ultrasonic probe (20) is mounted on the operating component (10); A calibration module (30) is detachably mounted on the operating component (10). The calibration module (30) includes calibration lines (31) with a plurality of N-shaped structures, which are arranged opposite to the ultrasonic probe (20).

10. The surgical operating device according to claim 9, characterized in that, The calibration module (30) also includes: The mounting body (32) is detachably mounted on the operating component (10). The mounting body (32) has a first mounting sidewall and a second mounting sidewall that are arranged opposite to each other. The first mounting sidewall is provided with a plurality of first through holes, and the second mounting sidewall is provided with a plurality of second through holes. The calibration line (31) passes back and forth between the plurality of first through holes and the plurality of second through holes to form the plurality of N-shaped structures.

11. The surgical operating device according to claim 10, characterized in that, The calibration module (30) also includes: A first disassembly arm (33) and a second disassembly arm (34) are spaced apart and are arranged opposite to each other on both sides of the mounting body (32). The first disassembly arm (33) and the second disassembly arm (34) are respectively used to be engaged on both sides of the ultrasonic probe (20) and detachably connected to the ultrasonic probe (20). The mounting body (32) is located below the detection head of the ultrasonic probe (20).

12. The surgical operating device according to claim 9, characterized in that, The ultrasonic probe (20) includes a mounting body (21) and a probe portion (22) connected to each other. The mounting body (21) has a mounting channel (211). The probe portion (22) is mounted on the mounting body (21). A portion of the probe portion (22) is located within the mounting channel (211), and another portion of the probe portion (22) extends out of the mounting channel (211). The mounting body (21) has a fixed end and an opening end spaced apart. The opening end is rotatably disposed relative to the fixed end. Wherein, the mating surfaces of the fixed end and the opening / closing end coincide with the center surface of the probe portion (22); and / or, The surgical device also includes a puncture needle (40), which is located at the center of the probe portion (22).

13. The surgical operating device according to claim 9, characterized in that, The surgical device further includes a puncture needle (40); the operating component (10) includes: An angle control module (11) is provided, wherein the driving part of the angle control module (11) is rotatably disposed relative to the body part (111) of the angle control module (11), and the ultrasonic probe (20) is mounted on the body part (111) of the angle control module (11). The depth control module (12) is driven by the driving part of the angle control module (11) and the depth control module (12). The driving end of the depth control module (12) is movably set along a preset direction and is driven by the puncture needle (40).

14. The surgical operating device according to claim 13, characterized in that, The angle control module (11) includes a slider (112) and a connecting rod (113). The slider (112) is movably disposed on the body (111) of the angle control module (11) in a predetermined direction. The connecting rod (113) forms the driving part of the angle control module (11). One end of the connecting rod (113) is hinged to the slider (112), and the other end of the connecting rod (113) is hinged to the depth control module (12). And / or, The depth control module (12) includes a lead screw guide module (121) and a drive block (122). The lead screw guide module (121) is rotatably disposed, and the drive block (122) passes through the lead screw guide module (121) and is threadedly connected to the lead screw guide module (121) so as to drive the drive block (122) to move along the predetermined direction when the lead screw guide module (121) rotates.

15. The surgical operating device according to claim 13, characterized in that, The surgical operating device further includes a micro-motion control module (50) mounted on the operating component (10). The micro-motion control module (50) is used to adjust the angle control module (11) and the depth control module (12); and / or, The operating component (10) has an initial state and an operating state for puncture; when the operating component (10) is in the initial state, the angle control module (11) and the depth control module (12) are fitted together.

16. The surgical operating device according to claim 9, characterized in that, The surgical device further includes a puncture needle (40) and a quick-release structure (60), wherein the puncture needle (40) is mounted on the quick-release structure (60), and the quick-release structure (60) is detachably mounted on the operating component (10).

17. The surgical operating device according to claim 16, characterized in that, The quick-release structure (60) includes a base (61) and a quick-release plate (62). The quick-release plate (62) is movably disposed on the base (61) to move to a clamping position that is disposed opposite to at least a portion of the base (61) and clamps the puncture needle (40) and to a disassembly position that avoids the base (61). The base (61) is provided with a first snap-fit ​​structure (63), and the quick-release plate (62) is provided with a second snap-fit ​​structure (64) adapted to the first snap-fit ​​structure (63); when the quick-release plate (62) is in the clamping position, the first snap-fit ​​structure (63) and the second snap-fit ​​structure (64) snap together; the quick-release structure (60) further includes an elastic element (65), which is disposed on the first snap-fit ​​structure (63) or the second snap-fit ​​structure (64), and the elastic element (65) is located between the first snap-fit ​​structure (63) and the second snap-fit ​​structure (64); and / or, The puncture needle (40) includes a mounting part (41) and a needle body (42). The base (61) is provided with a first mounting groove (611) that is adapted to the mounting part (41), and the quick-release plate (62) is provided with a second mounting groove (621) that is adapted to the mounting part (41). When the quick-release plate (62) moves to the clamping position, the first mounting groove (611) and the second mounting groove (621) are joined together to surround the periphery of the mounting part (41), and the needle body (42) extends out of the quick-release structure (60).

18. The surgical operating device according to claim 16, characterized in that, The surgical device also includes: An isolation plate (70) is detachably mounted on the operating component (10), and the puncture needle (40) is detachably mounted on the side of the isolation plate (70) away from the operating component (10).

Images