CN113331948B - Interventional operation robot system, calibration device and calibration method - Google Patents
Interventional operation robot system, calibration device and calibration method Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
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Abstract
The invention relates to the technical field of medical instruments, and aims to provide an interventional operation robot system, a calibration device and a calibration method. The calibration device comprises an optical locator, a calibration tool, an optical tool and a calibration plate; the main body of the calibration tool is in a rod shape, one end of the main body is provided with a flange plate for connecting to the tail end of the mechanical arm, and the tail end of the rod-shaped main body is in a hemisphere or sphere shape; the number of the optical tools is at least three, and the optical tools are rigid bodies with reflective balls; and a plurality of vertical supporting columns are distributed on the surface of the calibration plate, and spherical grooves matched with the tail ends of the calibration tools in shape are formed in the top ends of the supporting columns. The interventional operation robot system can convert an image coordinate system and a mechanical arm coordinate system at any position by using the calibration method of the invention, thereby reducing errors caused by the movement of the position of the mechanical arm.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an interventional operation robot system, a calibration device and a calibration method.
Background
The percutaneous interventional operation refers to the process of accurately placing surgical instruments (such as a puncture needle, a biopsy needle, an ablation needle and the like) into organs in a patient body for tissue extraction or treatment under the guidance of medical images (B-ultrasound, MRI, CT and the like), has the characteristics of small wound, few complications and quick postoperative recovery, and is a great revolution of the traditional open type operation. The traditional interventional operation mainly depends on the experience and skill of doctors, so that the treatment effect is different, and the problems of inaccurate positioning and difficult path planning in the puncture process also exist.
The interventional operation robot can establish the puncture interventional operation on the basis of more science, controllability and predictability by using technical means such as three-dimensional path planning, real-time target point tracking and the like. The interventional operation robot can not only improve the accuracy of operation, but also reduce the dependence on doctor experience and reduce the labor intensity of doctors. The key to the implementation of the interventional robot system is as follows: the process of establishing the conversion relation is called the calibration process of the interventional operation robot, and a certain tool is needed in the calibration process.
The calibration of the existing interventional operation robot generally installs an optical tool on the body surface of a patient, obtains the physical space position information of the optical tool by using an optical position finder, and realizes the unification of an image space and a physical space by solving a transformation matrix between a mark point corresponding to the image space and a physical space coordinate obtained by the optical position finder. However, the calibration method has high requirements on the installation position of the optical tool, shielding cannot exist, and calibration needs to be performed again if the position of the mechanical arm changes after calibration is completed.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides an interventional surgical robot system, a calibration device and a calibration method.
In order to solve the technical problem, the solution of the invention is as follows:
the calibration device for the interventional operation robot comprises an optical positioning instrument, a calibration tool, an optical tool and a calibration plate; the main body of the calibration tool is in a rod shape, one end of the main body is provided with a flange plate for connecting to the tail end of the mechanical arm, and the tail end of the rod-shaped main body is in a hemispherical body or a spherical body; at least three optical tools are rigid bodies with reflective balls; and a plurality of vertical supporting columns are distributed on the surface of the calibration plate, and spherical grooves matched with the tail ends of the calibration tools in shape are formed in the top ends of the supporting columns.
As a preferred scheme, the rigid body of the optical tool is in a cross shape, and the reflective ball is fixed on the rigid body; the rigid body is provided with a screw hole for passing through a screw to be installed.
As a preferred scheme, the calibration plate is made of acrylic materials, and handles are arranged on two sides of the calibration plate.
Preferably, the number of the pillars on the surface of the calibration plate is at least 4, and the heights of the pillars are different; and the number of the ceramic balls which are the same as that of the pillars and are opaque to X-rays are also arranged, and the diameter of the ceramic balls is matched with the grooves at the top ends of the pillars.
Preferably, the flange plate is provided with a positioning pin.
The invention also provides an interventional operation robot system with a calibration function, which comprises a navigation main control computer, scanning equipment (CT) and a mechanical arm with a steering joint, wherein the navigation main control computer is respectively connected with the scanning equipment and a driving motor of the mechanical arm in a wired or wireless mode; the system further comprises the calibration device of claim 1; the optical locator and the mechanical arm are arranged on the same base; the two optical tools are arranged at different positions on a ceiling right above a CT (computed tomography) bed in an operating room and are used for assisting in confirming the displacement condition of the optical position finder; the other optical tool is arranged on the rod-shaped main body of the calibration tool and is used for assisting in confirming the displacement condition of the mechanical arm.
The invention further provides a calibration method of the interventional operation robot, which comprises the following steps:
(1) Acquiring an offset vector of a ball center at the tail end of a calibration tool in an optical position indicator coordinate system;
(2) Acquiring the offset of the center of the tail end of the calibration tool in the coordinates of the mechanical arm;
(3) Registering coordinate systems of the optical locator and the mechanical arm by using results obtained in the steps (1) and (2) to obtain a transformation matrix Mnu between the two coordinate systems;
(4) Registering the CT scanning image and the mechanical arm coordinate system to obtain a transformation matrix Miu between the CT scanning image and the mechanical arm coordinate system;
(5) And (5) converting the coordinates of the target point in the CT scanning image into the coordinates of the mechanical arm based on the registration results of different coordinate systems in the steps (3) and (4), thereby completing the calibration of the interventional operation robot.
In the present invention, the step (1) specifically includes:
(1.1) mounting an optical tool on a rod-shaped main body of a calibration tool, and fixing the calibration tool at the tail end of a mechanical arm through a flange plate; the calibration Tool with the same length replaces the actual surgical instrument to be used, so that the optical Tool is positioned at the Tool Center Point (TCP) of the mechanical arm, and the calibration operation is carried out on the basis of the position;
(1.2) taking the sphere center of a hemisphere or a sphere at the tail end of the calibration tool as a center, and operating the mechanical arm to rotate the calibration tool to perform conical motion at an angle smaller than 60 degrees; meanwhile, the offset vectors of the spherical center at the tail end of the calibration tool and the optical tool are obtained by using the matched system software of the optical locator.
In the present invention, the step (2) specifically includes:
and aligning the center of the ball at the tail end of the calibration tool to the same point in the space in 4 different postures by utilizing the tool center point calibration function of the mechanical arm demonstrator to obtain the offset vector of the tool center point of the mechanical arm and the center of the ball at the tail end of the calibration tool.
In the present invention, the step (3) specifically includes:
(3.1) adjusting the mechanical arm to enable the mechanical arm to present K different poses, and ensuring that an optical tool on the calibration tool always faces the optical position finder;
(3.2) obtaining K pairs of different coordinate data { N1, U1}, { N2, U2}. The end spherical center of the calibration tool in coordinate systems of the mechanical arm and the optical position finder respectively according to results obtained in the steps (1) and (2), wherein K is less than or equal to 4 and less than or equal to 10;
and (3.3) constructing a matrix by using K pairs of coordinate data { N1, U1}, { N2, U2}. }. { NK, UK }, and decomposing the matrix by Singular Value Decomposition (SVD) to obtain a transformation matrix Mnu between the mechanical arm and the optical position finder coordinate system.
In the present invention, the step (4) specifically includes:
(4.1) placing the calibration plate on the CT bed plate to be fixed, and placing X-ray opaque ceramic balls in the grooves at the top ends of all the support columns as target points; performing CT scanning on the calibration plate to obtain an image, wherein all target points are ensured to be included in the image in the scanning process;
(4.2) opening the CT scanning image of the calibration plate, and identifying the spherical center coordinate I1 in the image; under the demonstrator mode of the mechanical arm, putting the hemispheroid or the sphere at the tail end of the calibration tool into the groove of each strut in sequence; recording a coordinate U1 of the mechanical arm, and sequentially performing the operations on all pillars In the CT scanning image to obtain n sets of image coordinates and mechanical arm coordinates, { I1, U1}, { I2, U2}, and. N is more than or equal to 4 and less than or equal to 10;
and (4.3) constructing a matrix by using the n pairs of coordinate data { I1, U1}, { I2, U2}, (9.3) obtained In the step (4.2), and performing SVD (space vector decomposition) on the matrix to obtain a transformation matrix Miu between the image and the mechanical arm coordinate system.
Preferably, in the step (4.1), the scanning is performed again after the position of the calibration plate is adjusted; repeating this operation to obtain at least 3 phase CT scan images, optionally one of the phase images is used in the operation of step (4.2).
Preferably, the step (5) specifically comprises:
(5.1) under the condition that the mechanical arm trolley does not move, converting the coordinate img0 of the target point in the CT scanning image into the mechanical arm coordinate: u0= Miu img0;
(5.2) under the condition that the mechanical arm trolley moves, converting the coordinate img0 of the target point in the CT scanning image into a mechanical arm coordinate u1 in the following mode:
(5.2.1) calculating displacement data Tn of the optical locator according to the positioning data of the two optical tools which are arranged at different positions on the ceiling right above the CT bed of the operating room;
(5.2.2) because the optical position finder and the mechanical arm are fixed on the same trolley, the relative positions of the optical position finder and the mechanical arm are fixed; calculating the displacement of the mechanical arm according to the displacement of the optical locator: tu = Mnu -1 *Tn*Mnu，Mnu -1 An inverse matrix to matrix Mnu;
(5.2.3) converting the coordinates of the target point in the CT scanning image into mechanical arm coordinates: u1= Tu Miu img0.
Compared with the prior art, the invention has the beneficial effects that:
after the interventional operation robot system uses the calibration method, the image coordinate system and the mechanical arm coordinate system can be converted at any position, and errors caused by the movement of the position of the mechanical arm are reduced.
Drawings
Fig. 1 is a schematic view of an interventional surgical robotic system of the present invention.
The reference numbers in the figures are: a mechanical arm 1; an optical tool 2; a calibration tool 3; a calibration plate 4; an optical tool 6; an optical tool 7; an optical position finder 8; struts 5-1 to 5-7; 5-8 of grooves.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, the calibration device for the interventional operation robot comprises an optical locator 8, a calibration tool 3, optical tools 2, 6 and 7 and a calibration plate 4; the main body of the calibration tool 3 is in a rod shape, one end of the calibration tool is provided with a flange plate for connecting to the tail end of the mechanical arm, the flange plate is provided with a positioning pin, and the tail end of the rod-shaped main body is in a hemispheroid or a sphere shape; the rigid bodies of the optical tools 2, 6 and 7 are in a cross shape, and the reflective balls are fixed on the rigid bodies; the rigid body is provided with a screw hole for passing through a screw to be installed. The calibration plate 4 is made of acrylic material, and handles are arranged on two sides of the calibration plate; 7 vertical pillars 5-1 to 5-7 are arranged on the surface of the calibration plate 4, the heights of the pillars are different, and the tops of the pillars are provided with spherical grooves 5-8 matched with the shapes of the tail ends of the calibration tools 3. And the number of the ceramic balls which are not transparent to X-rays and are the same as that of the pillars are also arranged, and the diameter of the ceramic balls is matched with the grooves 5-8 at the top ends of the pillars. In this embodiment, the optical locating instrument and the optical tool may be manufactured and sold as a kit by Northern Digital inc. And when the offset vectors of the spherical center at the tail end of the calibration tool and the optical tool are obtained, the calibration can be realized through the Pivot function of Track software matched with the NDI optical position finder system.
The interventional operation robot system with the calibration function comprises a navigation main control computer (not shown in the figure), scanning equipment (not shown in the figure), a mechanical arm with a steering joint and the calibration device. The navigation main control computer is respectively connected with the scanning device (CT) and the driving motor of the mechanical arm 1 in a wired or wireless mode. And the CT sends the scanned image to a navigation main control computer, and the navigation main control computer sends the planned plan to the mechanical arm for execution. Wherein, the optical position finder 8 and the mechanical arm 1 are arranged on the same base; wherein, the two optical tools 6 and 7 are arranged at different positions on the ceiling right above the CT bed of the operating room and are used for assisting to confirm the displacement condition of the optical positioner; another optical tool 2 is mounted on the rod-like body of the calibration tool 3 for assisting in confirming the displacement of the robot arm 1.
The calibration method of the interventional operation robot system comprises the following steps:
step 1: and calculating an offset vector n _ tip _ vec of the center of the sphere at the tail end of the calibration tool 3 in a coordinate system of the optical locator 8.
The optical tool 2 is arranged on a rod-shaped main body of a calibration tool 3, and then the calibration tool 3 is fixed at the tail end of the mechanical arm 1 through a flange plate; the invention replaces the actual surgical instrument to be used with the calibration Tool 3 with the same length, so that the optical Tool 2 is positioned at the Tool Center Point (TCP) of the mechanical arm 1, and the calibration operation is carried out based on the position;
and taking the spherical center at the tail end of the calibration tool 3 as a center, rotating the calibration tool 3 by operating the mechanical arm 1 to perform conical motion with an angle less than 60 degrees, and obtaining an offset vector n _ tip _ vec of the spherical center and the optical tool 2 by utilizing a Pivot function of Track software provided by an optical locator 8 system. To eliminate the error, 10 repetitions were performed, averaging the orientation amounts n _ tip _ vec.
And 2, step: and calculating the offset u _ tcp _ vec of the center of the sphere at the tail end of the calibration tool 3 under the coordinate of the mechanical arm.
And (3) aligning the sphere center at the tail end of the calibration tool 3 to the same point in the space by using the calibration function of the demonstrator TCP of the mechanical arm and 4 different postures, and calculating to obtain a sphere center offset vector u _ TCP _ vec at the tail end of the mechanical arm TCP and the calibration tool 3. To eliminate the error, 10 repetitions were performed, and the average of the orientation amounts u _ tcp _ vec was calculated.
And step 3: registering the optical locator 8 and the mechanical arm coordinate system to obtain a transformation matrix between the mechanical arm 1 and the optical locator 8 coordinate system: mnu.
Step 3.1: the optical tool 2 is fixed on the calibration tool 3, and the calibration tool 3 is fixed at the position of the mechanical arm TCP.
Step 3.2: and moving the mechanical arm 1 to 10 different poses, enabling the optical tool 2 on the calibration tool 3 to face the optical position finder 8 all the time, and obtaining 10 pairs of different coordinates { N1, U1}, { N2, U2}. The { N10, U10} of the center of the sphere at the tail end of the calibration tool 3 under the coordinate systems of the mechanical arm 1 and the optical position finder 8 respectively by using the N _ tip _ vec and the U _ tcp _ vec obtained in the step 1,2.
Step 3.3: a matrix is constructed for the coordinates by using { N1, U1}, { N2, U2}. { N10, U10}10, and Singular Value Decomposition (SVD) is performed for the matrix to obtain a transformation matrix between the coordinate systems of the robot arm 1 and the optical position finder 8: mnu.
And 4, step 4: carrying out registration on the CT scanning image and the mechanical arm 1 coordinate system to obtain a transformation matrix between the image and the mechanical arm coordinate system: miu.
Step 4.1: ceramic balls are placed in the grooves at the tops of 7 stand columns on the calibration plate 4, and CT scanning is respectively carried out on 3 different positions of the calibration plate 4 on a CT bed plate to obtain 3-stage images. It is ensured that all ceramic balls are included in the image during the scanning.
Step 4.2: and fixing the calibration tool 3 at the position of the mechanical arm TCP.
Step 4.3: opening a first-stage calibration plate image at will, identifying a center coordinate I1 in the image, placing a ball at the tail end of a calibration tool 3 in a groove of a corresponding upright column by using a demonstrator mode of a mechanical arm 1, recording a coordinate U1 of the mechanical arm, and sequentially performing the operations on all struts in a CT scanning image to obtain 7 groups of image coordinates and mechanical arm coordinates, { I1, U1}, { I2, U2}, { I7, U7}, }
Step 4.4: and (3) constructing a matrix for the coordinates by using the { I1, U1}, { I2, U2},. The { I7, U7}7, and carrying out SVD (singular value decomposition) on the matrix to obtain a transformation matrix between the image and the mechanical arm coordinate system: miu.
And 5: and converting the coordinates of the positioning image into the coordinates of the mechanical arm.
Under the condition that the mechanical arm trolley does not move, calculating image coordinates to mechanical arm coordinates: u0= Miu img0.
Under the condition that the mechanical arm trolley moves, the image coordinate is converted into a mechanical arm coordinate u1 according to the following steps:
step 5.1.1: the displacement of the optical position finder 8 is calculated from its positioning data by means of two fixed position optical tools 6, 7: tn.
Step 5.1.2: optical positioning appearance 8 and arm 1 are installed on same base, and both relative positions are fixed, and the displacement of arm 1 is calculated by optical positioning appearance 8's displacement: tu = Mnu -1 *Tn*Mnu。
Step 5.1.3: and (3) calculating image coordinates to mechanical arm coordinates: u1= Tu Miu img0.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of each component may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the scope of protection of the present invention.
Claims (11)
1. An interventional operation robot system with a calibration function comprises a navigation main control computer, scanning equipment and a mechanical arm with a steering joint, wherein the navigation main control computer is respectively connected with the scanning equipment and a driving motor of the mechanical arm in a wired or wireless mode; the system is characterized by also comprising the following calibration devices:
the calibration device comprises an optical locator, a calibration tool, an optical tool and a calibration plate; the main body of the calibration tool is in a rod shape, one end of the main body is provided with a flange plate for connecting to the tail end of the mechanical arm, and the tail end of the rod-shaped main body is in a hemisphere or sphere shape; the optical tools are at least three rigid bodies with reflecting balls; a plurality of vertical supporting columns are distributed on the surface of the calibration plate, and spherical grooves matched with the tail end of the calibration tool in shape are formed in the top ends of the supporting columns;
the optical locator and the mechanical arm are arranged on the same base; the two optical tools are arranged at different positions on a ceiling right above a CT (computed tomography) bed in an operating room and are used for assisting in confirming the displacement condition of the optical position finder; the other optical tool is arranged on the rod-shaped main body of the calibration tool and is used for assisting in confirming the displacement condition of the mechanical arm.
2. The interventional surgical robotic system of claim 1, wherein the rigid body of the optical tool is cross-shaped with a reflective sphere fixed to the rigid body; the rigid body is also provided with a screw hole for passing through a screw to be installed.
3. The interventional surgical robotic system of claim 1, wherein the calibration plate is acrylic material with handles on both sides.
4. The interventional surgical robotic system of claim 1, wherein the calibration plate surface has at least 4 struts of varying heights; and the number of the ceramic balls which are the same as that of the pillars and are opaque to X-rays are also arranged, and the diameter of the ceramic balls is matched with the grooves at the top ends of the pillars.
5. The interventional surgical robotic system of claim 1, wherein the flange carries locating pins.
6. A calibration method of an interventional operation robot is characterized in that the calibration method is realized based on the following interventional operation robot system:
the interventional operation robot system comprises a navigation main control computer, scanning equipment and a mechanical arm with a steering joint, wherein the navigation main control computer is respectively connected with the scanning equipment and a driving motor of the mechanical arm in a wired or wireless mode;
the system also comprises the following calibration devices: the calibration device comprises an optical locator, a calibration tool, an optical tool and a calibration plate; the main body of the calibration tool is in a rod shape, one end of the main body is provided with a flange plate for connecting to the tail end of the mechanical arm, and the tail end of the rod-shaped main body is in a hemisphere or sphere shape; at least three optical tools are rigid bodies with reflective balls; a plurality of vertical supporting columns are distributed on the surface of the calibration plate, and spherical grooves matched with the tail end of the calibration tool in shape are formed in the top ends of the supporting columns;
the optical locator and the mechanical arm are arranged on the same base; the two optical tools are arranged at different positions on a ceiling right above a CT (computed tomography) bed in an operating room and are used for assisting in confirming the displacement condition of the optical position finder; the other optical tool is arranged on the rod-shaped main body of the calibration tool and used for assisting in confirming the displacement condition of the mechanical arm;
the calibration method of the interventional operation robot specifically comprises the following steps:
(1) Acquiring an offset vector of a ball center at the tail end of a calibration tool in an optical position indicator coordinate system;
(2) Acquiring the offset of the center of the tail end of the calibration tool in the coordinates of the mechanical arm;
(3) Registering coordinate systems of the optical locator and the mechanical arm by using results obtained in the steps (1) and (2) to obtain a transformation matrix Mnu between the two coordinate systems;
(4) Registering the CT scanning image and the mechanical arm coordinate system to obtain a transformation matrix Miu between the CT scanning image and the mechanical arm coordinate system;
(5) Converting the coordinates of the target point in the CT scanning image into the coordinates of the mechanical arm based on the registration results of different coordinate systems in the steps (3) and (4), thereby completing the calibration of the interventional operation robot;
the step (5) specifically comprises:
(5.1) under the condition that the mechanical arm trolley does not move, converting the coordinate img0 of the target point in the CT scanning image into the mechanical arm coordinate: u0= Miu img0;
(5.2) under the condition that the mechanical arm trolley moves, converting the coordinate img0 of the target point in the CT scanning image into a mechanical arm coordinate u1 according to the following modes:
(5.2.1) calculating displacement data Tn of the optical locator according to the positioning data of the two optical tools which are arranged at different positions on the ceiling right above the CT bed of the operating room;
(5.2.2) because the optical locator and the mechanical arm are fixed on the same trolley, the relative positions of the optical locator and the mechanical arm are fixed; calculating the displacement of the mechanical arm according to the displacement of the optical locator: tu = Mnu -1 *Tn*Mnu，Mnu -1 An inverse matrix to matrix Mnu;
(5.2.3) converting the coordinates of the target point in the CT scanning image into mechanical arm coordinates: u1= Tu Miu img0.
7. The method according to claim 6, wherein the step (1) specifically comprises:
(1.1) mounting an optical tool on a rod-shaped main body of a calibration tool, and fixing the calibration tool at the tail end of a mechanical arm through a flange plate; the calibration tool with the same length replaces the surgical instrument to be actually used, so that the optical tool is positioned at the tool center point of the mechanical arm, and the calibration operation is carried out on the basis of the tool center point;
(1.2) taking the sphere center of a hemisphere or a sphere at the tail end of the calibration tool as a center, and operating the mechanical arm to rotate the calibration tool to perform conical motion at an angle smaller than 60 degrees; meanwhile, the offset vectors of the spherical center at the tail end of the calibration tool and the optical tool are obtained by using the matched system software of the optical locator.
8. The method according to claim 6, wherein the step (2) comprises in particular:
and aligning the center of the ball at the tail end of the calibration tool to the same point in the space in 4 different postures by utilizing the tool center point calibration function of the mechanical arm demonstrator to obtain the offset vector of the tool center point of the mechanical arm and the center of the ball at the tail end of the calibration tool.
9. The method according to claim 6, wherein the step (3) comprises in particular:
(3.1) adjusting the mechanical arm to present K different poses, and ensuring that the optical tool on the calibration tool always faces the optical position finder;
(3.2) obtaining K pairs of different coordinate data { N1, U1}, { N2, U2}. The end spherical center of the calibration tool in coordinate systems of the mechanical arm and the optical position finder respectively according to results obtained in the steps (1) and (2), wherein K is equal to or less than 10;
and (3.3) constructing a matrix by using K pair coordinate data { N1, U1}, { N2, U2}. { NK, UK }, and performing singular value decomposition on the matrix to obtain a transformation matrix Mnu between the mechanical arm and the optical position finder coordinate system.
10. The method according to claim 6, characterized in that said step (4) comprises in particular:
(4.1) placing the calibration plate on the CT bed plate to be fixed, and placing X-ray opaque ceramic balls in the grooves at the top ends of all the support columns as target points; performing CT scanning on the calibration plate to obtain an image, wherein all target points are ensured to be included in the image in the scanning process;
(4.2) opening the CT scanning image of the calibration plate, and identifying the spherical center coordinate I1 in the image; under the demonstrator mode of the mechanical arm, putting the hemispheroid or the sphere at the tail end of the calibration tool into the groove of each strut in sequence; recording a coordinate U1 of the mechanical arm, and sequentially performing the operations on all struts In the CT scanning image to obtain n groups of image coordinates and mechanical arm coordinates, { I1, U1}, { I2, U2}, { In, un }, wherein n is not less than 4 and not more than 10;
and (4.3) constructing a matrix by using the n sets of coordinate data { I1, U1}, { I2, U2}, { In, un } obtained In the step (4.2), and performing SVD (space vector decomposition) on the matrix to obtain a transformation matrix Miu between the image and the mechanical arm coordinate system.
11. The method according to claim 10, characterized in that in step (4.1), the scanning is performed again after adjusting the position of the calibration plate; repeating this operation to obtain at least 3 phase CT scan images, optionally with one phase image being used for the operation of step (4.2).
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