CN118078447A - Method and device for determining space conversion relation, electronic equipment and storage medium - Google Patents
Method and device for determining space conversion relation, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for determining a space conversion relation, electronic equipment and a storage medium. The method comprises the following steps: controlling a mechanical arm end flange of the surgical robot to be calibrated to conduct autorotation operation for a first target number of times by taking an affiliated shaft in the center of the flange as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than the first preset times; acquiring the spatial position of the surgical tool under a first coordinate system after each autorotation operation; determining a first spatial conversion relation between the second coordinate system and the third coordinate system based on the spatial position; the first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs. The technical scheme of the embodiment of the invention can effectively reduce the calibration error of the surgical robot to be calibrated, and is beneficial to improving the operation accuracy.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot positioning navigation, in particular to a method and a device for determining a space conversion relation, electronic equipment and a storage medium.
Background
The surgical robot is advanced medical equipment, and can assist doctors to perform accurate and minimally invasive surgical operations through the combination of computer technology, mechanical engineering and medical knowledge. Surgical robots are typically composed of a robotic arm, a console, an optical positioning system, and a surgical tool.
In the prior art, a spatial conversion relation between a coordinate system corresponding to a mechanical arm base and a coordinate system corresponding to an optical positioning system is generally determined, so that the calibration process of the surgical robot is completed, and the surgical operation is performed according to the calibrated surgical robot. However, in the process of implementing the present invention, it is found that at least the following technical problems exist in the prior art: because the surgical tool is mounted on the mechanical arm in the surgical operation process, the inconsistency between the coordinate system of the surgical tool and the coordinate system of the tail end of the mechanical arm is not considered in the prior art, and the operation accuracy of the surgical robot is easily affected.
Disclosure of Invention
The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for determining a space conversion relation, so as to achieve the purposes of reducing operation errors in the working process of a surgical robot and improving operation accuracy.
According to an aspect of the present invention, there is provided a method for determining a spatial conversion relationship, including:
controlling a mechanical arm end flange of the surgical robot to be calibrated to conduct autorotation operation for a first target number of times by taking an affiliated shaft in the center of the flange as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than first preset times;
Acquiring the spatial position of the surgical tool under a first coordinate system after each rotation operation;
Determining a first spatial conversion relation between a second coordinate system and a third coordinate system based on the spatial position;
The first coordinate system is a coordinate system to which an optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs.
According to another aspect of the present invention, there is provided a determining apparatus of a spatial conversion relationship, including:
The rotation module is used for controlling the mechanical arm end flange of the surgical robot to be calibrated to perform rotation operation for a first target number of times by taking the affiliated shaft of the flange center as a rotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than first preset times;
The space position acquisition module is used for acquiring the space position of the surgical tool under a first coordinate system after each rotation operation;
the spatial conversion relation determining module is used for determining a first spatial conversion relation between the second coordinate system and the third coordinate system based on the spatial position;
The first coordinate system is a coordinate system to which an optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining a spatial transformation relationship according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for determining a spatial conversion relationship according to any one of the embodiments of the present invention when executed.
According to the technical scheme, the mechanical arm end flange of the surgical robot to be calibrated is controlled to conduct autorotation operation for a first target number of times by taking the affiliated shaft of the flange center as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than the first preset times; the space position of the surgical tool under the first coordinate system after each rotation operation is obtained; then, determining a first space conversion relation between the second coordinate system and the third coordinate system through the space position; the first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs. According to the technical scheme, the first space conversion relation is effectively and accurately determined, namely, the conversion relation between the coordinate system of the surgical tool and the coordinate system of the tail end of the mechanical arm is considered, so that the calibration error of the surgical robot to be calibrated is effectively reduced, and the operation accuracy is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for determining a spatial conversion relationship according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a surgical robot according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a device for determining a spatial conversion relationship according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of an electronic device implementing a method for determining a spatial conversion relationship according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for determining a spatial conversion relationship according to an embodiment of the present invention. The embodiment may be applied to a case of determining a spatial conversion relationship between a coordinate system to which a mechanical arm end flange belongs and a coordinate system to which a surgical tool belongs in a surgical robot, and the method may be performed by a spatial conversion relationship determining device, which may be implemented in a form of hardware and/or software.
As shown in fig. 1, the method of this embodiment may specifically include:
s110, controlling the mechanical arm end flange of the surgical robot to be calibrated to conduct autorotation operation for a first target number of times by taking the affiliated shaft of the flange center as a autorotation shaft.
Wherein the surgical tool is secured to the flange.
It should be noted that a surgical robot is generally composed of a mechanical arm, a console, an optical positioning system, and a surgical tool. For a clear understanding of the structure of the surgical robot, reference is made to fig. 2. The mechanical arm 1 may be a six-degree-of-freedom mechanical arm, and is used for holding the surgical tool 2 to move, so as to replace a human hand to complete a surgical operation. The optical positioning system 3 may be a binocular camera capable of transmitting and receiving near infrared light, and detecting the position of the retroreflective marker-sphere. The surgical robot also comprises a tool holder for holding a surgical tool, wherein four non-collinear reflective marker balls which are small spheres with surfaces covered by special reflective layers can be arranged on the tool holder, and can reflect near infrared light for optical position positioning. Specifically, the optical positioning system determines the position of the surgical tool in the optical system by detecting the reflective marker ball. Further, a flange is installed at the tail end of the mechanical arm 1, and the surgical tool is fixed through the flange. Illustratively, the surgical tool is secured to the tool holder and the tool holder is secured to the flange. Optionally, the surgical robot further comprises a controller for controlling the mechanical arm and the optical positioning system to work.
In this embodiment, one end of the manipulator connected to the surgical tool may be the manipulator end, and the other end may be defined as the manipulator base. And sending a control instruction to the surgical robot to be calibrated through the controller, and indicating the tail end of the mechanical arm in the surgical robot to be calibrated to perform autorotation motion for a first target number of times by taking the affiliated shaft of the flange center as a rotating shaft. By way of example, the flange outer contour can be seen as a cylinder, and the axis of the flange center is the cylinder axis of the cylinder.
In a specific implementation, in order to improve accuracy of determining the first spatial conversion relationship, the first target number of times is greater than a first preset number of times; for example, the first preset number of times is 3, and the first target number of times is 4. Specifically, the end flange of the mechanical arm can be controlled to conduct equiangular rotation, and the rotation angle of each rotation is thatWhere θ represents the rotation angle, i represents the ith rotation, and n represents the first target number of times.
In this embodiment, controlling the mechanical arm end flange of the surgical robot to be calibrated to use the belonging axis of the flange center as the rotation axis includes: acquiring the current position of the surgical tool in a first coordinate system; and if the current position is in the preset center range, controlling the end flange of the mechanical arm of the surgical robot to be calibrated to take the affiliated shaft of the flange center as a rotation shaft.
In order to facilitate a clearer and more detailed description of the determination process of the spatial transformation relationship, a coordinate system to which the mechanical arm, the surgical tool and the optical positioning system belong will be described. Referring to fig. 2, the coordinate system to which the optical positioning system belongs is a first coordinate system S o, the coordinate system to which the end flange of the mechanical arm belongs is a second coordinate system S e, the coordinate system to which the surgical tool belongs is a third coordinate system S t, and the coordinate system to which the base of the mechanical arm belongs is a fourth coordinate system S b.Vbe, which represents the spatial transformation relationship between S b and S e; v et denotes a spatial conversion relationship between S e and S t; v e0 denotes a spatial conversion relationship between S e and S o; v to denotes a spatial conversion relationship between S t and S o; v ob denotes a spatial conversion relationship between S o and S b. S b、Se and S o are determined by the hardware itself, while S t is built up depending on the optical positioning system.
The current position is the position of the surgical tool determined in the optical positioning system.
In order to avoid that the position of the surgical tool in the optical positioning system exceeds the visual field of the optical positioning system in the rotating or moving operation process of the surgical tool, the determination of the spatial conversion relation is influenced, the current position of the surgical tool under the first coordinate system can be obtained before the rotating or moving operation of the surgical tool, and the current position is in the preset center range, so that the fact that the surgical tool is far away from the edge of the visual field of the optical positioning system is explained, and even if the rotating or moving operation is carried out, the visual field range is not easy to exceed. At the moment, the end flange of the mechanical arm of the surgical robot to be calibrated can be controlled to rotate. It should be noted that, a person skilled in the art may determine the preset center range according to the actual application situation; the preset center range may be a circular area with a radius of 1 cm around the center position of the field of view.
According to the embodiment, under the condition that the current position is in the preset center range, the mechanical arm is controlled to move, and then the surgical tool is controlled to move, so that the situation that the surgical tool exceeds the field of view of the optical positioning system in the moving process is avoided, and the spatial conversion relation can be accurately determined.
Further, the method further comprises: if the current position is not in the preset central range, generating prompt information and feeding back the prompt information to the controller so as to adjust the position of the surgical tool in the first coordinate system to be in the preset central range by controlling the mechanical arm of the surgical robot to be calibrated to move.
For the case that the current position is not in the preset center range, in order to facilitate timely adjustment of the current position, the space conversion relation can be ensured to be correctly determined, and prompt information can be generated to feed back to the controller. For example, the hint information may include a current position of the surgical tool in the first coordinate system and a center position of a field of view of the optical positioning system. After receiving the prompt information, the controller can determine the adjustment position of the tail end flange of the mechanical arm in the coordinate system of the mechanical arm based on the current position, the center position of the field of view and the position of the tail end flange of the mechanical arm in the coordinate system of the mechanical arm, and control the tail end flange of the mechanical arm of the surgical robot to be calibrated to move to the adjustment position, so that the position of the surgical tool in the first coordinate system is in the preset center range.
According to the embodiment, the prompt information is generated and fed back to the controller, so that the controller can timely and effectively adjust the mechanical arm to move, and the adjusted position of the surgical tool under the first coordinate system is ensured to be in the preset center range.
S120, acquiring the spatial position of the surgical tool under the first coordinate system after each rotation operation.
In a specific implementation, after each rotation of the end flange of the mechanical arm is finished, the spatial position of the surgical tool in the optical positioning system, namely the spatial position under the first coordinate system, is read. It should be noted that, the spatial position of the surgical tool under the first coordinate system may be determined by the position of the reflective calibration ball under the first coordinate system. The spatial transformation relationship may be represented by a rotation matrix and a translation matrix, which may be calculated and output in real time by a singular value decomposition (Singular Value Decomposition, SVD) algorithm built into the optical positioning system.
S130, determining a first space conversion relation between the second coordinate system and the third coordinate system based on the space position.
The first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs. In this embodiment, the first spatial conversion relationship is composed of a first rotation matrix and a first translation matrix. The first rotation matrix and the first translation matrix between the second coordinate system and the third coordinate system can be determined based on the spatial positions, and the first spatial conversion relation is formed through the first translation matrix and the first rotation matrix.
According to the technical scheme, the mechanical arm end flange of the surgical robot to be calibrated is controlled to conduct autorotation operation for a first target number of times by taking the affiliated shaft of the flange center as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than the first preset times; the space position of the surgical tool under the first coordinate system after each rotation operation is obtained; then, determining a first space conversion relation between the second coordinate system and the third coordinate system through the space position; the first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs. According to the technical scheme, the first space conversion relation is effectively and accurately determined, namely, the conversion relation between the coordinate system of the surgical tool and the coordinate system of the tail end of the mechanical arm is considered, so that the calibration error of the surgical robot to be calibrated is effectively reduced, and the operation accuracy is improved.
Specifically, determining a first spatial conversion relationship between the second coordinate system and the third coordinate system based on the spatial position includes: determining a first translation matrix between the second coordinate system and the third coordinate system based on the spatial position; controlling a mechanical arm of the surgical robot to be calibrated to perform offset motion for a second target number of times; based on the first translation matrix, determining a first position component corresponding to the end flange of the mechanical arm in a first coordinate system and a second position component corresponding to the end flange of the mechanical arm in a fourth coordinate system after each offset movement; and determining a first rotation matrix based on the first position component and the second position component, and forming a first space conversion relation by the first rotation matrix and the first translation matrix.
The fourth coordinate system is a coordinate system to which the mechanical arm base of the surgical robot belongs.
In order to clearly describe the determination process of the first translation matrix, definition is madeAnd/> Representing the first spatial position of the center point of the end flange of the mechanical arm under the coordinate system S o of the optical positioning system,/>Representing a second spatial position of the center point of the end flange of the robotic arm in the surgical tool coordinate system S t. It can be seen/>And/>Has the following relationship:
Wherein R to represents a third rotation matrix between S t and S o, and T to represents a third translation matrix between S t and S o.
Due to the translation matrix between S e and S o Translation matrix/>, between S e and S t The above formula can thus be further expressed as:
Teo＝Rto·Tet+Tto
After finishing, the method can obtain:
Rto·Tet-Teo＝-Tto
therefore, the spatial position of the surgical tool in the first coordinate system after each rotation operation can be recorded, and the determination of the spatial position of the surgical tool in the first coordinate system is based on And/>
Wherein,Representing a transformation matrix between the spatial position of the surgical tool in the third coordinate system and the spatial position in the first coordinate system after the ith rotation,/>Representing a translation matrix between the spatial position of the surgical tool in the third coordinate system and the spatial position in the first coordinate system after the ith rotation. i represents the number of times of rotation, i is more than 0 and less than or equal to n; n represents a first target number of times, and both i and n are positive integers.
Based on the formulaThe method comprises the following steps:
Wherein T et represents the first translation matrix between the second coordinate system and the third coordinate system. T eo denotes a translation matrix between the second coordinate system and the first coordinate system. I represents an identity matrix.
Those skilled in the art will recognize that the above formula can be simplified to express the form ax=b, and A, B and X are both matrices. At this point, the problem of computing T et and T eo has been translated into a computation matrix X:
X＝A+B
wherein A +＝(ATA)-1AT is the pseudo-inverse of matrix A. Based on the spatial position of the surgical tool in the first coordinate system, a result is obtained And/>It can be determined that T et and T eo.Tet can reflect the fixed relation between the end flange of the mechanical arm of the surgical robot to be calibrated and the surgical tool, and the value of T et is unchanged after the surgical tool is installed.
According to the embodiment, the mechanical arm end flange is controlled to rotate, so that the first translation matrix is rapidly and effectively determined; the method is beneficial to reducing and simplifying the calibration steps, reduces the time cost of calibration and saves the preparation time before operation.
After the first translation matrix is determined, in order to determine the first rotation matrix, the mechanical arm of the surgical robot to be calibrated can be controlled to perform offset movement for a second target number of times. Wherein the second target number of times is greater than a second preset number of times; illustratively, the second preset number of times is 3 and the second target number of times is 6. Optionally, the mechanical arm can be controlled to perform an offset motion of equal offset distance.
In this embodiment, for each offset, the controller reads the set position of the arm to the arm end flange as the second position component of the arm end flange corresponding to the fourth coordinate systemAnd based on the spatial position of each offset surgical tool in the first coordinate system, obtaining a spatial conversion relation between the third coordinate system and the first coordinate system, wherein the spatial conversion relation comprises a rotation matrix R to and a translation matrix T to between the third coordinate system and the first coordinate system, and the first position component of the end flange of the mechanical arm corresponding to the first coordinate system is/> Wherein T eo is a translation matrix between the second coordinate system and the first coordinate system.
In an implementation, the first rotation matrix may be determined based on the first position component and the second position component, and the first spatial transformation relationship may be formed by the first rotation matrix and the first translation matrix. Specifically, determining the first rotation matrix based on the first position component and the second position component includes: determining a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system based on the first position component and the second position component, and forming a second space conversion relation by the second translation matrix and the second rotation matrix; based on the second rotation matrix, a first rotation matrix is determined.
Optionally, determining the second rotation matrix and the second translation matrix between the fourth coordinate system and the first coordinate system based on the first position component and the second position component includes: and carrying out registration processing on the first position component and the second position component corresponding to each deflection motion based on a singular value decomposition algorithm to obtain a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system.
Specifically, a first point set is formed by a first position component obtained by each offset motion; the second set of points is composed of the second position component obtained from each offset motion. And carrying out registration processing on the first point set and the second point set based on a singular value decomposition algorithm to obtain a second rotation matrix R ob and a second translation matrix T ob between the fourth coordinate system and the first coordinate system. And obtaining a second space conversion relation between the fourth coordinate system and the first coordinate system through the second rotation matrix and the second translation matrix. In the embodiment, the second spatial conversion relation is rapidly and accurately determined through a singular value decomposition algorithm.
In this embodiment, determining the first rotation matrix based on the second rotation matrix includes: controlling the mechanical arm of the surgical robot to be calibrated to return to the initial posture before the autorotation operation; determining a third rotation matrix between the third coordinate system and the first coordinate system after returning to the preset initial pose; the first rotation matrix is determined based on the second rotation matrix, the third rotation matrix, and a motion loop relationship of the robotic arm.
Specifically, a command can be input to the mechanical arm through the controller, so that the mechanical arm returns to an initial posture before autorotation operation, and after the mechanical arm reaches the initial posture, a third rotation matrix and a third translation matrix between a third coordinate system and the first coordinate system are determined based on the spatial position of the surgical tool in the optical positioning system. Therefore, as the mechanical arm returns to the initial posture again, the movement process of the mechanical arm forms a loop, and based on the movement loop relation among all movement positions in the loop, the method can be as follows:
Rte＝Reb -1·Rob·Rto
Tte＝-Rte·Tet
Wherein, R to is a third rotation matrix, T to is a third translation matrix, R eb is a rotation matrix between a fourth coordinate system and a second coordinate system, and the rotation component of the end pose of the end of the mechanical arm can be determined by a rodgers rotation formula, and if R eb、Rob and R to are determined, the first rotation matrix R te is determined. According to the embodiment, the mechanical arm is controlled to reach the initial gesture again to form a motion loop, so that the process of determining the first rotation matrix is more efficient and flexible. And moreover, the space conversion relation among all components of the surgical robot to be calibrated can be completely calculated only through a plurality of mechanical arm tail end gesture deflection and position translation movements, and higher calibration precision can be realized only by less data input. In addition, the current position is within the preset center range, so that the pose requirements for robot calibration are relatively loose, and the calibration result is more stable.
Fig. 3 is a schematic structural diagram of a spatial conversion relationship determining apparatus according to an embodiment of the present invention, where the apparatus is configured to perform the spatial conversion relationship determining method provided in any of the foregoing embodiments. The device belongs to the same inventive concept as the method for determining the spatial conversion relation in the above embodiments, and reference may be made to the embodiment of the method for determining the spatial conversion relation for details which are not described in detail in the embodiment of the device for determining the spatial conversion relation. As shown in fig. 3, the apparatus includes:
the autorotation module 10 is used for controlling the mechanical arm end flange of the surgical robot to be calibrated to conduct autorotation operation for a first target number of times by taking the affiliated shaft of the flange center as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than the first preset times;
A spatial position acquisition module 11, configured to acquire a spatial position of the surgical tool in the first coordinate system after each rotation operation;
a spatial conversion relation determining module 12, configured to determine a first spatial conversion relation between the second coordinate system and the third coordinate system based on the spatial position;
the first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs.
On the basis of any optional technical scheme of the embodiment of the present invention, optionally, the autorotation module 10 includes:
The current position acquisition sub-module is used for acquiring the current position of the surgical tool under a first coordinate system; and if the current position is in the preset center range, controlling the end flange of the mechanical arm of the surgical robot to be calibrated to take the affiliated shaft of the flange center as a rotation shaft.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the rotation module 10 further includes:
and the prompt information generation sub-module is used for generating prompt information and feeding the prompt information back to the controller if the current position is not in the preset central range so as to adjust the position of the surgical tool in the first coordinate system to be in the preset central range by controlling the mechanical arm of the surgical robot to be calibrated to move.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the first space conversion relation consists of a first rotation matrix and a first translation matrix;
the spatial conversion relation determination module 12:
A first translation matrix determination submodule for determining a first translation matrix between the second coordinate system and the third coordinate system based on the spatial position;
The offset movement sub-module is used for controlling the mechanical arm of the surgical robot to be calibrated to perform offset movement for a second target number of times; wherein the second target number of times is greater than a second preset number of times;
The second position component determining submodule is used for determining a first position component corresponding to the end flange of the mechanical arm in the first coordinate system and a second position component corresponding to the end flange of the mechanical arm in the fourth coordinate system after each offset movement based on the first translation matrix;
The fourth coordinate system is a coordinate system of the mechanical arm base of the surgical robot;
The first rotation matrix determining sub-module is used for determining a first rotation matrix based on the first position component and the second position component, and a first space conversion relation is formed by the first rotation matrix and the first translation matrix.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the first rotation matrix determining sub-module includes:
A matrix determining unit configured to determine a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system based on the first position component and the second position component, the second rotation matrix and the second translation matrix constituting a second spatial conversion relationship; based on the second rotation matrix, a first rotation matrix is determined.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the matrix determining unit includes:
And the registration processing subunit is used for carrying out registration processing on the first position component and the second position component corresponding to each deflection motion based on a singular value decomposition algorithm to obtain a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the matrix determining unit includes:
The matrix determining subunit is used for controlling the mechanical arm of the surgical robot to be calibrated to return to the initial gesture before autorotation operation; determining a third rotation matrix between the third coordinate system and the first coordinate system after returning to the preset initial pose; the first rotation matrix is determined based on the second rotation matrix, the third rotation matrix, and a motion loop relationship of the robotic arm.
According to the technical scheme, the mechanical arm end flange of the surgical robot to be calibrated is controlled to conduct autorotation operation for a first target number of times by taking the affiliated shaft of the flange center as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than the first preset times; the space position of the surgical tool under the first coordinate system after each rotation operation is obtained; then, determining a first space conversion relation between the second coordinate system and the third coordinate system through the space position; the first coordinate system is a coordinate system to which the optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs. According to the technical scheme, the first space conversion relation is effectively and accurately determined, namely, the conversion relation between the coordinate system of the surgical tool and the coordinate system of the tail end of the mechanical arm is considered, so that the calibration error of the surgical robot to be calibrated is effectively reduced, and the operation accuracy is improved.
It should be noted that, in the embodiment of the above-mentioned determination device for spatial conversion relationship, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Fig. 4 is a schematic structural diagram of an electronic device implementing a method for determining a spatial conversion relationship according to an embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 20 includes at least one processor 21, and a memory, such as a Read Only Memory (ROM) 22, a Random Access Memory (RAM) 23, etc., communicatively connected to the at least one processor 21, wherein the memory stores a computer program executable by the at least one processor, and the processor 21 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 22 or the computer program loaded from the storage unit 28 into the Random Access Memory (RAM) 23. In the RAM23, various programs and data required for the operation of the electronic device 20 may also be stored. The processor 21, the ROM22 and the RAM23 are connected to each other via a bus 24. An input/output (I/O) interface 25 is also connected to bus 24.
Various components in the electronic device 20 are connected to the I/O interface 25, including: an input unit 26 such as a keyboard, a mouse, etc.; an output unit 27 such as various types of displays, speakers, and the like; a storage unit 28 such as a magnetic disk, an optical disk, or the like; and a communication unit 29 such as a network card, modem, wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 21 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 21 performs the respective methods and processes described above, for example, a determination method of a spatial conversion relationship.
In some embodiments, the method of determining the spatial transformation relationship may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 20 via the ROM22 and/or the communication unit 29. When the computer program is loaded into the RAM23 and executed by the processor 21, one or more steps of the above-described determination method of the spatial conversion relationship may be performed. Alternatively, in other embodiments, the processor 21 may be configured to perform the method of determining the spatial transformation relationship in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for determining a spatial conversion relationship, comprising:
controlling a mechanical arm end flange of the surgical robot to be calibrated to conduct autorotation operation for a first target number of times by taking an affiliated shaft in the center of the flange as a autorotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than first preset times;
Acquiring the spatial position of the surgical tool under a first coordinate system after each rotation operation;
Determining a first spatial conversion relation between a second coordinate system and a third coordinate system based on the spatial position;
The first coordinate system is a coordinate system to which an optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs.
2. The method according to claim 1, wherein the controlling the manipulator end flange of the surgical robot to be calibrated to take the axis of the flange center as a rotation axis comprises:
Acquiring the current position of the surgical tool in the first coordinate system;
and if the current position is in the preset center range, controlling the end flange of the mechanical arm of the surgical robot to be calibrated to take the shaft of the flange center as a rotation shaft.
3. The method as recited in claim 2, further comprising:
if the current position is not in the preset central range, generating prompt information and feeding back the prompt information to a controller so as to adjust the position of the surgical tool in the first coordinate system to be in the preset central range by controlling the mechanical arm of the surgical robot to be calibrated to move.
4. The method of claim 1, wherein the first spatial transformation relationship consists of a first rotation matrix and a first translation matrix;
the determining a first spatial conversion relation between the second coordinate system and the third coordinate system based on the spatial position comprises the following steps:
Determining a first translation matrix between the second coordinate system and the third coordinate system based on the spatial position;
controlling the mechanical arm of the surgical robot to be calibrated to perform offset motion for a second target number of times; wherein the second target times is greater than a second preset times;
Determining a first position component of the end flange of the mechanical arm corresponding to the first coordinate system and a second position component of the end flange of the mechanical arm corresponding to a fourth coordinate system after each offset movement based on the first translation matrix;
the fourth coordinate system is a coordinate system to which the mechanical arm base of the surgical robot belongs;
and determining the first rotation matrix based on the first position component and the second position component, wherein the first space conversion relation is formed by the first rotation matrix and the first translation matrix.
5. The method of claim 4, wherein the determining the first rotation matrix based on the first position component and the second position component comprises:
determining a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system based on the first position component and the second position component, and forming a second space conversion relationship by the second translation matrix and the second rotation matrix;
the first rotation matrix is determined based on the second rotation matrix.
6. The method of claim 5, wherein the determining a second rotation matrix and a second translation matrix between the fourth coordinate system and the first coordinate system based on the first position component and the second position component comprises:
And carrying out registration processing on the first position component and the second position component corresponding to each deflection motion based on a singular value decomposition algorithm to obtain the second rotation matrix and the second translation matrix between the fourth coordinate system and the first coordinate system.
7. The method of claim 5, wherein the determining the first rotation matrix based on the second rotation matrix comprises:
Controlling the mechanical arm of the surgical robot to be calibrated to return to the initial posture before the autorotation operation;
Determining a third rotation matrix between the third coordinate system and the first coordinate system after returning to the preset initial pose;
the first rotation matrix is determined based on the second rotation matrix, the third rotation matrix, and a motion loop relationship of the robotic arm.
8. A spatial conversion relation determining apparatus, comprising:
The rotation module is used for controlling the mechanical arm end flange of the surgical robot to be calibrated to perform rotation operation for a first target number of times by taking the affiliated shaft of the flange center as a rotation shaft; the surgical tool is fixed on the flange, and the first target times are larger than first preset times;
The space position acquisition module is used for acquiring the space position of the surgical tool under a first coordinate system after each rotation operation;
the spatial conversion relation determining module is used for determining a first spatial conversion relation between the second coordinate system and the third coordinate system based on the spatial position;
The first coordinate system is a coordinate system to which an optical positioning system belongs, the second coordinate system is a coordinate system to which the end flange of the mechanical arm belongs, and the third coordinate system is a coordinate system to which the surgical tool belongs.
9. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining a spatial transformation relationship as claimed in any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of determining a spatial conversion relation according to any one of claims 1-7.
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