CN214415161U - Matching system of mechanical arm and bed - Google Patents
Matching system of mechanical arm and bed Download PDFInfo
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- CN214415161U CN214415161U CN202021363739.6U CN202021363739U CN214415161U CN 214415161 U CN214415161 U CN 214415161U CN 202021363739 U CN202021363739 U CN 202021363739U CN 214415161 U CN214415161 U CN 214415161U
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Abstract
The invention relates to the technical field of mechanical arm and bed matching, and provides a matching system of a mechanical arm and a bed, which comprises: the mechanical arm integrated positioning device is used for designing the mechanical arm and the carbon fiber sickbed into an integrated structure, so that the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system; the imaging device calibration device is used for calibrating medical imaging equipment based on X-rays, unifying the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in the same coordinate system, realizing the conversion of three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm, and realizing the real-time registration of the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in an operation.
Description
Technical Field
The invention relates to the technical field of mechanical arm and bed matching, in particular to a matching system of a mechanical arm and a bed.
Background
In the current clinical operation, as medical technology advances, more and more operations are performed directly by a surgical robot. When the operation robot performs an operation, the structure for directly operating the operation is mainly a mechanical arm.
In the prior art, during operation, the mechanical arm, the bed for operation and the medical imaging device for taking images during operation are all in independent coordinate systems, and an infrared navigation lens is required to be introduced to position and calibrate the positions of the mechanical arm, the bed for operation and the medical imaging device for taking images during operation. The operation is complicated, and a large amount of time is wasted for positioning before the operation. And because the operation steps are more, the error rate in the positioning process can be greatly improved, and the success rate of the operation is influenced.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a system and a method for matching a robot arm with a bed, and a method for clinical application thereof, which have the advantages of unifying medical imaging devices for taking images in surgery, including the robot arm, the bed for surgery, and the medical imaging device for taking images in surgery in the same coordinate system, realizing three-dimensional space transformation of the robot arm, the bed for surgery, and the medical imaging device for taking images in surgery, and realizing real-time registration of the devices.
The above object of the present invention is achieved by the following technical solutions:
a robotic arm and bed interface system, comprising: the mechanical arm integrated positioning device is arranged on the carbon fiber sickbed;
the mechanical arm integrated positioning device is used for designing the mechanical arm and the carbon fiber sickbed into an integrated structure, so that the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system.
Further, the cooperation system of arm and bed still includes: the imaging equipment calibration device is arranged on the carbon fiber sickbed;
the imaging device calibration device is used for calibrating medical imaging equipment based on X-rays, unifying the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in the same coordinate system, realizing the conversion of three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm, and realizing the real-time registration of the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in an operation.
Further, in the mechanical arm integrated positioning device, after the mechanical arm and the carbon fiber bed are fixed, the mechanical arm and the carbon fiber bed form a certain coordinate relationship.
Further, the robot arm-integrated positioning apparatus includes: an optical lens and a fixed mark;
the optical lens is arranged at the tail end of the mechanical arm, and the fixed mark is a mark which is fixed on the carbon fiber sickbed in advance and comprises a two-dimensional code;
the optical lens is matched with the mark and used for obtaining a conversion matrix from the base coordinate system of the mechanical arm to the carbon fiber sickbed in an eye-to-hand calibration mode through hand-to-eye calibration.
Further, in the imaging apparatus calibration device, it further includes: a carbon fiber baffle;
the carbon fiber baffle is arranged on the carbon fiber sickbed, and meanwhile, mark points are embedded in the carbon fiber baffle;
the carbon fiber baffle is used for enabling the medical imaging equipment to penetrate through the carbon fiber baffle when the medical imaging equipment based on X-rays is calibrated, and the coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed is established by positioning through the marking points.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) through a cooperation structure of arm and bed, with the structure of arm and carbon fiber sick bed design for the arm is unified in same coordinate system with the carbon fiber sick bed. Furthermore, the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are also unified in the same coordinate system, so that the conversion of three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm is realized, and the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are registered in real time in an operation. The infrared navigation lens is not needed to be additionally used for positioning in the operation, the complexity of the operation in the operation is reduced, the positioning time is saved, and the precious time is won for treating the patient.
(2) The hand-eye calibration is carried out through an optical lens at the tail end of the mechanical arm and a mark which is fixed on the carbon fiber sickbed in advance and comprises a two-dimensional code, a conversion matrix from a base coordinate system of the mechanical arm to the carbon fiber sickbed is obtained in a mode of eye-hand calibration, and the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system.
(3) The carbon fiber baffle is arranged on the carbon fiber sickbed, and the mark points are embedded in the carbon fiber baffle, so that when the medical imaging equipment is seen through the carbon fiber baffle, the carbon fiber baffle is positioned through the embedded mark points in the carbon fiber baffle, the coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed is established, and the medical imaging equipment and the carbon fiber sickbed are unified in the same coordinate system.
Drawings
FIG. 1 is a general schematic view of a robotic arm and bed arrangement according to the present invention;
FIG. 2 is a side schematic view of a robotic arm and bed arrangement according to the present invention;
FIG. 3 is a top view of the robotic arm and bed mating structure of the present invention.
Reference numerals
1. A mechanical arm; 2. a carbon fiber hospital bed; 3. carbon fiber baffle
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the current clinical operation, as medical technology advances, more and more operations are performed directly by a surgical robot. When the operation robot performs an operation, the structure for directly operating the operation is mainly a mechanical arm.
In the prior art, during operation, the mechanical arm, the bed for operation and the medical imaging device for taking images during operation are all in independent coordinate systems, and an infrared navigation lens is required to be introduced to position and calibrate the positions of the mechanical arm, the bed for operation and the medical imaging device for taking images during operation. The operation is complicated, and a large amount of time is wasted for positioning before the operation. And because the operation steps are more, the error rate in the positioning process can be greatly improved, and the success rate of the operation is influenced.
Based on the application scenarios, the core thought of the invention is as follows: a matching structure of a mechanical arm and a bed is designed, medical imaging equipment, a carbon fiber sickbed, the mechanical arm and other equipment are all unified in the same coordinate system, and the equipment is operated in the same coordinate system during surgery.
The invention has the following remarkable characteristics: the equipment including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are all unified in the same coordinate system. The conversion of three-dimensional space including medical imaging equipment, the carbon fiber sickbed and the mechanical arm is realized, and the medical imaging equipment, the carbon fiber sickbed and the mechanical arm realize real-time registration in the operation.
First embodiment
Fig. 1,2 and 3 are schematic views of the integrated structure formed by the mechanical arm and the bed of the invention. This embodiment provides a system of cooperation of arm and bed, includes: the mechanical arm integrated positioning device is arranged on the carbon fiber sickbed;
the mechanical arm integrated positioning device is used for designing the mechanical arm and the carbon fiber sickbed into an integrated structure, so that the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system.
In particular, in this embodiment, since the mechanical arm is an independent device when the conventional surgical robot performs a surgery using the mechanical arm, it is necessary to introduce an infrared navigation lens to position the mechanical arm and a surgical bed during the surgery. The operation process is complicated, one more operation is needed, errors are easy to occur, a certain time is needed for positioning, one more time is wasted aiming at a patient in danger, and one more time is possibly threatened to the life.
Based on the technical problems in the conventional surgical robot, the mechanical arm and the carbon fiber sickbed are designed into an integrated structure for performing the operation which needs the surgical robot to participate.
The mechanical arm and the carbon fiber sickbed are designed into an integrated structure, so that the coordinate of the mechanical arm and the coordinate of the carbon fiber sickbed are integrated into a coordinate system, and navigation and positioning are not required to be carried out through an infrared navigation lens during operation.
Further, in the mechanical arm integrated positioning device, after the mechanical arm and the carbon fiber bed are fixed, the mechanical arm and the carbon fiber bed form a determined coordinate relationship.
The following method for unifying the coordinates of the mechanical arm and the carbon fiber hospital bed into one coordinate system is specifically listed:
in the mechanical arm integrated positioning device, after the mechanical arm and the carbon fiber bed are fixed, the mechanical arm and the carbon fiber bed form a determined coordinate relationship, and the specific formula is as follows:
Pbed＝R1·Parm
wherein R is1Is a transformation matrix, P, from the base coordinate system of the mechanical arm to the carbon fiber hospital bedbedAs the coordinates of the carbon fiber bed, ParmFor the coordinate of the mechanical arm, the mechanical arm and the carbon fiber sickbed can be converted into the same coordinate system only by solving a conversion matrix from a base coordinate system of the mechanical arm to the carbon fiber sickbed.
Further, the robot arm-integrated positioning apparatus includes: an optical lens and a fixed mark;
the optical lens is arranged at the tail end of the mechanical arm, and the fixed mark is a mark which is fixed on the carbon fiber sickbed in advance and comprises a two-dimensional code;
the optical lens is matched with the mark and used for obtaining a conversion matrix from the base coordinate system of the mechanical arm to the carbon fiber sickbed in an eye-to-hand calibration mode through hand-to-eye calibration.
Specifically, the solving method of the transformation matrix from the base coordinate system of the mechanical arm to the carbon fiber hospital bed comprises the following steps:
and calibrating the hand and the eye through an optical lens at the tail end of the mechanical arm and a mark which is fixed on the carbon fiber sickbed in advance and comprises a two-dimensional code, solving an equation of Ax & ltxb & gt in a calibration mode of the eye and the hand, and obtaining a conversion matrix from a base coordinate system of the mechanical arm to the carbon fiber sickbed.
When calibration is performed in an eye-to-hand calibration mode, two invariant relations are usually provided, one is a coordinate conversion relation between the tail end of the mechanical arm and the optical lens, the other is a conversion relation between a base of the mechanical arm and a mark fixed on the carbon fiber hospital bed in advance, and X is set to be any one of the two invariant relations. When the X is set as the conversion relation between the base of the mechanical arm and the mark fixed on the carbon fiber sickbed in advance, the obtained X is the conversion matrix from the base coordinate system of the mechanical arm to the carbon fiber sickbed.
This embodiment still includes: the imaging equipment calibration device is arranged on the carbon fiber sickbed and used for calibrating medical imaging equipment based on X-rays, the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are unified in the same coordinate system, the conversion of three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm is realized, and the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are registered in real time in an operation.
Specifically, after the mechanical arm and the carbon fiber bed are unified in the same coordinate system, in order to facilitate the operation, the X-ray-based medical imaging device that is often used in the operation needs to be unified in the same coordinate system. Only after all the devices in the operation are unified into the same coordinate system, the three-dimensional space conversion between the devices can be realized, and the real-time registration of all the devices is realized during the operation.
It should be noted that, in this embodiment, the medical imaging devices are unified into the same coordinate system, which is only an example, according to the idea of the present invention, any device that is needed to be used in an operation may unify coordinates into the same coordinate system, and all of the devices belong to the protection scope of the present invention, and this embodiment is not listed.
In the imaging apparatus calibration device, further comprising: a carbon fiber baffle;
the carbon fiber baffle is arranged on the carbon fiber sickbed, and meanwhile, mark points are embedded in the carbon fiber baffle;
the carbon fiber baffle is used for enabling the medical imaging equipment to penetrate through the carbon fiber baffle when the medical imaging equipment based on X-rays is calibrated, positioning is carried out through the marking points, and a coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed similar to the conversion relation between a plane coordinate and a world coordinate is established.
Specifically, in this embodiment, the medical imaging device is unified into the same coordinate system as the carbon fiber hospital bed by installing the carbon fiber baffle on the carbon fiber hospital bed and embedding the mark points in the carbon fiber baffle. When the medical imaging equipment is seen through the carbon fiber baffle, the marking points embedded in the carbon fiber baffle are used for positioning, and a coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed similar to the conversion relation between the plane coordinate and the world coordinate is established.
In the imaging device calibration apparatus, establishing a coordinate transformation relationship between the medical imaging device and the carbon fiber hospital bed specifically includes establishing an equation set:
wherein, (x, y) is the coordinates of the point projected on the plane, the coordinate system is a Cartesian coordinate system of the origin at the lower left corner, and the unit is the physical dimension such as mm; (u, v) converting coordinates of the point projected on the plane into an image coordinate system, namely an origin point at the upper left corner, and taking the unit as a pixel; (x0, y0) are the plane projection coordinates of the image principal point; (u0, v0) similarly converting the principle-like points to the image coordinate system; f is the focal length, fx is the focal length in the x direction, fy is the focal length in the y direction; (X, Y, Z) is the three-dimensional coordinates of the point, and (Xs, Ys, Zs) is the three-dimensional coordinates of the light source point.
The finally obtained conversion matrix is: r ═ R11, R12, R13; r21, r22, r 23; r31, r32 and r33 are transformation matrixes from a camera coordinate system to an object coordinate system, namely the coordinate transformation relation between the medical imaging equipment and the carbon fiber sickbed.
Therefore, by solving the equation system, namely acquiring the internal parameter and the external parameter of the medical imaging equipment, and because the carbon fiber baffle plate where the external parameter is located has a rigid relation with the carbon fiber sickbed, the coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed can be obtained.
Second embodiment
The present embodiment provides a clinical application based on the robot arm and couch cooperative system of the first embodiment, including:
the mechanical arm and the carbon fiber sickbed which are designed into an integral structure are used for performing surgery, the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system, and an infrared navigation lens is not needed for positioning;
when medical imaging equipment based on X-rays is used for imaging, when the X-rays penetrate through a carbon fiber baffle plate arranged on a carbon fiber sickbed, positioning is carried out through mark points embedded in the carbon fiber baffle plate, a coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed is established, and the medical imaging equipment, the carbon fiber sickbed and the mechanical arm are unified in the same coordinate system;
after the whole system is established in a unified coordinate system, the conversion of a three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm is realized, and the medical imaging equipment and the mechanical arm realize real-time registration in an operation.
Further, unify the arm and the carbon fiber sick bed in same coordinate system, specifically do:
determining a coordinate conversion relation between the mechanical arm and the carbon fiber sickbed, specifically:
Pbed＝R1·Parm
wherein R is1For a conversion matrix from a base coordinate system of the mechanical arm to the carbon fiber hospital bed, calibrating hands and eyes through an optical lens at the tail end of the mechanical arm and a mark which is fixed on the carbon fiber hospital bed in advance and comprises a two-dimensional code, solving an equation of Ax & ltxb & gt in an eye-to-hand calibration mode, and obtaining the conversion matrix from the base coordinate system of the mechanical arm to the carbon fiber hospital bed, wherein P is the conversion matrix from the base coordinate system of the mechanical arm to the carbon fiber hospital bedbedAs the coordinates of the carbon fiber bed, ParmThe coordinates of the robot arm.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Claims (4)
1. A robotic arm and bed interface system, comprising: the mechanical arm integrated positioning device is arranged on the carbon fiber sickbed;
integrative positioner of arm for with the arm with the structure of carbon fiber sick bed design as an organic whole makes the arm with the carbon fiber sick bed is unified in same coordinate system, and specifically includes: an optical lens and a fixed mark;
the optical lens is arranged at the tail end of the mechanical arm, and the fixed mark is a mark which is fixed on the carbon fiber sickbed in advance and comprises a two-dimensional code; the optical lens is matched with the mark and used for obtaining a conversion matrix from a base coordinate system of the mechanical arm to the carbon fiber sickbed in a calibration mode of eyes in hands through calibration of hands and eyes, so that the mechanical arm and the carbon fiber sickbed are unified in the same coordinate system.
2. The robotic arm and bed mating system of claim 1, further comprising: the imaging equipment calibration device is arranged on the carbon fiber sickbed;
the imaging device calibration device is used for calibrating medical imaging equipment based on X-rays, unifying the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in the same coordinate system, realizing the conversion of three-dimensional space including the medical imaging equipment, the carbon fiber sickbed and the mechanical arm, and realizing the real-time registration of the medical imaging equipment, the carbon fiber sickbed and the mechanical arm in an operation.
3. The system of claim 1, wherein the robotic arm and the carbon fiber bed are configured to form a coordinate relationship with the robotic arm when the robotic arm is secured to the carbon fiber bed in the robotic arm-integrated positioning apparatus.
4. The robotic arm and bed mating system of claim 2, wherein in said imaging device calibration apparatus, further comprising: a carbon fiber baffle;
the carbon fiber baffle is arranged on the carbon fiber sickbed, and meanwhile, mark points are embedded in the carbon fiber baffle;
the carbon fiber baffle is used for enabling the medical imaging equipment to penetrate through the carbon fiber baffle when the medical imaging equipment based on X-rays is calibrated, and the coordinate conversion relation between the medical imaging equipment and the carbon fiber sickbed is established by positioning through the marking points.
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| CN202021363739.6U CN214415161U (en) | 2020-07-13 | 2020-07-13 | Matching system of mechanical arm and bed |
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| CN202021363739.6U CN214415161U (en) | 2020-07-13 | 2020-07-13 | Matching system of mechanical arm and bed |
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