WO2021184890A1 - 治疗设备及其配准方法、配准装置 - Google Patents
治疗设备及其配准方法、配准装置 Download PDFInfo
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- WO2021184890A1 WO2021184890A1 PCT/CN2020/140252 CN2020140252W WO2021184890A1 WO 2021184890 A1 WO2021184890 A1 WO 2021184890A1 CN 2020140252 W CN2020140252 W CN 2020140252W WO 2021184890 A1 WO2021184890 A1 WO 2021184890A1
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- 208000010392 Bone Fractures Diseases 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
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Definitions
- the present disclosure relates to the field of medical devices, in particular, to a treatment device, a registration method of the treatment device, and a registration device of the treatment device.
- robots for treatment have appeared.
- robots are not popular.
- orthopedic treatment includes fracture reduction.
- fracture reduction includes open reduction and closed reduction.
- closed reduction has the advantages of non-traumatic, fast recovery, and low cost.
- the purpose of the present disclosure is to provide a treatment device, a registration method of the treatment device, and a registration device of the treatment device.
- a treatment device including a camera mechanism and a mechanical arm, wherein the treatment device further includes a calibration plate, and a calibration plane is defined on the calibration plate;
- the imaging mechanism includes a reference plate and an imaging element with an adjustable shooting direction, the imaging element is opposite to the reference plate and arranged at intervals, and the surface of the reference plate facing the imaging element is a reference surface;
- the robotic arm includes a robotic arm body, a fixed end, and an operating end.
- the fixed end and the operating end are respectively located at different positions of the robotic arm body.
- the calibration board is arranged at the operating end, and the robotic arm body can drive the operating end to move between the imaging element and the reference board, and drive the calibration board to move to the
- the calibration plane is parallel to the reference plane.
- the calibration board includes a calibration board base and a plurality of calibration members arranged on the calibration board base, and the plurality of calibration members define the calibration plane.
- the plurality of calibration elements include a first calibration element, a second calibration element, and a third calibration element, and the first connection line between the first calibration element and the second calibration element is connected to the first calibration element.
- the third connecting line between the two calibration parts and the third calibration part is perpendicular to each other.
- the calibration plate base is a transparent base, and the calibration member is embedded in the calibration plate base.
- the imaging element is an X-ray imaging element
- the calibration element is a metal ball.
- the treatment device further includes a clamp provided at the operating end of the mechanical arm.
- the camera mechanism further includes a mounting frame, and both the imaging element and the reference plate are arranged on the mounting frame.
- the mounting frame can drive the image pickup element and the reference plate to move, change the orientation of the image pickup element, and when the image pickup element and the reference plate move, the image pickup element and the reference plate The relative positional relationship between the plates remains unchanged.
- the mounting frame includes a base and a mounting arm provided on the base, and the mounting arm includes a mounting arm body, a reference plate mounting end formed on the mounting arm body, and a mounting end formed on the mounting arm body.
- the mounting end of the imaging element on the mounting arm body, the mounting end of the reference plate and the mounting end of the imaging element are opposite and spaced apart, the reference plate is mounted on the mounting end of the reference plate, and the imaging element is disposed on the camera. Component mounting end.
- the mounting arm body is formed as an arc-shaped rod
- the camera element mounting end is located at one end of the mounting arm body
- the reference plate mounting end is located at the other end of the mounting arm body
- the mounting arm The body can rotate around the center of the mounting arm body to change the orientation of the imaging element.
- a sliding groove is formed on one of the base and the mounting arm body, and a bump matching the sliding groove is formed on the other of the base and the mounting arm body, So that the mounting arm body can rotate around the center of the mounting arm body on the base.
- a registration method is provided, which is used in the above-mentioned treatment device provided by the present disclosure, wherein the registration method includes:
- the calibration plane is parallel to the reference surface, and the calibration plane is located at the height of the treatment position ,
- the angle between the reference plane and the horizontal plane is the first angle
- the registration relationship between the image and the coordinate system of the robotic arm is determined according to the position of the calibration plane in the image obtained by shooting, wherein the coordinate system of the robotic arm is set at the fixed end of the robotic arm, and, The XY plane in the coordinate system of the robot arm is a horizontal plane.
- the imaging element is an X-ray imaging element
- the calibration element is a metal ball
- the registration relationship between the coordinate system of the image and the coordinate system of the robotic arm is determined by coordinate transformation, wherein the registration relationship is determined by the translation parameters of the coordinate system of the image relative to the coordinate system of the robotic arm, and the image coordinates It is characterized by the rotation parameters of the coordinate system relative to the robot arm and the zoom ratio of the image.
- the first angle is 0°
- the sphere center of the calibration element is calculated in the coordinate system of the robot arm The X coordinate and Y coordinate.
- the step of determining the registration relationship between the image and the coordinate system of the robotic arm through coordinate transformation includes:
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- Dy is the translation distance of the y coordinate of the image coordinate system relative to the y coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- y p2 is the y-axis coordinate of the second calibration part in the coordinate system of the image
- y r2 is the y-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- y p3 is the y-axis coordinate of the third calibration part in the coordinate system of the image
- y r3 is the y-axis coordinate of the third calibration part in the coordinate system of the robot arm
- L is the distance between the first calibration piece and the second calibration piece
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robotic arm
- ⁇ is the image zoom ratio
- the first angle is 90°
- the sphere center of the calibration element is calculated in the coordinate system of the robot arm The X coordinate and Z coordinate.
- the step of determining the registration relationship between the image and the coordinate system of the robotic arm through coordinate transformation includes:
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- D z is the translation distance of the z coordinate of the image coordinate system relative to the z coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- z p2 is the z-axis coordinate of the second calibration part in the coordinate system of the image
- z r2 is the z-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- z p3 is the z-axis coordinate of the third calibration part in the coordinate system of the image
- z r3 is the z-axis coordinate of the third calibration part in the coordinate system of the robot arm
- L is the distance between the first calibration piece and the second calibration piece
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robot arm.
- a registration control device is provided, the registration control device is used in the above-mentioned treatment equipment provided by the present disclosure, wherein the registration control device includes:
- the driving mechanism is used to drive the robot arm body to move to move the calibration plate between the imaging element and the reference plane, the calibration plane is parallel to the reference plane, and the calibration plane is located at At the height of the treatment position, the angle between the reference surface and the horizontal plane is the first angle;
- the camera control is used to control the camera element to take photos
- the registration processor is configured to determine the registration relationship between the image and the coordinate system of the robotic arm according to the position of the calibration plane in the image obtained by shooting, wherein the coordinate system of the robotic arm is set in the
- the mechanical arm has a fixed end, and the XY plane in the coordinate system of the mechanical arm is a horizontal plane.
- the imaging element is an X-ray imaging element
- the calibration element is a metal ball
- the registration module further includes:
- a joint angle determination unit for determining the joint angle information of the manipulator body
- the image recognition unit is used to determine the coordinates of the sphere center of each calibration element in the coordinate system of the image;
- a coordinate calculation unit for calculating the coordinates of the center of the sphere of the calibration piece in the coordinate system of the robotic arm
- the registration unit is used to determine the registration relationship between the coordinate system of the image and the coordinate system of the robot arm through coordinate transformation, wherein the registration relationship is determined by the coordinate system of the image relative to the coordinate system of the robot arm.
- the translation parameter of the image coordinate system, the rotation parameter of the image coordinate system relative to the coordinate system of the robot arm, and the zoom ratio of the image is used to determine the registration relationship between the coordinate system of the image and the coordinate system of the robot arm through coordinate transformation, wherein the registration relationship is determined by the coordinate system of the image relative to the coordinate system of the robot arm.
- Figure 1 is the treatment device provided by the present disclosure in the first treatment position
- Figure 2 shows the treatment device provided by the present disclosure in a second treatment position
- Figure 3 is a schematic diagram of the structure of the treatment device provided by the present disclosure.
- Figure 4 is a schematic diagram of the calibration plate
- Figure 5 is a schematic diagram of a captured image
- FIG. 6 is a flowchart of the registration method provided by the present disclosure.
- FIG. 7 is a flowchart of step S130 in the registration method provided by the present disclosure.
- FIG. 8 is a schematic diagram of modules of the registration device provided by the present disclosure.
- FIG. 9 is a schematic diagram of the registration processor in the registration device provided by the present disclosure.
- a treatment device includes a camera mechanism 200 and a mechanical arm 300.
- the treatment device as shown in FIG. 1 further includes a calibration board 100, which defines a calibration plane. A.
- the imaging mechanism 200 includes a reference plate 210 and an imaging element 220 whose shooting direction is adjustable.
- the imaging element 220 is opposite to the reference plate 210 and is arranged at intervals.
- the surface of the reference plate 210 facing the imaging element 220 is the reference plane B. It should be noted that the relative positional relationship between the reference plate 210 and the imaging element 220 remains unchanged.
- the robot arm 300 includes a robot arm body 310, a fixed end F and an operating end O.
- the fixed end F and the operating end O are respectively located at different positions of the robot arm body 300.
- the robot arm body 310 can be fixed on the installation foundation through the fixed end F.
- the calibration board 100 is disposed at the operating end O, and the robot arm body 310 can drive the operating end O to move between the imaging element 220 and the reference board 210, and drive the calibration board 100 to move until the calibration plane A and the reference plane B are parallel.
- the operating end O needs to be moved between the imaging element 220 and the reference plate 210, and then the part to be treated is connected to the operating end O.
- the position of the calibration board 100 is adjusted so that the calibration plane A of the calibration board 100 is parallel to the reference plane B of the reference board 210, and the calibration plane A of the calibration board is set at the same height as the part to be treated.
- the photos taken during registration include the calibration plane A and the image of the part to be treated, and the coordinate system of the image and the coordinate system of the calibration plane A are the same.
- the conversion relationship between the coordinate system of the manipulator 300 and the coordinate system of the image taken by the imaging element 220 is determined, so that the moving distance and the position of the operating end 330 of the manipulator 300 can be determined, which can be more accurate Perform a closed reset.
- the calibration plane is parallel to the reference plane, the coordinates of the calibration plane are the same as the coordinates of the image taken by the imaging element. Since the calibration board is set on the robotic arm, the calibration board and the robotic arm can be easily determined. The registration relationship between coordinate systems.
- the registration method provided by the present disclosure When the registration method provided by the present disclosure is used for registration, there is no need to perform three-dimensional image reconstruction, no need to fix marker points on the site to be treated, no additional trauma, reduced patient pain, and simple and convenient use.
- the registration includes two aspects: “orthogonal registration” and "lateral registration". Therefore, when the treatment device is used for treatment, both the frontal registration and the lateral registration are required.
- Position registration Shown in Fig. 1 is a schematic diagram of the treatment device provided by the present disclosure during positive registration. As shown in FIG. 1, the imaging element 220 and the reference plate 210 are arranged at intervals in the vertical direction, and the calibration plate 100 is arranged at the position of the same height as the part to be treated, and the calibration plane A is parallel to the XY plane of the robotic arm 300, Then, the imaging element 220 is used to take a picture.
- Figure 2 shows a schematic diagram of lateral registration.
- the orientation of the calibration plane A of the calibration plate 100 is changed so that the calibration plane A is parallel to the XZ plane of the robotic arm.
- the positions of the imaging element 220 and the reference plate 210 are adjusted so that the imaging element 220 and the reference plate 210 are spaced apart in the horizontal direction, and the reference plane B of the reference plate 210 and the calibration plane A of the calibration half 100 remain parallel.
- the imaging element 220 is used to take a picture, and the lateral registration between the image coordinates and the coordinates of the robot arm 300 is completed.
- the registration between the image coordinates and the coordinates of the robot arm can be realized, so that when the robot arm is operated, the movement of the robot arm can be accurately controlled, and the movement of the robot arm can be more accurately controlled. Realize treatment.
- the camera mechanism further includes a mounting frame 230 on which the imaging element 220 and the reference plate 210 are both arranged.
- the relative positional relationship between the imaging element 220 and the reference plate 210 and the robot arm 300 can be changed by moving the posture of the imaging mechanism 200 as a whole.
- the mounting frame 230 can drive the camera element 220 and the reference plate 210 to move, change the orientation of the camera element 220, and when the camera element 220 and the reference plate 210 move, the distance between the camera element 220 and the reference plate 210 The relative position relationship remains unchanged.
- the mounting frame may include a base 240 and a mounting arm provided on the base 240.
- the mounting arm includes a mounting arm.
- the main body 230, a reference plate mounting end formed on the mounting arm body 230, and an imaging element mounting end formed on the mounting arm body 230, the reference plate mounting end and the imaging element mounting end are opposite and spaced apart, the reference plate 210 It is mounted on the mounting end of the reference board, and the imaging element 220 is mounted on the mounting end of the imaging element.
- the specific structure of the mounting arm body 230 is not particularly limited.
- the mounting arm body 230 is formed as an arc-shaped rod, and the mounting end of the imaging element 220 is located on the mounting arm One end of the body 230 and the mounting end of the reference plate 210 are located at the other end of the mounting arm body 230.
- the mounting arm body 230 can rotate around the center of the mounting arm body 230 to change the orientation of the imaging element 220.
- the mounting arm body 230 is a rigid arc-shaped rod, once the imaging element 220 and the reference plate 210 are mounted on the mounting arm body 230, the relative positional relationship between the imaging element 220 and the reference plate 210 can remain unchanged.
- the central angle of the mounting arm body 230 is not particularly limited.
- the mounting arm body 230 is a semi-circular rod, so that the mounting arm body 230 can be rotated by 90° to achieve the upright position. Switch between the registration position and the lateral registration position.
- one of the base 240 and the mounting arm body 230 is formed with a sliding groove, and the other of the base 240 and the mounting arm body 230 is formed with a bump matching the sliding groove, In this way, the mounting arm body 230 can rotate on the base 240 around the center of the mounting arm body 230.
- the specific structure of the calibration plate 100 is not particularly limited, as long as the calibration plate 100 can be photographed by the imaging element 220.
- the calibration board 100 includes a calibration board base 110 and a plurality of calibrations arranged on the calibration board base 110 A plurality of the calibration members define the calibration plane.
- the multiple calibration members provided on the calibration board 100 are the first calibration member 121, the second calibration member 122 and the third calibration member 123 respectively.
- the first connection line between the first calibration component 121 and the second calibration component and the connection line between the second calibration component 122 and the third calibration component 123 are perpendicular to each other.
- the coordinate system of the image can be quickly established, and the coordinate system of the image can be registered with the coordinate system of the robot arm 300.
- the calibration plate base 110 is a transparent base, and the calibration piece is embedded in the calibration plate base 110 middle.
- the calibration plate base 110 is not obvious. Therefore, the position of the calibration piece can be easily recognized, and the image coordinate system can be quickly determined.
- the treatment equipment provided by the present disclosure can be used for orthopedic treatment.
- the imaging element 220 is an X-ray imaging element
- the calibration element is a metal ball.
- the calibration plate base 110 may be made of organic glass.
- FIG. 5 is a schematic diagram of the image taken by the imaging element 220, and the skeleton image, the image of the first calibration member 121, the image of the second calibration member 122, and the image of the third calibration member 123 can be clearly seen from the way.
- the treatment device provided by the present disclosure is particularly suitable for the closed reduction of long bone fractures.
- the registration can be achieved only by the calibration plate 100 arranged outside the part to be treated, without marking the wound.
- Metal nails reduce the pain caused by treatment.
- the treatment device further includes a clamp 400 provided at the operating end of the mechanical arm.
- the clamp 400 can be used to clamp the area to be treated.
- the treatment device may further include a support 500.
- the treatment device When the treatment device is used to perform a closed reduction of a long bone fracture, the patient is supported on the support 500, and the clamp 400 clamps the body part of the patient. Specifically, the first broken part A1 of the long bone is supported on the support 500, and the second broken part A2 of the long bone is clamped by the clamp 400.
- the treatment device uses the medical images taken by the imaging element 220 as a guide, and uses a multi-degree-of-freedom mechanical arm to clamp the two ends of the fracture of the patient for movement, so as to realize the alignment of the two ends of the fracture.
- a registration method is provided, which is used in the above-mentioned treatment device provided by the present disclosure, wherein, as shown in FIG. 6, the registration method includes:
- step S110 the robot body is driven to move to move the calibration plate between the imaging element and the reference surface, the calibration plane is parallel to the reference surface, and the calibration plane is located at At the height of the treatment position, the angle between the reference surface and the horizontal plane is the first angle;
- step S120 control the imaging element to take pictures
- step S130 the registration relationship between the image and the coordinate system of the robot arm is determined according to the position of the calibration plane in the image obtained by shooting, wherein the coordinate system of the robot arm is set in the robot arm The end is fixed, and the XY plane in the coordinate system of the robot arm is a horizontal plane.
- the calibration plane is parallel to the reference plane, the coordinates of the calibration plane are the same as the coordinates of the image taken by the imaging element. Since the calibration board is set on the robotic arm, the calibration board and the robotic arm can be easily determined. The registration relationship between coordinate systems.
- the registration method provided by the present disclosure is used for registration, three-dimensional image reconstruction is not required, no marking points need to be fixed on the site to be treated, no additional trauma is caused, patient pain is reduced, and the use is simple and convenient.
- step S130 may include:
- step S131 determine the joint angle information of the manipulator body
- step S132 determine the coordinates of the center of the sphere of each calibration element in the coordinate system of the image
- step S133 the coordinates of the center of the sphere of the calibration piece in the coordinate system of the robot arm are calculated
- step S134 the registration relationship between the image and the coordinate system of the robot arm is determined through coordinate transformation.
- registration may include “orthogonal registration” and “lateral registration”. Accordingly, in the registration method provided in the present disclosure, when the first angle is 0°, The reference plane is parallel to the horizontal plane, so that positive registration can be achieved. Correspondingly, in step 133, the X coordinate and the Y coordinate of the sphere center of the calibration element in the coordinate system of the robot arm are calculated.
- the coordinates of the spherical center of the second calibration element 122 in the image coordinate system (in pixels) are obtained by image recognition as (x p2 , y p2 ), and the coordinate system of the spherical center image of the third calibration element 123 is expressed as ( x p3 ,y p3 ).
- the X and Y values of the coordinates of the spherical center of the second calibration element 122 in the robotic arm coordinate system are (x r2 , y r2 ), and the spherical center of the third calibration element 123 is at The X and Y values of the coordinates in the robotic arm coordinate system are (x r3 , y r3 ).
- the zoom ratio ⁇ and the representations of the second calibration part 122 and the third calibration part 123 in the image coordinate system and the robot arm coordinate system respectively (x p2 , y p2 ), (x p3 , y p3 ), (x r2 , y r2 ) and (x r3 , y r3 ), using the existing two-dimensional coordinate transformation algorithm, the registration relationship between the coordinate system of the image and the XY coordinate system of the robot arm can be obtained.
- Commonly used two-dimensional coordinate transformation algorithms include direct parameter method, least square method, etc. Since the present disclosure only uses the coordinates of the two common points of the second calibration part 122 and the third calibration part 123, only the direct parameter method is suitable.
- the implementation steps are as follows:
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- Dy is the translation distance of the y coordinate of the image coordinate system relative to the y coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- y p2 is the y-axis coordinate of the second calibration part in the coordinate system of the image
- y r2 is the y-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- y p3 is the y-axis coordinate of the third calibration part in the coordinate system of the image
- y r3 is the y-axis coordinate of the third calibration part in the coordinate system of the robot arm
- L is the distance between the first calibration piece and the second calibration piece
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robotic arm
- ⁇ is the image zoom ratio
- the first angle is 90°.
- the sphere center of the calibration piece is calculated in the coordinate system of the robot arm.
- the coordinates of the spherical center of the second calibration element 122 in the image coordinate system (in pixels) are obtained through image recognition as (x p2 , z p2 ), and the coordinate system of the spherical center image of the third calibration element 123 is expressed as ( x p3 ,z p3 ).
- the X and Z values of the coordinates of the sphere center of the second calibration member 122 in the robot arm coordinate system are (x r2 , z r2 ), and the sphere center of the third calibration member 123 is at The X and Z values of the coordinates in the robotic arm coordinate system are (x r3 , y r3 ).
- the zoom ratio ⁇ and the representations of the second calibration member 122 and the third calibration member 123 in the image coordinate system and the robotic arm coordinate system (x p2 , z p2 ), (x p3 , z p3 ), (x r2 , z r2 ) and (x r3 , z r3 ), using the existing two-dimensional coordinate transformation algorithm, the registration relationship between the coordinate system of the image and the XZ coordinate system of the robot arm can be obtained.
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- D z is the translation distance of the z coordinate of the image coordinate system relative to the z coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- z p2 is the z-axis coordinate of the second calibration part in the coordinate system of the image
- z r2 is the z-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- z p3 is the z-axis coordinate of the third calibration part in the coordinate system of the image
- z r3 is the z-axis coordinate of the third calibration part in the coordinate system of the robot arm
- L is the distance between the first calibration piece and the second calibration piece
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robot arm.
- the registration is not limited to the two aspects of "positive registration” and “lateral registration” described above.
- registration of other positions can be introduced. That is, the first angle may be other angles other than 0° and 90°.
- a registration control device is provided.
- the registration control device is used in the above-mentioned treatment equipment provided by the present disclosure, wherein, as shown in FIG. 8, the registration control device includes a driver The mechanism 810, the camera controller 820, and the registration processor 830.
- the driving mechanism 810 is used to drive the robot arm body to move to move the calibration board between the imaging element and the reference plane, the calibration plane is parallel to the reference plane, and the calibration plane is located at At the height of the treatment position, the angle between the reference surface and the horizontal plane is the first angle.
- the camera controller 820 is used to control the camera element to take photos.
- the registration processor 830 is configured to determine the registration relationship between the image and the coordinate system of the robotic arm according to the position of the calibration plane in the captured image, wherein the coordinate system of the robotic arm is set in the
- the mechanical arm has a fixed end, and the XY plane in the coordinate system of the mechanical arm is a horizontal plane.
- the registration control device is used to execute the above-mentioned registration method provided by the present disclosure.
- the working principle of the registration method has been described in detail above, and will not be repeated here.
- the driving mechanism 810 may be selected from any one of a hydraulic driving mechanism, a pneumatic driving mechanism, an electric driving mechanism, and a mechanical driving mechanism.
- the specific structure of the photographing controller 820 is not particularly limited.
- the photographing controller 820 may be an electric shutter.
- the electric shutter receives a photographing signal sent by a host computer (for example, a computer controlled by an operator), it can act to make the image pickup element start taking pictures.
- the specific structure of the registration processor 830 is not particularly limited, and the registration processor may be a chip with computing capability.
- the imaging element is an X-ray imaging element
- the calibration element is a metal ball.
- the registration module 830 includes a joint angle determination unit 831, an image recognition unit 832, a coordinate calculation unit 833, and a matching unit. Standard unit 834.
- the joint angle determination unit 831 is used to determine the joint angle information of the robot arm body.
- the image recognition unit 832 is used to determine the coordinates of the center of the sphere of each calibration element in the coordinate system of the image.
- the coordinate calculation unit 833 is used to calculate the coordinates of the center of the sphere of the calibration piece in the coordinate system of the robot arm.
- the registration unit 834 is configured to determine the registration relationship between the coordinate system of the image and the coordinate system of the robot arm through coordinate transformation.
- the registration relationship is characterized by the translation parameter of the coordinate system of the image relative to the coordinate system of the robot arm, the rotation parameter of the image coordinate system relative to the coordinate system of the robot arm, and the zoom ratio of the image.
- the first angle is 0°
- the coordinate calculation unit is used to calculate the X coordinate and the Y coordinate of the sphere center of the calibration piece in the coordinate system of the robot arm.
- the registration unit is configured to determine the registration relationship between the coordinate system of the image and the coordinate system of the robotic arm through the following steps:
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- Dy is the translation distance of the y coordinate of the image coordinate system relative to the y coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- y p2 is the y-axis coordinate of the second calibration part in the coordinate system of the image
- y r2 is the y-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- y p3 is the y-axis coordinate of the third calibration part in the coordinate system of the image
- y r3 is the y-axis coordinate of the third calibration part in the coordinate system of the robot arm
- L is the distance between the first calibration piece and the second calibration piece
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robotic arm
- ⁇ is the image zoom ratio
- the first angle is 90°
- the calculation unit is used to calculate the X coordinate and the Z coordinate of the sphere center of the calibration element in the coordinate system of the robot arm.
- the registration unit is configured to determine the registration relationship between the coordinate system of the image and the coordinate system of the robotic arm through the following steps:
- D x is the translation distance of the x coordinate of the image coordinate system relative to the x coordinate of the mechanical coordinate system
- D z is the translation distance of the z coordinate of the image coordinate system relative to the z coordinate of the mechanical coordinate system
- x p2 is the x-axis coordinate of the second calibration part in the coordinate system of the image
- x r2 is the x-axis coordinate of the second calibration part in the coordinate system of the robot arm
- z p2 is the z-axis coordinate of the second calibration part in the coordinate system of the image
- z r2 is the z-axis coordinate of the second calibration part in the coordinate system of the robot arm
- x p3 is the x-axis coordinate of the third calibration part in the coordinate system of the image
- x r3 is the x-axis coordinate of the third calibration part in the coordinate system of the robot arm
- z p3 is the z-axis coordinate of the third calibration part in the coordinate system of the image
- z r3 is the z-axis coordinate of the third calibration part in the coordinate system of the robot arm
- ⁇ is the rotation angle of the coordinate system of the image relative to the coordinate system of the robot arm.
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Abstract
Description
Claims (18)
- 一种治疗设备,所述治疗设备包括摄像机构和机械臂,其特征在于,所述治疗设备还包括标定板,所述标定板上限定有标定平面;所述摄像机构包括参照板和拍摄方向可调节的摄像元件,所述摄像元件与所述参照板相对、且间隔设置,且所述参照板朝向所述摄像元件的表面为参考面;所述机械臂包括机械臂本体、固定端和操作端,所述固定端和所述操作端分别位于所述机械臂本体的不同位置处,所述机械臂本体能够通过所述固定端固定在安装基础上,所述标定板设置在所述操作端,且所述机械臂本体能够带动所述操作端移动至所述摄像元件与所述参照板之间,并带动所述标定板移动至所述标定平面与所述参考面平行。
- 根据权利要求1所述的治疗设备,其特征在于,所述标定板包括标定板基体和设置在所述标定板基体上的多个标定件,多个所述标定件限定出所述标定平面。
- 根据权利要求2所述的治疗设备,其特征在于,多个所述标定件包括第一标定件、第二标定件和第三标定件,所述第一标定件与所述第二标定件之间的第一连线与所述第二标定件和所述第三标定件之间的第三连线互相垂直。
- 根据权利要求2所述的治疗设备,其特征在于,所述标定板基体为透明基体,所述标定件嵌入所述标定板基体中。
- 根据权利要求4所述的治疗设备,其特征在于,所述摄像元件为X光摄像元件,所述标定件为金属球。
- 根据权利要求1至5中任意一项所述的治疗设备,其特征在于,所述治疗设备还包括设置在所述机械臂的操作端的夹具。
- 根据权利要求1至5中任意一项所述的治疗设备,其特征在于,所述摄像机构还包括安装架,所述摄像元件和所述参照板均设置在所述安装架上。
- 根据权利要求7所述的治疗设备,其特征在于,所述安装架能够带动所述摄像元件和所述参照板移动,改变所述摄像元件的朝向,且所述摄像元件和所述参照板移动时,所述摄像元件和所述参照板之间的相对位置关系保持不变。
- 根据权利要求8所述的治疗设备,其特征在于,所述安装架包括基座和设置在所述基座上的安装臂,所述安装臂包括安装臂本体、形成在所述安装臂本体上的参照板安装端、和形成在所述安装臂本体上的摄像元件安装端,所述参照板安装端和摄像元件安装端相对、且间隔设置,所述参照板安装在所述参照板安装端,所述摄像元件设置在所述摄像元件安装端。
- 根据权利要求9所述的治疗设备,其特征在于,所述安装臂本体形成为弧形杆,所述摄像元件安装端位于所述安装臂本体的一端,所述参照板安装端位于所述安装臂本体的另一端,所述安装臂本体能够绕所述安装臂本体的圆心转动,以改变所述摄像元件的朝向。
- 根据权利要求10所述的治疗设备,其特征在于,所述基座和所述安装臂本体的一者上形成有滑槽,所述基座和所述安装臂本体的另一者上形成有与所述滑槽匹配的凸块,以使得所述安装臂本体能够在所述基座上产生绕所述安装臂本体的圆心的转动。
- 一种配准方法,所述配准方法用于权利要求1至11中任意一项所述 的治疗设备,其特征在于,所述配准方法包括:驱动所述机械臂本体移动,以将所述标定板移动至所述摄像元件与所述参考面之间、所述标定平面与所述参考面平行,且所述标定平面位于治疗位置的高度处,所述参考面与水平面之间的角度为第一角度;控制所述摄像元件拍照;根据所述标定平面在拍摄获得的图像中的位置确定所述图像与机械臂的坐标系之间的配准关系,其中,所述机械臂的坐标系设置在所述机械臂固定端,并且,所述机械臂的坐标系中的XY平面为水平面。
- 根据权利要求12所述的配准方法,其特征在于,所述摄像元件为X光摄像元件,所述标定件为金属球,多个所述标定件包括第一标定件、第二标定件和第三标定件,所述第一标定件与所述第二标定件之间的第一连线与所述第二标定件和所述第三标定件之间的第三连线互相垂直,根据所述标定平面在拍摄获得的照片中的位置确定所述照片与机械臂的坐标系之间的配准关系包括:确定所述机械臂本体的关节角度信息;确定各个所述标定件的球心在所述图像的坐标系中的坐标;计算标定件的球心在所述机械臂的坐标系中的坐标;通过坐标变换确定所述图像的坐标系与所述机械臂的坐标系之间的配准关系,其中,所述配准关系由图像的坐标系相对于机械臂的坐标系的平移参数、图像坐标系相对于机械臂的坐标系的旋转参数、图像的缩放比例来表征。
- 根据权利要求13所述的配准方法,其特征在于,所述第一角度为0°,在计算标定件的球心在所述机械臂的坐标系中的坐标的步骤中,计算标定件的球心在所述机械臂的坐标系中的X坐标和Y坐标。
- 根据权利要求14所述的配准方法,其特征在于,通过坐标变换确定所述图像与所述机械臂的坐标系之间的配准关系的步骤包括:利用公式(1)确定平移参数;通过公式(2)至公式(4)计算旋转参数:θ=A-a (2)其中,D x为图像的坐标系的x坐标相对于机械坐标系的x坐标的平移距离、Dy为图像的坐标系的y坐标相对于机械坐标系的y坐标的平移距离;x p2为第二标定件在图像的坐标系下的x轴坐标;x r2为第二标定件在机械臂的坐标系下的x轴坐标;y p2为第二标定件在图像的坐标系下的y轴坐标;y r2为第二标定件在机械臂的坐标系下的y轴坐标;x p3为第三标定件在图像的坐标系下的x轴坐标;x r3为第三标定件在机械臂的坐标系下的x轴坐标;y p3为第三标定件在图像的坐标系下的y轴坐标;y r3为第三标定件在机械臂的坐标系下的y轴坐标;L为第一标定件和第二标定件之间的距离;θ为图像的坐标系相对于机械臂的坐标系的旋转角度;α为图像缩放比例。
- 根据权利要求13所述的配准方法,其特征在于,所述第一角度为90°,在计算标定件的球心在所述机械臂的坐标系中的坐标的步骤中,计算标定件的球心在所述机械臂的坐标系中的X坐标和Z坐标。
- 根据权利要求16所述的配准方法,其特征在于,通过坐标变换确定所述图像与所述机械臂的坐标系之间的配准关系的步骤包括:利用公式(6)确定平移参数;通过公式(7)至公式(9)计算旋转参数:θ=A-a (7)D x为图像的坐标系的x坐标相对于机械坐标系的x坐标的平移距离;D z为图像的坐标系的z坐标相对于机械坐标系的z坐标的平移距离;x p2为第二标定件在图像的坐标系下的x轴坐标;x r2为第二标定件在机械臂的坐标系下的x轴坐标;z p2为第二标定件在图像的坐标系下的z轴坐标;z r2为第二标定件在机械臂的坐标系下的z轴坐标;x p3为第三标定件在图像的坐标系下的x轴坐标;x r3为第三标定件在机械臂的坐标系下的x轴坐标;z p3为第三标定件在图像的坐标系下的z轴坐标;z r3为第三标定件在机械臂的坐标系下的z轴坐标;θ为图像的坐标系相对于机械臂的坐标系的旋转角度。
- 一种配准控制装置,所述配准控制装置用于权利要求1至11中任意一项所述的治疗设备,其特征在于,所述配准控制装置包括:驱动机构,用于驱动所述机械臂本体移动,以将所述标定板移动至所述 摄像元件与所述参考面之间、所述标定平面与所述参考面平行,且所述标定平面位于治疗位置的高度处,所述参考面与水平面之间的角度为第一角度;拍照控制器,用于控制所述摄像元件拍照;配准处理器,用于根据所述标定平面在拍摄获得的图像中的位置确定所述图像与机械臂的坐标系之间的配准关系,其中,所述机械臂的坐标系设置在所述机械臂固定端,并且,所述机械臂的坐标系中的XY平面为水平面。
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US20160361125A1 (en) * | 2015-06-12 | 2016-12-15 | The Johns Hopkins University | Cooperatively-controlled surgical robotic system with redundant force sensing |
CN105963018A (zh) * | 2016-04-27 | 2016-09-28 | 何滨 | 智能脊椎麻醉穿刺机器人*** |
CN107468350A (zh) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | 一种三维图像专用标定器、手术定位***及定位方法 |
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CN108042173A (zh) * | 2017-12-06 | 2018-05-18 | 上海波城医疗科技有限公司 | 钻孔通道定位*** |
CN109620274A (zh) * | 2018-12-12 | 2019-04-16 | 上海联影医疗科技有限公司 | C臂机的机械臂导航方法及其***、计算机可读存储介质 |
CN111388089A (zh) * | 2020-03-19 | 2020-07-10 | 京东方科技集团股份有限公司 | 治疗设备及其配准方法、配准装置 |
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