CN114081629B - Mobile position detection device, mobile position detection method and system registration method - Google Patents
Mobile position detection device, mobile position detection method and system registration method Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0492—Positioning of patients; Tiltable beds or the like using markers or indicia for aiding patient positioning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention relates to a mobile position detection device, a mobile position detection method and a system registration method. The object to be detected can move along a first axial direction or a second axial direction, the first axial direction and the second axial direction are perpendicular to each other, and the first axial direction and the second axial direction form a coordinate plane. The detection assembly is arranged on the detected object and comprises one or more detection units, and the one or more detection units are distributed on the detected object along the first axial direction or the second axial direction. The distance measuring sensor can detect the distance between the distance measuring point on the detecting unit and the distance measuring sensor, and the distance measured by the distance measuring sensor has a preset corresponding relation with the moving position of the detected object. The movable position detection device is simple to operate and safer to use, and the problems that the existing device for monitoring the movement of the CT scanning bed is complex in operation and low in safety are effectively solved.
Description
Technical Field
The present invention relates to the technical field of medical devices, and in particular, to a mobile position detection device, a mobile position detection method, and a system registration method.
Background
CT image guided interventional puncture has been widely used in clinic for tumor detection and tumor treatment, and with the development of robotics, surgical robots are increasingly used to assist doctors in interventional puncture surgery. In such systems, the relative positional relationship between the robot and the patient needs to be determined when the robot guides the puncture or automatically punctures, and the registration transformation relationship between the robot coordinate system and the patient image coordinate system can be realized through an independent optical tracking system or CT image registration guidance. For the optical tracking system, an optical tracking mark is required to be installed on the surface of a patient, so that the operation workflow is tedious and difficult to operate, and in addition, the position tracking of the patient in the CT aperture is difficult to ensure due to the shielding of the CT Gantry. For CT image registration guiding mode, pose registration transformation relation calculation can be realized through a BRW frame registration frame and CT image scanning installed at the tail end of the robot. However, during the patient scanning and puncturing operations in the interventional operation workflow, the position of the scanning bed is usually moved, and the relative position registration transformation relationship is changed for the robot system independent of the CT scanning bed, so that the robot guiding puncturing or automatic puncturing is disabled.
CT is used as an image medical instrument, an external open scanning bed movement information interface is not generally needed, a set of CT scanning bed movement monitoring device is needed to be provided for the CT image registration guiding interventional puncture robot, after registration transformation relation is determined, translation transformation is carried out on a registration transformation matrix through movement of a scanning bed, and positioning accuracy of auxiliary puncture needle points of the robot is ensured.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a mobile position detecting device, a mobile position detecting method and a system registration method that are simple and safer to operate, and solve the problems of complex operation and low safety of the existing device for monitoring the motion of a CT scanning bed.
The invention provides a moving position detecting device which is used for detecting the movement of an object to be detected which can move along at least one direction, wherein the object to be detected can move along a first axial direction or a second axial direction, the first axial direction and the second axial direction are perpendicular to each other, and the first axial direction and the second axial direction form a coordinate plane. The mobile position detection device includes a detection assembly and a ranging sensor. The detection assembly is arranged on the detected object and comprises one or more detection units, and the one or more detection units are distributed on the moving assembly along the first axial direction or the second axial direction. The distance measuring sensor can detect the distance between the distance measuring point on the detecting unit and the distance measuring sensor, and the distance measured by the distance measuring sensor has a preset corresponding relation with the moving position of the detected object.
In an embodiment of the invention, the detecting unit is provided with a detecting surface, the detecting surface is perpendicular to the coordinate plane, and a projection line of the detecting surface in the coordinate plane forms an included angle with the first axial direction or the second axial direction. The arrangement is beneficial to reducing the measurement difficulty of the ranging sensor.
In an embodiment of the present invention, the projection line has a first projection length in a first axial direction, the projection line has a second projection length in a second axial direction, and the first projection length or the second projection length is smaller than a minimum moving distance of the detected object. This arrangement is advantageous for better distinguishing between a first axial movement or a second axial movement of the object to be detected.
In an embodiment of the present invention, the detected object is provided with a plurality of detection units repeatedly arranged along the first axial direction or the second axial direction, and adjacent detection units are connected end to end. By the arrangement, the volume of a single detection unit is reduced, and the volume of the whole mobile position detection device is reduced.
The invention also provides a mobile position detection method, which adopts the CT scanning puncture system described in the embodiment, and comprises the following steps: the distance measuring sensor detects the motion of the detection component in real time and obtains detection data; and analyzing the change rule of the detection data, and determining the position change of the detected object according to the change rule of the detection data, wherein the position change of the detected object comprises a moving direction and a moving distance.
In an embodiment of the present invention, the detection data includes a plurality of sets of collected data, and analyzing a change rule of the detection data includes: calculating a first difference between adjacent acquired data and calculating a second difference between initial acquired data and end point acquired data; and obtaining a plurality of first difference values, and analyzing to obtain a continuous change rule of the plurality of first difference values. The arrangement is beneficial to obtaining the change rule of the detected object through rapid analysis of the detection data.
In an embodiment of the present invention, determining the position change of the detected object according to the first difference, the second difference and the continuous change rule of the plurality of first differences specifically includes the following steps: determining a moving direction of the detected object according to the second difference value, wherein the moving direction of the detected object comprises a first axial direction and a second axial direction; determining a positive direction or a negative direction of the moving direction of the detected object according to the first difference value; and determining the moving distance of the detected object according to the continuous change rule of the second difference value and the first difference value.
In an embodiment of the present invention, determining the moving direction of the detected object according to the second difference value includes the following steps: when the detection assembly is arranged along the first axial direction, determining that the moving direction of the detected object is the first axial direction if the absolute value of the second difference value is smaller than or equal to a first threshold value; when the absolute value of the second difference value is larger than the first threshold value, determining that the moving direction of the detected object is a second axis; when the detection component is arranged along the second axis, determining that the moving direction of the detected object is the second axis when the absolute value of the second difference value is smaller than or equal to the first threshold value; and when the absolute value of the second difference value is larger than the first threshold value, determining the moving direction of the detected object as a first axial direction.
In an embodiment of the present invention, determining the positive direction or the negative direction of the moving direction of the detected object according to the first difference value includes:
the detection component is arranged along the first axial direction, when the absolute value of the first difference value is smaller than or equal to the second threshold value and is positive, the detected object is determined to move in the positive direction in the first axial direction, and the detected object is determined to move in the negative direction in the first axial direction when the absolute value of the first difference value is determined to move in the first axial direction; when the absolute value of the first difference value is larger than the second threshold value, the first difference value is positive, the detected object is determined to move in the first axial direction to the negative direction, and the first difference value is negative, the detected object is determined to move in the first axial direction to the positive direction;
the detection component is arranged along the first axial direction, and when the detected object is determined to move along the second axial direction, the positive direction or the negative direction of the moving direction is determined according to the first difference value;
the detection component is arranged along the second axis, when the absolute value of the first difference value is smaller than or equal to a second threshold value and is positive, the detected object is determined to move in the second axis positive direction, and the detected object is determined to move in the second axis negative direction when the first difference value is negative; when the absolute value of the first difference value is larger than the second threshold value, the first difference value is positive, the detected object is determined to move in the second axial negative direction, and the first difference value is negative, the detected object is determined to move in the second axial positive direction;
the detection component is arranged along the second axis, and when the detected object is determined to move along the first axis, the positive direction or the negative direction of the moving direction is determined according to the magnitude of the first difference value.
In an embodiment of the present invention, determining the moving distance of the detected object according to the continuous change rule of the second difference and the first difference includes:
the detection assembly is arranged along the first axial direction, and when the detected object is determined to move along the first axial direction, calculating the moving distance of the first axial direction comprises:
determining the jump times of the first difference value in the first difference value change rule;
calculating according to the second difference value and the jump times to obtain the displacement distance of the detected object;
the detection assembly is arranged along the first axial direction, and when the detected object is determined to move along the second axial direction, the moving distance of the second axial direction is a second difference value;
the detection assembly is arranged along a second axis, and when the detected object is determined to move along the second axis, calculating the second axis movement distance comprises:
determining the jump times of the first difference value in the first difference value change rule;
calculating according to the second difference value and the jump times to obtain a moving distance of the movement;
the detection component is arranged along the second axis, and when the detected object is determined to move along the first axis, the moving distance of the first axis is a second difference value.
The invention also provides a system registration method, which comprises the following steps: the moving direction and the moving distance of the detected object calculated and obtained according to the moving position detecting method described in the above embodiment; obtaining a displacement transformation matrix of the detected object according to the moving direction and the moving distance; and multiplying the displacement transformation matrix by the registration relation before the detected object moves to obtain an updated registration relation after the detected object moves.
The present invention provides a moving position detecting device, a moving position detecting method and a system registering method, and it should be noted that a preset corresponding relation is known, specifically, when a detected object moves along a first axial direction, a distance measured by a distance measuring sensor and a moving position of the detected object are in a certain preset corresponding relation, when the detected object moves along a second axial direction, a distance measured by the distance measuring sensor and the moving position of the detected object are in another preset corresponding relation, the two preset corresponding relations are different, and an actual moving position of the detected object can be obtained through analysis by two different preset corresponding relations. The mobile position detection device is simple to operate and safer to use, and the problems that the existing device for monitoring the movement of the CT scanning bed is complex in operation and low in safety are effectively solved.
Drawings
FIG. 1 is a schematic diagram of a mobile position detecting device according to an embodiment of the invention;
FIG. 2 is a schematic diagram showing a partial structure of a mobile position detecting device according to an embodiment of the invention;
fig. 3 is an enlarged view at a shown in fig. 2.
Reference numerals: 1. a detected object; 11. a horizontal moving section; 12. a vertical moving part; 13. a mounting plate; 2. a detection assembly; 3. a detection unit; 31. a detection surface; 4. a ranging sensor; 5. a CT imaging device; 6. surgical robots.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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, are intended to fall within the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
CT image guided interventional puncture has been widely used in clinic for tumor detection and tumor treatment, and with the development of robotics, surgical robots 6 are increasingly used to assist doctors in performing interventional puncture operations. In such systems, the relative positional relationship between the robot and the patient needs to be determined when the robot guides the puncture or automatically punctures, and the registration transformation relationship between the robot coordinate system and the patient image coordinate system can be realized through an independent optical tracking system or CT image registration guidance. For the optical tracking system, an optical tracking mark is required to be installed on the surface of a patient, so that the operation workflow is tedious and difficult to operate, and in addition, the position tracking of the patient in the CT aperture is difficult to ensure due to the shielding of the CT Gantry. For CT image registration guiding mode, pose registration transformation relation calculation can be realized through a BRW frame registration frame and CT image scanning installed at the tail end of the robot. However, during the patient scanning and puncturing operations in the interventional operation workflow, the position of the scanning bed is usually moved, and the relative position registration transformation relationship is changed for the robot system independent of the CT scanning bed, so that the robot guiding puncturing or automatic puncturing is disabled.
CT is used as an image medical instrument, an external open scanning bed movement information interface is not generally needed, a set of CT scanning bed movement monitoring device is needed to be provided for the CT image registration guiding interventional puncture robot, after registration transformation relation is determined, translation transformation is carried out on a registration transformation matrix through movement of a scanning bed, and positioning accuracy of auxiliary puncture needle points of the robot is ensured.
Referring to fig. 1-2, the present apparatus for monitoring motion of a CT scanner bed is configured to solve the problems of complex operation and low safety. The present invention provides a mobile position detecting device and a CT scan puncture system, wherein the mobile position detecting device is used for detecting the movement of a detected object 1 which can move along at least one direction, and the detected object 1 can be an operating table or a CT scan table, but the present invention is not limited thereto. The mobile position detection device comprises a detection assembly 2 and a ranging sensor 4. The CT scanning puncture system comprises a control device, a CT imaging device 5, a surgical robot 6 and a mobile position detection device. The control device is electrically connected with the CT imaging device 5, the surgical robot 6 and the mobile position detection device respectively to control the operation of the CT imaging device 5, the surgical robot 6 and the mobile position detection device respectively.
Further, as shown in fig. 1 and 2, the CT imaging apparatus 5 is fixedly disposed, and the patient is lying on the subject 1, and the subject 1 is disposed to move relative to the CT imaging apparatus 5. The detected object 1 comprises a horizontal moving part 11, a vertical moving part 12 and a mounting plate 13, wherein the mounting plate 13 is fixedly arranged on the horizontal moving part 11, the detection assembly 2 is arranged on one side of the mounting plate 13, and the horizontal moving part 11 can drive the mounting plate 13 to move along the horizontal direction. The vertical moving part 12 is movably connected to the horizontal moving part 11, and the vertical moving part 12 can drive the horizontal moving part 11 provided with the mounting plate 13 to move along the vertical direction. It should be noted that, the lifting device is connected with below the ranging sensor 4, and the lifting device can drive the ranging sensor 4 to lift along the vertical direction, so as to adjust the relative position of the ranging sensor 4 and the detected object 1, and avoid the ranging sensor 4 interfering with the normal movement of the detected object 1.
The object 1 to be inspected can move along a first axial direction or a second axial direction, the first axial direction and the second axial direction are perpendicular to each other, and the first axial direction and the second axial direction form a coordinate plane. In general, the first axial direction may be set to a certain direction in a horizontal plane, and the second axial direction may be set to a certain direction in a vertical plane. The detection assembly 2 is disposed on the detected object 1, and the detection assembly 2 includes one or more detection units 3, where the one or more detection units 3 are distributed on the detected object 1 along the first axial direction or the second axial direction. That is, the object 1 to be detected moves in both the first axial direction and the second axial direction, and the detecting units 3 are distributed in one of the first axial direction and the second axial direction.
The distance measuring sensor 4 can detect the distance between the distance measuring point on the detecting unit 3 and the distance measuring sensor 4, and the distance measured by the distance measuring sensor 4 has a preset corresponding relation with the moving position of the detected object 1. It should be noted that the preset correspondence is known, specifically, when the detected object 1 moves along the first axial direction, the distance measurement sensor 4 measures that the distance and the moving position of the detected object 1 are in a preset correspondence, and when the detected object 1 moves along the second axial direction, the distance measurement sensor 4 measures that the distance and the moving position of the detected object 1 are in another preset correspondence, and the two preset correspondences are different, so that the actual moving position of the detected object 1 can be obtained through analysis by using the two different preset correspondences. The mobile position detection device is simple to operate and safer to use, and the problems that the existing device for monitoring the movement of the CT scanning bed is complex in operation and low in safety are effectively solved.
In order to reduce the measurement difficulty of the ranging sensor 4, in an embodiment, as shown in fig. 1 and 2, the detection unit 3 is provided with a detection surface 31, the detection surface 31 is disposed perpendicular to the coordinate plane, and a projection line of the detection surface 31 in the coordinate plane is disposed at an angle with the first axial direction or the second axial direction. Specifically, the projection line of the detection surface 31 in the coordinate plane is a monotonically increasing function or a monotonically decreasing function. Since the monotonic function has a one-to-one correspondence between the independent variable and the dependent variable, the distance change measured by the distance measuring unit is different when the object 1 is moved in different directions, thereby facilitating quick determination of the moving position of the object 1.
Further, in order to better distinguish between the movement of the object 1 to be detected toward the first axial direction and the movement toward the second axial direction. In an embodiment, the projection line has a first projection length in the first axial direction and the projection line has a second projection length in the second axial direction, and the first projection length or the second projection length is smaller than the minimum moving distance of the object 1 to be detected. Specifically, when the minimum moving distance of the object 1 to be detected is greater than the first projection length, if the distance change measured by the distance sensor 4 each time is greater than the first projection length, the object 1 to be detected moves in the first axial direction, whereas the object 1 to be detected moves in the second axial direction. When the minimum moving distance of the object 1 to be detected is greater than the second projection length, if the distance change measured by the distance measuring sensor 4 each time is greater than the second projection length, the object 1 to be detected moves along the second axis, whereas the object 1 to be detected moves along the first axis.
In order to reduce the volume of the single detection unit 3, and thus the volume of the entire moving position detection device. In an embodiment, as shown in fig. 1 and 2, the detected object 1 is provided with a plurality of detection units 3 repeatedly arranged along the first axial direction or the second axial direction, and adjacent detection units 3 are connected end to end. Specifically, the plurality of detecting units 3 are arranged along the first axial direction or the second axial direction, thereby forming a zigzag-shaped detecting assembly 2. Further, the projection of the detection unit 3 in the coordinate plane takes a right triangle shape. Thus, the processing difficulty of the mobile position detection device is reduced.
Further, the ranging sensor 4 may be a laser range finder capable of emitting laser light toward the detection unit 3 along the second axial detection direction and forming a ranging point on the detection unit 3 to detect a distance of the ranging point from the laser range finder. However, the distance measuring sensor 4 may be an infrared distance measuring device or an ultrasonic distance measuring device, which is not shown here.
Referring to fig. 1, 2 and 3, the present invention further provides a method for detecting a moving position, which adopts the moving position detecting device according to any one of the embodiments, and the method for detecting a moving position includes the following steps: the distance measuring sensor 4 detects the motion of the detecting component 2 in real time and obtains detection data; the change rule of the detection data is analyzed, and the position change of the detected object 1 is determined according to the change rule of the detection data, wherein the position change of the detected object 1 comprises a moving direction and a moving distance.
Specifically, in order to obtain the change law of the detected object 1 by rapid analysis of the detection data. In one embodiment, the detection data includes a plurality of sets of collected data, and analyzing a change rule of the detection data includes: calculating a first difference between adjacent acquired data and calculating a second difference between initial acquired data and end point acquired data; and obtaining a plurality of first difference values, and analyzing to obtain a continuous change rule of the plurality of first difference values. It should be noted that the first difference may be a difference obtained by subtracting the previous acquired data from the previous acquired data, or may be a difference obtained by subtracting the previous acquired data from the previous acquired data. Similarly, the second difference may be the difference obtained by subtracting the initial acquired data from the final acquired data, or may be the difference obtained by subtracting the initial acquired data from the final acquired data.
Further, determining the position change of the detected object 1 according to the first difference, the second difference and the continuous change rule of the plurality of first differences specifically includes the following steps: the moving direction of the object 1 to be detected is determined based on the second difference, wherein the moving direction of the object 1 to be detected includes a first axial direction and a second axial direction. A positive direction or a negative direction of the moving direction of the object 1 to be detected is determined based on the first difference value. The moving distance of the detected object 1 is determined according to the continuous change rule of the second difference value and the first difference value.
Further, determining the moving direction of the detected object 1 based on the second difference value includes the steps of: when the detection assembly 2 is disposed along the first axial direction, the absolute value of the second difference is less than or equal to the first threshold, and the moving direction of the detected object 1 is determined as the first axial direction. When the absolute value of the second difference is greater than the first threshold, the moving direction of the detected object 1 is determined to be the second axis. When the detection assembly 2 is disposed along the second axis, the moving direction of the detected object 1 is determined to be the second axis when the absolute value of the second difference is less than or equal to the first threshold. When the absolute value of the second difference is larger than the first threshold, the moving direction of the detected object 1 is determined to be the first axial direction. It should be noted that, when the detection component 2 is disposed along the first axial direction, the first threshold is a second projection length, and the absolute value of the second difference is smaller than or equal to the second projection length, so as to determine that the moving direction of the detected object 1 is the first axial direction. When the absolute value of the second difference is larger than the second projection length, the moving direction of the detected object 1 is determined to be the second axis. Similarly, when the detection component 2 is disposed along the second axis, the first threshold is a first projection length, and the absolute value of the second difference is smaller than or equal to the first projection length, and then the moving direction of the detected object 1 is determined to be the second axis. When the absolute value of the second difference is larger than the first projection length, the moving direction of the detected object 1 is determined to be the first axial direction.
Further, determining the positive direction or the negative direction of the moving direction of the detected object 1 based on the first difference value includes the steps of: the detection component 2 is disposed along the first axial direction, and when it is determined that the detected object 1 moves along the first axial direction, when the absolute value of the first difference value is less than or equal to the second threshold value, and the first difference value is a positive number, it is determined that the detected object 1 moves in the first axial direction to a positive direction, and when the first difference value is a negative number, it is determined that the detected object 1 moves in the first axial direction to a negative direction. When the absolute value of the first difference value is larger than the second threshold value, the first difference value is positive, the detected object 1 is determined to move in the first axial direction to the negative direction, and the first difference value is negative, the detected object 1 is determined to move in the first axial direction to the positive direction; the detection assembly 2 is disposed along the first axial direction, and determines the positive direction or the negative direction of the moving direction according to the magnitude of the first difference when the detected object 1 moves along the second axial direction. The detection component 2 is disposed along the second axis, and when it is determined that the detected object 1 moves along the second axis, when the absolute value of the first difference is less than or equal to the second threshold, and the first difference is a positive number, it is determined that the detected object 1 moves in the second axis positive direction, and the first difference is a negative number, it is determined that the detected object 1 moves in the second axis negative direction. When the absolute value of the first difference value is larger than the second threshold value, the first difference value is positive, the detected object 1 is determined to move in the second axial negative direction, and the first difference value is negative, the detected object 1 is determined to move in the second axial positive direction; the detection assembly 2 is disposed along the second axis, and determines the positive direction or the negative direction of the moving direction according to the magnitude of the first difference when the detected object 1 moves along the first axis.
Specifically, when the detection surface 31 is a plane, and the detection surface 31 forms an acute angle r with the first axial direction, the projection line is defined to have a first projection length a in the first axial direction, and the projection line is defined to have a second projection length b in the second axial direction, so that tan (r) =b/a is satisfied. The range of the second threshold t is:wherein V is max For maximum horizontal movement speed of the scanning bed, f is the detection frequency of the ranging sensor 4, and when the scheme is implemented, t should be close to the upper limit value b to obtain higher algorithm robustness.
More specifically, in an embodiment, determining the moving distance of the detected object 1 according to the rule of continuous change of the second difference value and the first difference value includes:
when the detection assembly 2 is disposed in the first axial direction and it is determined that the object 1 to be detected moves in the first axial direction, calculating the moving distance of the first axial direction includes the steps of: determining the jump times of the first difference value in the first difference value change rule; and calculating according to the second difference value and the jump times to obtain the displacement distance of the detected object 1.
When the detection assembly 2 is disposed in the first axial direction and it is determined that the object 1 to be detected moves in the second axial direction, the moving distance of the second axial direction is the second difference.
When the detection assembly 2 is disposed along the second axis and it is determined that the detected object 1 moves along the second axis, calculating the moving distance of the second axis includes: determining the jump times of the first difference value in the first difference value change rule; and calculating according to the second difference value and the jump times to obtain the moving distance of the movement.
When the detection assembly 2 is disposed along the second axis and it is determined that the object 1 to be detected moves along the first axis, the moving distance of the first axis is the second difference.
An embodiment of the moving position detection method is specifically described below:
the distance measuring sensor 4 is defined to measure the distance to the detecting assembly 2 along the second axis, and the plurality of detecting assemblies 2 are arranged along the first axis. The object 1 moves in the coordinate plane, and the distance measuring sensor 4 measures the distance d between the first distance measuring point, the second distance measuring point, and the nth distance measuring point (i.e., the final distance measuring point) and the distance measuring sensor 4 along the second axis, respectively 1 、d 2 、…、d n . Wherein the first difference is d1=d 2 -d 1 Or d2=d 3 -d 2 Or Dn-1=d n -d n-1 The second difference is δd=d n -d 1 。
When the detection surface 31 is a plane and the projection line forms an acute angle r with the first axial direction, the projection line is defined to have a first projection length a in the first axial direction and the projection line has a second projection length b in the second axial direction, so that it is satisfied that cot (r) =a/b. The detected object 1 is provided with a plurality of detection surfaces 31 which are repeatedly arranged along the first axial direction, and projections of adjacent detection surfaces 31 along the first axial direction are connected end to end. When the detected object 1 moves along the first axial direction, it is defined that the distance measurement point moves from any detection surface 31 to the adjacent detection surface 31 as a jump occurs to the distance measurement point, and then the movement δx=δd+n×a of the detected object 1 along the first axial direction is defined, where n is the number of times the distance measurement point jumps.
Establishing X-axis coordinates along a first axis and Y-axis coordinates along a second axis, the detection surface 31 will be detectedThe function image projected in the coordinate plane is coordinated, in which case d 1 Converting the coordinate of the first ranging point on the Y axis, and calculating the coordinate X of the first ranging point on the X axis according to the functional relation of the projection of the detection surface 31 1 ，d n Converting the coordinate of the nth ranging point on the Y axis, and calculating the coordinate X of the nth ranging point on the X axis according to the functional relation of the projection of the detection surface 31 n . Calculating the movement amount δx=x of the object 1 along the first axial direction n -x 1 And when δx>0, the object 1 moves in the negative direction toward the X-axis, and δx<At 0, the object 1 to be detected moves forward toward the X axis.
The moving direction of the object 1 along the first axial direction is determined according to the trend of the distance between the ranging point on the detection surface 31 and the ranging sensor 4 in any one of the non-hopping intervals. When the function image projected on the coordinate plane by the detection surface 31 is a strictly monotonically increasing function, the distance between the distance measurement point on the detection surface 31 and the distance measurement sensor 4 gradually increases, the object 1 moves in the negative direction along the X axis, and the distance between the distance measurement point on the detection surface 31 and the distance measurement sensor 4 gradually decreases, so that the object 1 moves in the positive direction along the X axis. When the function image projected on the coordinate plane by the detection surface 31 is a strict single subtraction function, if the distance between the ranging point on the detection surface 31 and the ranging sensor 4 becomes gradually larger, the object 1 moves in the positive direction along the X axis, and if the distance between the ranging point on the detection surface 31 and the ranging sensor 4 becomes gradually smaller, the object 1 moves in the negative direction along the X axis.
When the minimum movement distance δy of the object 1 satisfies δy > b, the movement amount of the object 1 along the second axis is δd when |δd| > b, and when |δd|ζ ζ b is zero.
In summary, the positive and negative directions of the detected object 1 moving along the X axis can be determined by the distance change trend of the distance measuring sensor 4, and the calculation formula is as follows:wherein sign is a sign function representing return for any real number inputThe value is the sign of the real number; fabs is an absolute value function representing the absolute value of an arbitrary real input return value for that real; di represents the i first difference.
The positive and negative directions of the detected object 1 moving along the Y axis can be judged by the distance change trend of the distance measuring sensor 4, and the calculation formula is dir (Y) =sign (Di), wherein siin is a sign function and represents positive and negative signs of any real number input return value as the real number; di represents the i first difference.
Further, the calculation of the final displacement variation of the detected object 1 can be expressed by the following formula, the displacement of the detected object 1 along the X axis is:the displacement of the object 1 along the Y axis is: />
It should be noted that, when the function image projected on the coordinate plane by the detection surface 31 is a strictly monotonically increasing function in the case where the distance between the distance measurement point on the detection surface 31 and the distance measurement sensor 4 suddenly increases, the object 1 moves in the positive direction along the X axis, and when the distance between the distance measurement point on the detection surface 31 and the distance measurement sensor 4 suddenly decreases, the object 1 moves in the negative direction along the X axis. When the function image projected on the coordinate plane by the detection surface 31 is a strict single subtraction function, if the distance between the ranging point on the detection surface 31 and the ranging sensor 4 suddenly increases, the object 1 moves in the negative direction along the X axis, and if the distance between the ranging point on the detection surface 31 and the ranging sensor 4 suddenly decreases, the object 1 moves in the positive direction along the X axis.
The invention also provides a registration updating method of the surgical robot 6 system, which comprises the following steps: the moving direction and the moving distance of the detected object 1 calculated and obtained according to the moving position detecting method described in the above embodiment; obtaining a displacement transformation matrix of the detected object 1 according to the moving direction and the moving distance;the displacement transformation matrix is multiplied by the registration relation before the detected object 1 moves to obtain an updated registration relation after the detected object 1 moves. Specifically, a new image registration relationship is calculated as,wherein M is 0 Is a registration relation before the detected object 1 moves.
The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustrating the invention and are not to be construed as limiting the invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.
Claims (10)
1. A moving position detecting apparatus for detecting a movement of an object (1) to be detected which is movable in at least one direction, the object (1) to be detected being movable in a first axial direction or a second axial direction, the first axial direction and the second axial direction being perpendicular to each other, and the first axial direction and the second axial direction constituting a coordinate plane, characterized by comprising
The detection assembly (2) is arranged on the detected object (1), the detection assembly (2) comprises a plurality of detection units (3), and the detection units (3) are distributed on the detected object (1) along a first axial direction or a second axial direction; and
a distance measuring sensor (4) capable of detecting the distance between a distance measuring point on the detecting unit (3) and the distance measuring sensor (4), wherein the distance measured by the distance measuring sensor (4) has a preset corresponding relation with the moving position of the detected object (1);
the detection unit (3) is provided with a detection surface (31), the detection surface (31) is perpendicular to the coordinate plane, and projection lines of the detection surface (31) in the coordinate plane form an included angle with the first axial direction or the second axial direction;
the projection line of the detection surface (31) in the coordinate plane is a monotonically increasing function or a monotonically decreasing function.
2. The moving position detection apparatus according to claim 1, wherein the projection line has a first projection length in a first axial direction, the projection line has a second projection length in the second axial direction, and the first projection length or the second projection length is smaller than a minimum moving distance of the object (1) to be detected.
3. The mobile position detection apparatus according to claim 1, wherein the object (1) to be detected is provided with a plurality of repeatedly arranged detection units (3) along the first axial direction or the second axial direction, adjacent detection units (3) being connected end to end.
4. A moving position detecting method, characterized in that a moving position detecting apparatus according to any one of claims 1 to 3 is employed, comprising the steps of:
the distance measuring sensor (4) detects the motion of the detection component (2) in real time and obtains detection data;
analyzing the change rule of the detection data, and determining the position change of the detected object (1) according to the change rule of the detection data, wherein the position change of the detected object (1) comprises a moving direction and a moving distance.
5. The mobile location detection method according to claim 4, wherein the detection data includes a plurality of sets of collected data, and analyzing a change rule of the detection data includes:
calculating a first difference between adjacent acquired data and calculating a second difference between initial acquired data and end point acquired data;
and obtaining a plurality of first difference values, and analyzing to obtain a continuous change rule of the plurality of first difference values.
6. The moving position detecting method according to claim 5, wherein determining the position change of the detected object (1) according to the first difference, the second difference, and the plurality of first difference continuous change laws specifically includes the steps of:
determining a movement direction of the detected object (1) according to a second difference value, wherein the movement direction of the detected object (1) comprises a first axial direction and a second axial direction;
determining a positive or negative direction of the direction of movement of the detected object (1) from the first difference;
and determining the moving distance of the detected object (1) according to the continuous change rule of the second difference value and the first difference value.
7. The moving position detection method according to claim 6, wherein determining the moving direction of the detected object (1) from the second difference value comprises the steps of:
when the detection component (2) is arranged along the first axial direction, the absolute value of the second difference value is smaller than or equal to a first threshold value, and the moving direction of the detected object (1) is determined to be the first axial direction; when the absolute value of the second difference value is larger than a first threshold value, determining the moving direction of the detected object (1) as a second axis;
when the detection component (2) is arranged along the second axis, determining that the moving direction of the detected object (1) is the second axis when the absolute value of the second difference value is smaller than or equal to a first threshold value; and when the absolute value of the second difference value is larger than a first threshold value, determining the moving direction of the detected object (1) as a first axial direction.
8. The moving position detection method according to claim 6, wherein determining the positive or negative direction of the moving direction of the detected object (1) from the first difference value comprises the steps of:
the detection assembly (2) is arranged along a first axial direction, when the absolute value of the first difference value is smaller than or equal to a second threshold value and is positive when the detected object (1) is determined to move along the first axial direction, the detected object (1) is determined to move towards the positive direction along the first axial direction, the first difference value is negative, and the detected object (1) is determined to move towards the negative direction along the first axial direction; when the absolute value of the first difference value is larger than a second threshold value, the first difference value is positive, the detected object (1) is determined to move in the first axial direction to the negative direction, and the first difference value is negative, the detected object (1) is determined to move in the first axial direction to the positive direction;
the detection assembly (2) is arranged along a first axial direction, and when the detected object (1) is determined to move along a second axial direction, the positive direction or the negative direction of the moving direction is determined according to the magnitude of a first difference value;
the detection component (2) is arranged along a second axis, when the absolute value of the first difference value is smaller than or equal to a second threshold value and is positive, the detected object (1) is determined to move in the second axis positive direction, the first difference value is negative, and the detected object (1) is determined to move in the second axis negative direction; when the absolute value of the first difference value is larger than a second threshold value, the first difference value is positive, the detected object (1) is determined to move in the second axial negative direction, and the first difference value is negative, the detected object (1) is determined to move in the second axial positive direction;
the detection component (2) is arranged along a second axis, and when the detected object (1) moves along the first axis, the positive direction or the negative direction of the moving direction is determined according to the magnitude of the first difference value.
9. The moving position detection method according to claim 6, wherein determining the moving distance of the detected object (1) according to the second difference and the first difference continuous change law includes:
when the detection assembly (2) is arranged along a first axial direction and the detected object (1) is determined to move along the first axial direction, calculating the moving distance of the first axial direction comprises: determining the jump times of the first difference value in the first difference value change rule; calculating according to the second difference value and the jump times to obtain the displacement distance of the detected object (1);
when the detection assembly (2) is arranged along a first axial direction and the detected object (1) is determined to move along a second axial direction, the moving distance of the second axial direction is a second difference value;
when the detection assembly (2) is arranged along a second axis, and the detected object (1) is determined to move along the second axis, calculating the second axis movement distance comprises: determining the jump times of the first difference value in the first difference value change rule; calculating according to the second difference value and the jump times to obtain a moving distance of the movement;
when the detection assembly (2) is arranged along the second axial direction and the detected object (1) is determined to move along the first axial direction, the moving distance of the first axial direction is a second difference value.
10. A system registration method, characterized in that,
the moving direction and the moving distance of the detected object (1) calculated and obtained according to the moving position detecting method of claim 9;
obtaining a displacement transformation matrix of the detected object (1) according to the moving direction and the moving distance;
and multiplying the displacement transformation matrix by a registration relation before the detected object (1) moves to obtain an updated registration relation after the detected object (1) moves.
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