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CN115775266A - Registration method applied to real-time puncture surgical robot - Google Patents

Registration method applied to real-time puncture surgical robot Download PDF

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CN115775266A
CN115775266A CN202310101952.1A CN202310101952A CN115775266A CN 115775266 A CN115775266 A CN 115775266A CN 202310101952 A CN202310101952 A CN 202310101952A CN 115775266 A CN115775266 A CN 115775266A
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robot
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coordinate system
registration
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CN115775266B (en
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王嘉
赵文灿
宋战江
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Beijing Precision Medical Equipment Technology Co ltd
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Abstract

The invention provides a registration method applied to a real-time puncture surgical robot.A developing device is positioned at an executing mechanism at the tail end of the robot, and is provided with N developing points, wherein N is more than 3; the method comprises the following steps: acquiring a position coordinate point set of a developing point under a robot coordinate system in real time; synchronously scanning and developing the developing points in real time, and instantly acquiring a position coordinate point set of M developing points in an image coordinate system, wherein M is less than N; and calculating a rotation matrix from the robot coordinate system to the image coordinate system according to the robot space point cloud mass center and the image space point cloud mass center by taking the minimum average distance of the two point sets after registration as a target function. The invention can realize the accurate spatial position registration process and avoid the registration failure caused by system errors.

Description

Registration method applied to real-time puncture surgical robot
Technical Field
The invention belongs to the technical field of artificial intelligence, and relates to a registration method applied to a real-time puncture operation robot, which is suitable for the fields of liver and gall surgery, neurosurgery and the like, and minimally invasive interventional operations such as ablation treatment of percutaneous puncture or biopsy sampling and the like under the guidance of nuclear magnetic or CT images.
Background
Malignant tumors of liver and other parts, cranial nerve functional diseases and the like are major diseases seriously threatening human health and life quality, and microwave or radio frequency based thermal ablation technology is one of effective minimally invasive interventional treatment means and has been widely applied to clinic in recent years. Among them, realizing the path planning and execution of the high-precision puncture of the ablation needle is the most important requirement and the key for ensuring the treatment effect.
In the prior art of realizing the automatic operation of the surgical robot, the mechanical arm enters into CT and MRI scanning holes, and diagnosis and treatment operations are carried out during scanning or after the scanning is finished. However, these prior art techniques tend to have the following problems:
the mechanical arm in the prior art can not enter a scanning hole of medical imaging equipment, and can not realize direct registration of the mechanical arm and medical images, so that an optical tracker is generally required. The relative position of the mechanical arm and the patient is identified by an optical tracker, and the mechanical arm coordinate and the medical image coordinate can be registered through the preoperative medical image of the patient.
In order to realize the registration of the three, the prior art generally uses the medical image scanned before the operation to realize the registration of the mechanical arm and the patient twice and the registration of the medical image and the patient twice, so that the single registration of the mechanical arm, the medical image and the patient can not be realized, and the registration error caused by the inconsistency of the image before the operation and the image during the operation can not be avoided.
Therefore, how to provide a method capable of effectively performing single registration on the mark points of the real-time puncture surgical robot is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a registration method applied to a real-time puncture surgical robot, which solves the technical problem in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a registration method applied to a real-time puncture surgical robot.A developing device is positioned at an executing mechanism at the tail end of the robot, and is provided with N developing points, wherein N is more than 3; the method comprises the following steps:
acquiring a position coordinate point set of a developing point under a robot coordinate system in real time;
synchronously scanning and developing the developing points in real time, and instantly acquiring a position coordinate point set of M developing points in an image coordinate system, wherein M is less than N;
and (3) calculating a rotation matrix from a robot coordinate system to an image coordinate system by taking the minimum average distance of the two point sets after registration as an objective function:
Figure SMS_1
Figure SMS_2
Figure SMS_3
wherein U and V are orthogonal matrixes,
Figure SMS_4
is a robot space point cloud mass center,
Figure SMS_5
is the image space point cloud centroid.
Preferably, the acquiring M developing points includes: and acquiring M developing points with the definition larger than a set threshold value.
Preferably, a full array combination of position coordinate point set { Ptr } in the robot coordinate system with a length of n = sizeof ({ Ps }) is constructed, and a full array combination subset (the chinese painting style) is obtained
Figure SMS_6
The { Ps } is a position coordinate point set under an image coordinate system; the number of the full permutation and combination is
Figure SMS_7
Each full-permutation combined subset
Figure SMS_8
Corresponding to { Ps } with a rotation matrix
Figure SMS_9
。
Preferably, using a rotation matrix
Figure SMS_10
Calculating a position coordinate point set { Ps } under a known image coordinate system and converting the position coordinate point set { Ps } into a point set under a robot space
Figure SMS_11
：
Figure SMS_12
Solving each group
Figure SMS_13
And
Figure SMS_14
and when the Euclidean distance meets the requirement of setting the threshold value of the Euclidean distance, the rotation matrix used by the group of solutions is the registration result.
The invention also provides a server which comprises a memory, a processor and a registration method stored on the memory and run on the processor, wherein the registration method is applied to the real-time puncture surgical robot.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the steps of the registration method applied to a real-time puncture surgical robot.
Through the technical scheme, compared with the prior art, the invention has the beneficial effects that:
the invention provides a registration method supporting the application of a real-time puncture surgery robot, which is suitable for puncture surgeries under the guidance of magnetic resonance or CT (computed tomography), particularly when the registration method is used in cooperation with a surgical robot, an optical tracker is not needed, and the real-time scanning of a mechanical arm and a patient can be realized, so that the three can be immediately registered, the preoperative scanning step is omitted, the registration error caused by the inconsistency of preoperative images and intraoperative images is avoided, the completion of an accurate spatial position registration process is facilitated, and the registration failure caused by system errors is avoided.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts;
fig. 1 is a flowchart of a registration method applied to a real-time puncture surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a developing device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, a first aspect of the embodiment of the present invention provides a registration method applied to a real-time puncture surgical robot, including a registration method of a robot and a nuclear magnetic resonance device, where the nuclear magnetic resonance device images a developing device in a process of performing a puncture surgical robot surgery, that is, an image space, and then acts on a subsequent process of converting coordinates of a focal region image space and coordinates of a robot execution terminal in real time.
The transformation relation between the robot coordinate system and the nuclear magnetic resonance coordinate system is obtained through registration, so that the pose information of the focus point in the nuclear magnetic resonance equipment coordinate system can be transformed into the robot coordinate system according to the nuclear magnetic scanning image, and the robot performs corresponding operation according to the position of the focus point, so that the accurate operation effect is obtained.
The developing device is positioned at the tail end actuating mechanism of the robot, and is provided with N developing points, wherein N is more than 3; the method comprises the following steps:
acquiring a position coordinate point set of a developing point under a robot coordinate system in real time;
synchronously scanning and developing the developing points in real time, and instantly acquiring a position coordinate point set of M developing points in an image coordinate system, wherein M is less than N;
and (3) calculating a rotation matrix from the robot coordinate system to the image coordinate system by taking the minimum average distance of the two point sets after registration as an objective function:
Figure SMS_15
Figure SMS_16
Figure SMS_17
wherein, U and V are orthogonal matrixes,
Figure SMS_18
is a robot space point cloud mass center,
Figure SMS_19
is the image space point cloud centroid.
In this embodiment, a developing device is mounted on the end actuator (mechanical arm) of the robot, and the shape of the developing device is visible in an image scanned by the magnetic imaging apparatus and received by the image processing module.
The development sites may be a plurality of individual globules containing a particular liquid (e.g., oil, water, or developer, etc.) or may be in other configurations, such as line segments, intersections, grids, etc. Any three points in the developing points are not collinear, the connecting lines of the developing points are asymmetric, and the developing device is of a rigid structure, namely the relative positions of the developing points are unchanged.
As shown in fig. 2, the developing device 1 is provided with 6 developing dots 10, and the developing dots 10 are provided in a developing dot placement groove 11 on the developing device 1. The developing device is fixed on the tail end execution mechanism of the mechanical arm.
In one embodiment, according to the known coordinates of each developing point in a robot coordinate system by mechanical design, the coordinates are expressed by a point set { Ptr }, a plurality of points with the required definition, namely the developing points with M positions before definition ranking, are selected in an image space, the positions of the spherical centers of the developing points are marked, and a point set { Ps } of candidate developing points in the image space is formed.
In one embodiment, a subset of point clouds corresponding to the number of development points in a point set in an image space in a robot space is randomly constructed, a full-permutation combination subset is obtained by constructing a full-permutation combination with the length n = sizeof ({ Ps }) for a position coordinate point set { Ptr } in a robot coordinate system, and the full-permutation combination subset is obtained
Figure SMS_20
{ Ps } is a position coordinate point set in an image coordinate system; the number of the full permutation and combination is
Figure SMS_21
Each full-permutation combined subset
Figure SMS_22
Corresponding to { Ps } with a rotation matrix
Figure SMS_23
。
In one embodiment, a rotation matrix is utilized
Figure SMS_24
Calculating a position coordinate point set { Ps } under a known image coordinate system and converting the position coordinate point set into a point set under a robot space
Figure SMS_25
：
Figure SMS_26
Solving each group
Figure SMS_27
And
Figure SMS_28
and when the Euclidean distance meets the requirement of setting the threshold value of the Euclidean distance, the rotation matrix used by the group of solutions is the registration result.
In this example, each group is solved
Figure SMS_29
And
Figure SMS_30
and setting a Euclidean distance threshold value dis _ max, wherein if a group of solutions closest to the Euclidean distance threshold value dis _ max is smaller than dis _ max, a rotation matrix used by the group of solutions is a registration result. If greater than dis _ max, registration fails.
In one embodiment, a transformation matrix from image space to robot space is solved from two equal-sized subsets in robot space and image space
Figure SMS_31
Wherein
Figure SMS_32
R is a 3 × 3 matrix and t is a 3 × 1 matrix. The following formula is used to solve R, t
By
Figure SMS_33
To obtain
Figure SMS_34
The average distance of the two point sets after registration is minimal:
Figure SMS_35
Figure SMS_36
order:
Figure SMS_37
f (t) calculates the partial derivative of t to obtain:
Figure SMS_38
order to
Figure SMS_39
Obtaining:
Figure SMS_40
respectively averaging two space point sets to obtain image space point cloud centroid
Figure SMS_41
Robot space point cloud centroid
Figure SMS_42
，
Thus:
Figure SMS_43
substituting t into F (t) yields:
Figure SMS_44
that is, the objective function becomes:
Figure SMS_45
,
Figure SMS_46
Figure SMS_47
solving for R
Figure SMS_48
Figure SMS_49
By
Figure SMS_50
Is a 1-by-3 vector of,
Figure SMS_51
is a 3 by 3 vector of the vector,
Figure SMS_52
is a 3 x 1 vector, therefore
Figure SMS_53
Is a scalar quantity, and for any scalar quantity a, satisfies
Figure SMS_54
Thus, it is possible to
Figure SMS_55
Figure SMS_56
The carry-in objective function:
Figure SMS_57
Figure SMS_58
thus:
Figure SMS_59
wherein X and Y are 3 Xn dimensional matrices.
Defining a covariance matrix
Figure SMS_60
And performing SVD on S:
Figure SMS_61
computing
Figure SMS_62
Characteristic value of
Figure SMS_63
And corresponding feature vectors
Figure SMS_64
Obtaining:
Figure SMS_65
Figure SMS_66
thus, solving the problem becomes maximizing:
Figure SMS_67
order to
Figure SMS_68
It is an orthogonal matrix, its column vector
Figure SMS_69
Are orthogonal vectors, i.e.
Figure SMS_70
Thus for all elements of M there are
Figure SMS_71
。
Figure SMS_72
When the temperature is higher than the set temperature
Figure SMS_73
When the temperature of the water is higher than the set temperature,
Figure SMS_74
maximum; m is again an orthogonal matrix, so M must be a unit matrix.
Figure SMS_75
Figure SMS_76
The following gives specific application examples of this embodiment:
a developing device is arranged on an end executing mechanism of the robot, and the shape of the developing device is visible in an image scanned on the nuclear magnetic imaging equipment and received by the image processing module. The robot is arranged on the scanning bed, an image with developing points is obtained through the scanning surface, n =4 developing points are marked manually or automatically, and a developing point set is obtained
Figure SMS_77
。
On the developing deviceH =5 development points are provided, the positions of which relative to the end actuator are known from the mechanical design as
Figure SMS_78
The expression of h =5 development points in the robot base coordinate system is obtained according to the current angle of the robot as follows:
Figure SMS_79
check and check
Figure SMS_80
The full-array combination with the structure length of n and the number of developing point sets
Figure SMS_81
Define a set of points as
Figure SMS_82
Defining a transformation matrix from image space to robot space as
Figure SMS_83
In which
Figure SMS_84
By
Figure SMS_85
To obtain
Figure SMS_86
Respectively averaging two space point sets to obtain image space point cloud centroid
Figure SMS_87
Robot space point cloud qualityHeart with heart-shaped
Figure SMS_88
，
Figure SMS_89
Figure SMS_90
Figure SMS_91
Figure SMS_92
Carrying out SVD on H to obtain:
Figure SMS_93
thereby obtaining:
Figure SMS_94
Figure SMS_95
Figure SMS_96
and
Figure SMS_97
get a set of rotation matrices
Figure SMS_98
Solving the known image set according to the rotation matrix
Figure SMS_99
Converting to a point set in robot space
Figure SMS_100
，
Figure SMS_101
Solving each group
Figure SMS_102
And
Figure SMS_103
and setting a Euclidean distance threshold value dis _ max, wherein if a group of solutions closest to the Euclidean distance threshold value dis _ max is smaller than dis _ max, a rotation matrix used by the group of solutions is a registration result. If greater than dis _ max, the registration fails.
The rotation matrix of the instant registration is used for converting a focus area in an image coordinate to a robot coordinate system in the puncture operation process.
The second aspect of the present embodiment provides a server, which includes a memory, a processor, and a registration method stored in the memory and executed on the processor, where the registration method is applied to a real-time puncture surgical robot and provided by the first aspect of the present embodiment.
A third aspect of the present invention provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the registration method applied to the real-time puncture surgical robot provided in the first aspect of the present embodiment.
The registration method applied to the real-time puncture surgical robot provided by the present invention is described in detail above, a specific example is applied in this embodiment to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined in this embodiment may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A registration method applied to a real-time puncture surgical robot is characterized in that a developing device is positioned at a robot tail end executing mechanism, N developing points are arranged on the developing device, and N is more than 3; the method comprises the following steps:
acquiring a position coordinate point set of a developing point under a robot coordinate system in real time;
synchronously scanning and developing the developing points in real time, and instantly acquiring a position coordinate point set of M developing points in an image coordinate system, wherein M is less than N;
and (3) calculating a rotation matrix from a robot coordinate system to an image coordinate system by taking the minimum average distance of the two point sets after registration as an objective function:
Figure QLYQS_1
，
Figure QLYQS_2
，
Figure QLYQS_3
，
wherein U and V are orthogonal matrixes,
Figure QLYQS_4
is a robot space point cloud mass center,
Figure QLYQS_5
is the image space point cloud mass center.
2. The registration method applied to a real-time surgical robot for puncturing according to claim 1, wherein the acquiring of the M visualization points comprises: and acquiring M developing points with the definition larger than a set threshold value.
3. Registration method applied to real-time surgical robots for paracentesis according to claim 1, characterized in that a subset of fully aligned combinations of position coordinate points set { Ptr } in the robot coordinate system is obtained for a fully aligned combination of length n = sizeof ({ Ps })
Figure QLYQS_6
The { Ps } is a position coordinate point set under an image coordinate system; the number of the full permutation and combination is
Figure QLYQS_7
Each full-permutation combined subset
Figure QLYQS_8
Corresponding to { Ps } with a rotation matrix
Figure QLYQS_9
。
4. Registration method applied to real-time surgical robots with puncture according to claim 3, characterized by the fact that a rotation matrix is used
Figure QLYQS_10
Calculating a position coordinate point set { Ps } under a known image coordinate system and converting the position coordinate point set into a point set under a robot space
Figure QLYQS_11
：
Figure QLYQS_12
，
Solving each group
Figure QLYQS_13
And
Figure QLYQS_14
and when the Euclidean distance meets the requirement of setting the threshold value of the Euclidean distance, the rotation matrix used by the group of solutions is the registration result.
5. A server, characterized in that the server comprises a memory, a processor and a registration method stored on the memory and running on the processor for real-time surgical robot penetration according to any one of claims 1 to 4.
6. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the steps of the registration method applied to a real-time surgical robot for puncture according to any one of claims 1-4.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118628538A (en) * 2024-06-25 2024-09-10 山东卓业医疗科技有限公司 Registration method between 3D sensor of spinal robot and DICOM image

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US5999840A (en) * 1994-09-01 1999-12-07 Massachusetts Institute Of Technology System and method of registration of three-dimensional data sets
CN110353774A (en) * 2018-12-15 2019-10-22 深圳铭杰医疗科技有限公司 Assist Needle-driven Robot and its control method, computer equipment, storage medium
CN111724420A (en) * 2020-05-14 2020-09-29 北京天智航医疗科技股份有限公司 An intraoperative registration method, device, storage medium and server
CN112382359A (en) * 2020-12-09 2021-02-19 北京柏惠维康科技有限公司 Patient registration method and device, electronic equipment and computer readable medium
CN114918928A (en) * 2022-07-22 2022-08-19 杭州柳叶刀机器人有限公司 Method and device for accurately positioning surgical mechanical arm, control terminal and storage medium

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5999840A (en) * 1994-09-01 1999-12-07 Massachusetts Institute Of Technology System and method of registration of three-dimensional data sets
CN110353774A (en) * 2018-12-15 2019-10-22 深圳铭杰医疗科技有限公司 Assist Needle-driven Robot and its control method, computer equipment, storage medium
CN111724420A (en) * 2020-05-14 2020-09-29 北京天智航医疗科技股份有限公司 An intraoperative registration method, device, storage medium and server
CN112382359A (en) * 2020-12-09 2021-02-19 北京柏惠维康科技有限公司 Patient registration method and device, electronic equipment and computer readable medium
CN114918928A (en) * 2022-07-22 2022-08-19 杭州柳叶刀机器人有限公司 Method and device for accurately positioning surgical mechanical arm, control terminal and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118628538A (en) * 2024-06-25 2024-09-10 山东卓业医疗科技有限公司 Registration method between 3D sensor of spinal robot and DICOM image
CN118628538B (en) * 2024-06-25 2024-12-13 山东卓业医疗科技有限公司 Registration method between 3D sensor of spinal robot and DICOM image

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