CN113100933A - Operation scene configuration method and device, computer equipment and storage medium - Google Patents
Operation scene configuration method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method and a device for configuring a surgical scene, a computer device and a storage medium. The method comprises the steps of acquiring position information of a position marker through a position indicator to respectively acquire a world coordinate system, a coordinate system of an object to be operated and a robot coordinate system, acquiring a first transformation matrix from the coordinate system of the position indicator to the world coordinate system, acquiring a second transformation matrix from the coordinate system of the position indicator to the coordinate system of the object to be operated, acquiring a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system, acquiring a fourth transformation matrix from the coordinate system of the position indicator to a tip coordinate system of a surgical instrument, acquiring a fifth transformation matrix from the coordinate system of the object to be operated to a surgical path coordinate system, and acquiring a target transformation matrix from the tip coordinate system of the surgical instrument to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix, so that each coordinate system is related to the world coordinate system and a navigation system can keep real-time accurate navigation, the safety is improved.
Description
Technical Field
The present application relates to the field of medical technology, and in particular, to a method and an apparatus for configuring a surgical scene, a computer device, and a storage medium.
Background
With the continuous development of medical technology, surgical robots for assisting surgery or performing surgery appear, and before the surgical robots perform surgery, positioning coordinate systems need to be set for the surgical robots in a scene configuration mode. On one hand, the conversion precision between the coordinate systems of the modules can have great influence on the effect of the operation, and the conversion errors between the coordinate systems can be accumulated to generate larger operation errors; on the other hand, once a certain module position of the system is changed in the operation process, the system needs to be recalibrated, which increases the operation difficulty for the doctor, so that the inventor finds that at least the following problems exist in the conventional technology in the implementation process: the traditional surgical robot has poor surgical precision and low safety due to unreasonable scene configuration.
Disclosure of Invention
In view of the above, it is necessary to provide a surgical scene configuration method, apparatus, computer device and storage medium capable of providing accuracy and safety of a surgical robot.
A surgical scene configuration method, comprising the steps of:
acquiring position information of a first type of position marker arranged in an operation space through a positioning instrument to obtain a world coordinate system, and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
acquiring position information of a second type of position marker arranged on the object to be operated through a positioning instrument to obtain a coordinate system of the object to be operated, and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
acquiring position information of a third type of position marker arranged on a robot flange plate through a positioning instrument to obtain a robot coordinate system, and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of the tip end of a surgical instrument based on the robot coordinate system;
acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the operation path coordinate system is a coordinate system for planning an operation path in the three-dimensional model of the object to be operated;
and obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one embodiment, the step of obtaining a fourth transformation matrix of the coordinate system of the positioning instrument and the coordinate system of the surgical instrument tip based on the robot coordinate system comprises the steps of:
acquiring a sixth transformation matrix from the robot coordinate system to the world coordinate system;
acquiring a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system;
and obtaining a fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
In one embodiment, the step of obtaining the sixth transformation matrix from the robot coordinate system to the world coordinate system includes the steps of:
acquiring position information of a fourth type of position marker arranged on a robot base through a positioning instrument to obtain a robot base coordinate system, and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system;
obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix;
acquiring a tenth transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the robot;
obtaining an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix;
and obtaining a sixth transformation matrix based on the ninth transformation matrix and the eleventh transformation matrix.
In one embodiment, the step of obtaining a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system comprises the steps of:
acquiring a twelfth transformation matrix from the robot coordinate system to the robot arm tail end coordinate system;
acquiring a thirteenth transformation matrix from the coordinate system of the tail end of the robot arm to the coordinate system of the tip end of the surgical instrument;
and obtaining a seventh transformation matrix based on the twelfth transformation matrix and the thirteenth transformation matrix.
In one embodiment, the step of obtaining the fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path includes the steps of:
acquiring a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is a coordinate system of the established three-dimensional model of the object to be operated;
acquiring a fifteenth transformation matrix of the three-dimensional model coordinate system to the surgical path coordinate system;
and obtaining a fifth transformation matrix based on the fourteenth transformation matrix and the fifteenth transformation matrix.
In one embodiment, in the step of obtaining the target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix, the target transformation matrix is obtained based on the following formula:
TipTTar＝(OTTip)-1·OTW·(PTw)-1·PTTar
wherein Tip represents a surgical instrument Tip coordinate system; tar represents a surgical path coordinate system;TipTTarrepresenting a target transformation matrix; o represents a coordinate system of the positioning instrument;OTTiprepresenting a fourth transformation matrix; w represents a world coordinate system;OTWrepresenting a first transformation matrix; p represents a coordinate system of an object to be operated;PTwrepresenting a third transformation matrix;PTTara fifth transformation matrix is represented.
A surgical scene configuring apparatus comprising:
the first matrix acquisition module is used for acquiring the position information of a first type of position marker arranged in the operation space through a positioning instrument to obtain a world coordinate system and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
the second matrix acquisition module is used for acquiring the position information of a second type of position marker arranged on the object to be operated through the positioning instrument to obtain a coordinate system of the object to be operated and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
the third matrix acquisition module is used for obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
the fourth matrix acquisition module is used for acquiring position information of a third type of position marker arranged on the robot flange plate through the positioning instrument to obtain a robot coordinate system and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of the tip end of the surgical instrument based on the robot coordinate system;
the fifth matrix acquisition module is used for acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the operation path coordinate system is a coordinate system for planning an operation path in the three-dimensional model of the object to be operated;
and the target transformation matrix acquisition module is used for obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one embodiment, the fourth matrix obtaining module includes:
a sixth matrix obtaining unit, configured to obtain a sixth transformation matrix from the robot coordinate system to the world coordinate system;
a seventh matrix obtaining unit, configured to obtain a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system;
and the fourth matrix obtaining unit is used for obtaining a fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
One of the above technical solutions has the following advantages and beneficial effects:
the surgical scene configuration method provided by the embodiments of the present application acquires the position information of the position marker through the position finder to respectively acquire a world coordinate system, a coordinate system of an object to be operated, and a robot coordinate system, acquires a first transformation matrix from the coordinate system of the position finder to the world coordinate system, acquires a second transformation matrix from the coordinate system of the position finder to the coordinate system of the object to be operated, acquires a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix, acquires a fourth transformation matrix from the coordinate system of the position finder to a coordinate system of a tip of a surgical instrument based on the robot coordinate system, acquires a fifth transformation matrix from the coordinate system of the object to be operated to a coordinate system of a surgical path, and finally acquires a target transformation matrix from the coordinate system of the tip of the surgical instrument to the coordinate system of the surgical path based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix, and the fifth, therefore, each coordinate system is associated to the world coordinate system, so that when the positions of the image positioner, the object to be operated and the robot are changed in the operation process, the conversion of the coordinate system of the tip end of the surgical instrument to the coordinate system of the operation path is not influenced, the positions of the positioner, the object to be operated and the robot are not required to be re-calibrated, the navigation system keeps real-time accurate navigation, and the robot-assisted operation can be normally carried out.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a method for configuring a surgical scene in one embodiment;
FIG. 2 is a flowchart illustrating a step of obtaining a fourth transformation matrix according to an embodiment;
FIG. 3 is a flowchart illustrating a sixth transformation matrix obtaining step according to an embodiment;
FIG. 4 is a flowchart illustrating a step of obtaining a seventh transformation matrix according to one embodiment;
FIG. 5 is a flowchart illustrating a step of obtaining a fifth transformation matrix according to one embodiment;
FIG. 6 is a block diagram of the surgical scene configuring apparatus in one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to solve the problems of poor surgical precision and low safety of the conventional surgical robot due to unreasonable scene configuration, in one embodiment, as shown in fig. 1, a surgical scene configuration method is provided, which includes the following steps:
step S110, position information of a first type of position marker arranged in the operation space is collected through a positioning instrument to obtain a world coordinate system, and a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system is obtained.
The surgical scene configuration method is used for controlling the surgical robot to operate the surgical operation. The surgical assistance method of the present application may be run in a computer device.
The locator and the position marker are matched with each other, the position marker transmits signals to the locator, the locator can collect position information of the position marker, and in one example, the locator is an infrared point location instrument or an ultrasonic locator. The operating space is a place where an operation is performed, for example, in a hospital, the operating space is an operating room. A certain number of first-type position markers are correspondingly arranged in the operation space, the position information of the first-type position markers is acquired through a positioning instrument, a computer device processes the position information and establishes a coordinate system of the operation space, and the coordinate system is used as a world coordinate system, namely a reference coordinate system of other coordinate systems related to the application.
The coordinate system of the position indicator is a coordinate system arranged in the position indicator, the computer equipment obtains the coordinate system of the position indicator, the coordinate system of the position indicator is converted into a world coordinate system, and a first transformation matrix is obtainedOTW(O denotes a coordinate system of the aligner, W denotes a world coordinate system).
And step S120, acquiring the position information of a second type of position marker arranged on the object to be operated by the positioning instrument to obtain a coordinate system of the object to be operated, and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated.
It should be noted that the object to be operated may be a skull, an arm, a leg, or the like. The position information of the second position marker is collected by the positioning instrument, so that the position of the object to be operated can be positioned and monitored, and the computer equipment processes the position information and establishes a coordinate system of the object to be operated. Converting the coordinate system of the computer equipment locator into the coordinate system of the object to be operated to obtain a second transformation matrixOTP(O denotes a coordinate system of a positioning instrument and P denotes a coordinate system of an object to be operated).
And step S130, obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix.
It should be noted that, in one example, the third transformation matrix is obtained based on the following formulaPTW：
PTW＝(OTP)-1·OTW
And step S140, acquiring position information of a third type of position marker arranged on the robot flange plate through a positioning instrument to obtain a robot coordinate system, and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a surgical instrument tip coordinate system based on the robot coordinate system.
The flange plate of the robot is a component of a joint part of the robot, a plurality of third position markers are arranged on the flange plate of the robot, the locator collects position information of the third position markers to locate and monitor the position of the flange plate of the robot, so that the position and the posture of the robot can be determined, and the computer device processes the position information and establishes a robot coordinate system.
The coordinate system of the surgical instrument tip is used for positioning the coordinates of the position of the surgical instrument tip held by the robot, and the computer equipment obtains a fourth transformation matrix for converting the coordinate system of the positioning instrument into the coordinate system of the surgical instrument tip through the conversion of the robot coordinate system.
In one example, as shown in fig. 2, the step of obtaining a fourth transformation matrix of the coordinate system of the positioning instrument and the coordinate system of the surgical instrument tip based on the robot coordinate system includes the steps of:
step S210, a sixth transformation matrix from the robot coordinate system to the world coordinate system is obtained.
It should be noted that the computer device converts the robot coordinate system to the world coordinate system to obtain a sixth transformation matrixRTW(R represents a robot coordinate system).
In one example, as shown in fig. 3, a sixth transformation matrix is obtained based on the following steps:
step S310, acquiring position information of a fourth type of position marker arranged on the robot base through a positioning instrument to obtain a robot base coordinate system, and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system.
It should be noted that, the robot base is a base of the robot, a plurality of fourth type position markers are arranged on the robot base, the locator collects position information of the fourth type position markers to locate and monitor the position of the robot base, so that the position of the robot can be determined, and the computer device processes the position information and establishes a robot base coordinate system. The computer equipment converts the coordinate system of the position finder into the coordinate system of the robot base to obtain an eighth transformation matrixOTRB(RB denotes the robot base coordinate system).
And step S320, obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix.
It should be noted that, in one example, the ninth transformation matrix is obtained based on the following formulaRBTW：
RBTW＝(OTRB)-1·OTW
Step S330, a tenth transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the robot is obtainedOTR。
And step S340, obtaining an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix.
It should be noted that, in one example, the ninth transformation matrix is obtained based on the following formulaRTRB：
RTRB＝(OTR)-1·OTRB
In step S350, a sixth transformation matrix is obtained based on the ninth transformation matrix and the eleventh transformation matrix.
It should be noted that, in one example, the sixth transformation matrix is obtained based on the following formulaRTW：
RTW＝RTRB·RBTW
Step S220, acquiring a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system.
It should be noted that the computer device converts the robot coordinate system to the surgical instrument tip coordinate system to obtain a seventh transformation matrixRTTip。
In one example, as shown in fig. 4, a seventh transformation matrix is obtained based on the following steps:
step S410, acquiring a twelfth transformation matrix from the robot coordinate system to the robot arm tail end coordinate system.
It should be noted that the computer device converts the robot coordinate system to the robot arm end coordinate system to obtain a twelfth transformation matrixRTTCP(TCP denotes the robot arm end coordinate system).
Step S420, a thirteenth transformation matrix from the robot arm end coordinate system to the surgical instrument tip coordinate system is obtained.
It should be noted that the computer device converts the coordinate system of the end of the robot arm to the coordinate system of the tip of the surgical instrument to obtain a thirteenth transformation matrixTCPTTip。
Step S430, a seventh transformation matrix is obtained based on the twelfth transformation matrix and the thirteenth transformation matrix.
It should be noted that, in one example, the seventh transformation matrix is obtained based on the following formulaRTTip：
RTTip＝RTTCP·TCPTTip
Step S230, a fourth transformation matrix is obtained based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
It should be noted that, in one example, the fourth transformation matrix is obtained based on the following formulaOTTip：
OTTip＝OTW·(RTW)-1·RTTip
S150, acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the surgical path coordinate system is a coordinate system for planning a surgical path in a three-dimensional model of the object to be operated.
It should be noted that, a preoperative doctor plans a surgical path in the three-dimensional model of the object to be operated on a computer device, and establishes a coordinate system of the surgical path. The computer equipment obtains a fifth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the operation pathPTTar。
In one example, as shown in fig. 5, a fifth transformation matrix is obtained based on the following steps:
step S510, acquiring a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is the coordinate system of the established three-dimensional model of the object to be operated.
It is noted that the conversion between the coordinate system of the object to be operated (P) and the coordinate system of the three-dimensional model (M)PTMAt least three groups of corresponding characteristic points in the coordinate system of the object to be operated and the coordinate system of the three-dimensional model are required to be established as a common reference:
the coordinate of three points of the coordinate system of the object to be operated is P1＝(x1 y1 z1)、P2＝(x2 y2 z2)、P3＝(x3 y3z3) First, a space coordinate system of the three points is established, and the three points can define two vectors a ═ P (P)1-P2)＝(x1-x2 y1-y2z1-z2)，b＝(P3-P2)＝(x3-x2 y3-y2 z3-z2) As two column vectors of the rotation matrix, the cross product of vector a and vector b results in a normal vector axb, whose three scalar elements can be represented as s1＝(y1-y2)(z3-z2)-(z1-z2)(y3-y2)，s2＝(z1-z2)(x3-x2)-(x1-x2)(z3-z2)，s3＝(x1-x2)(y3-y2)-(y1-y2)(x3-x2) A 1 is to P2The translation vector is used to establish the coordinate system of the positioning system, which can be expressed as the following rotation matrix TP:
Setting the coordinate of three points of the positioning system as M1＝(u1 v1 w1)、M2＝(u2 v2 w2)、M3＝(u3 v3 w3) First, a space coordinate system of the three points is established, and the three points can define two vectors c ═ M (M)1-M2)＝(u1-u2 v1-v2 w1-w2)，d＝(M3-M2)＝(u3-u2 v3-v2 w3-w2) As two column vectors of the rotation matrix, the cross product of vector c and vector d results in a normal vector cxd, the three scalar elements of which may be represented as k1＝(v1-v2)(w3-w2)-(w1-w2)(v3-v2)，k2＝(w1-w2)(u3-u2)-(u1-u2)(w3-w2)，k3＝(u1-u2)(v3-22)-(v1-v2)(u3-u2) Will M2The translation vector is used to establish the coordinate system of the positioning system, which can be expressed as the following rotation matrix TM:
Fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional modelPTM:
PTM＝(TP)-1·TM
Step S520, a fifteenth transformation matrix from the three-dimensional model coordinate system to the surgical path coordinate system is obtained.
It should be noted that the computer device converts the three-dimensional model coordinate system to the surgical path coordinate system to obtain a fifteenth transformation matrixMTTar。
Step S530, a fifth transformation matrix is obtained based on the fourteenth transformation matrix and the fifteenth transformation matrix.
It is to be noted thatIn one example, a fifth transformation matrix is obtained based on the following formulaPTTar
PTTar＝PTM·MTTar
And step S160, obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one example, in the step of obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix, and the fifth transformation matrix, the target transformation matrix is obtained based on the following formula:
TipTTar＝(OTTip)-1·OTW·(PTw)-1·PTTar
wherein Tip represents a surgical instrument Tip coordinate system; tar represents a surgical path coordinate system;TipTTarrepresenting a target transformation matrix; o represents a coordinate system of the positioning instrument;OTTiprepresenting a fourth transformation matrix; w represents a world coordinate system;OTWrepresenting a first transformation matrix; p represents a coordinate system of an object to be operated;PTwrepresenting a third transformation matrix;PTTara fifth transformation matrix is represented.
In this example, willOTTipAndRTWsubstituting the formula, and obtaining a target transformation matrix based on the following formula:
TipTTar＝(OTW·(RTRB·RBTW)-1·RTTip)-1·OTW·(PTw)-1·PTTar
the surgical scene configuration method provided by the embodiments of the present application acquires the position information of the position marker through the position finder to respectively acquire a world coordinate system, a coordinate system of an object to be operated, and a robot coordinate system, acquires a first transformation matrix from the coordinate system of the position finder to the world coordinate system, acquires a second transformation matrix from the coordinate system of the position finder to the coordinate system of the object to be operated, acquires a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix, acquires a fourth transformation matrix from the coordinate system of the position finder to a coordinate system of a tip of a surgical instrument based on the robot coordinate system, acquires a fifth transformation matrix from the coordinate system of the object to be operated to a coordinate system of a surgical path, and finally acquires a target transformation matrix from the coordinate system of the tip of the surgical instrument to the coordinate system of the surgical path based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix, and the fifth, therefore, each coordinate system is associated to the world coordinate system, so that when the positions of the image positioner, the object to be operated and the robot are changed in the operation process, the conversion of the coordinate system of the tip end of the surgical instrument to the coordinate system of the operation path is not influenced, the positions of the positioner, the object to be operated and the robot are not required to be re-calibrated, the navigation system keeps real-time accurate navigation, and the robot-assisted operation can be normally carried out.
It should be understood that although the various steps in the flow charts of fig. 1-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a surgical scene configuring apparatus including:
the first matrix acquisition module 61 is used for acquiring the position information of a first type of position marker arranged in the operation space through a positioning instrument to obtain a world coordinate system and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
a second matrix obtaining module 62, configured to collect, by using a positioning instrument, position information of a second type of position marker arranged on the object to be operated, to obtain a coordinate system of the object to be operated, and obtain a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
a third matrix obtaining module 63, configured to obtain a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
a fourth matrix obtaining module 64, configured to collect, by a positioning instrument, position information of a third type of position marker disposed on the robot flange to obtain a robot coordinate system, and obtain a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of a tip end of the surgical instrument based on the robot coordinate system;
a fifth matrix obtaining module 65, configured to obtain a fifth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the operation path; the operation path coordinate system is a coordinate system for planning an operation path in the three-dimensional model of the object to be operated;
and the target transformation matrix obtaining module 66 is configured to obtain a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one embodiment, the fourth matrix acquisition module includes:
a sixth matrix obtaining unit, configured to obtain a sixth transformation matrix from the robot coordinate system to the world coordinate system;
a seventh matrix obtaining unit, configured to obtain a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system;
and the fourth matrix obtaining unit is used for obtaining a fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
In one embodiment, the sixth matrix obtaining unit includes:
the eighth matrix acquisition subunit is used for acquiring the position information of a fourth type of position marker arranged on the robot base through the positioning instrument to obtain a robot base coordinate system and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system;
the ninth matrix obtaining subunit is used for obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix;
a tenth matrix obtaining subunit, configured to obtain a tenth transformation matrix from the coordinate system of the position finder to the coordinate system of the robot;
the eleventh matrix obtaining subunit is configured to obtain an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix;
and the sixth matrix obtaining subunit is configured to obtain a sixth transformation matrix based on the ninth transformation matrix and the eleventh transformation matrix.
In one embodiment, the seventh matrix obtaining unit includes:
a twelfth matrix obtaining subunit, configured to obtain a twelfth transformation matrix from the robot coordinate system to the robot arm end coordinate system;
a thirteenth matrix acquiring subunit, configured to acquire a thirteenth transformation matrix from the robot arm end coordinate system to the surgical instrument tip coordinate system;
and a seventh matrix obtaining subunit, configured to obtain a seventh transformation matrix based on the twelfth transformation matrix and the thirteenth transformation matrix.
In one embodiment, the fifth matrix acquisition module comprises:
a fourteenth matrix obtaining unit, configured to obtain a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is a coordinate system of the established three-dimensional model of the object to be operated;
a fifteenth matrix obtaining unit, configured to obtain a fifteenth transformation matrix from the three-dimensional model coordinate system to the surgical path coordinate system;
and a fifth matrix obtaining unit, configured to obtain a fifth transformation matrix based on the fourteenth transformation matrix and the fifteenth transformation matrix.
For specific limitations of the surgical scene configuration apparatus, reference may be made to the above limitations of the surgical scene configuration method, which is not described herein again. The modules of the surgical scene configuring apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a surgical scene configuration method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring position information of a first type of position marker arranged in an operation space through a positioning instrument to obtain a world coordinate system, and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
acquiring position information of a second type of position marker arranged on the object to be operated through a positioning instrument to obtain a coordinate system of the object to be operated, and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
acquiring position information of a third type of position marker arranged on a robot flange plate through a positioning instrument to obtain a robot coordinate system, and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of the tip end of a surgical instrument based on the robot coordinate system;
acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the operation path coordinate system is a coordinate system for planning an operation path in the three-dimensional model of the object to be operated;
and obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a sixth transformation matrix from the robot coordinate system to the world coordinate system;
acquiring a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system;
and obtaining a fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring position information of a fourth type of position marker arranged on a robot base through a positioning instrument to obtain a robot base coordinate system, and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system;
obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix;
acquiring a tenth transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the robot;
obtaining an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix;
and obtaining a sixth transformation matrix based on the ninth transformation matrix and the eleventh transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a twelfth transformation matrix from the robot coordinate system to the robot arm tail end coordinate system;
acquiring a thirteenth transformation matrix from the coordinate system of the tail end of the robot arm to the coordinate system of the tip end of the surgical instrument;
and obtaining a seventh transformation matrix based on the twelfth transformation matrix and the thirteenth transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is a coordinate system of the established three-dimensional model of the object to be operated;
acquiring a fifteenth transformation matrix of the three-dimensional model coordinate system to the surgical path coordinate system;
and obtaining a fifth transformation matrix based on the fourteenth transformation matrix and the fifteenth transformation matrix.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring position information of a first type of position marker arranged in an operation space through a positioning instrument to obtain a world coordinate system, and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
acquiring position information of a second type of position marker arranged on the object to be operated through a positioning instrument to obtain a coordinate system of the object to be operated, and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
acquiring position information of a third type of position marker arranged on a robot flange plate through a positioning instrument to obtain a robot coordinate system, and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of the tip end of a surgical instrument based on the robot coordinate system;
acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the operation path coordinate system is a coordinate system for planning an operation path in the three-dimensional model of the object to be operated;
and obtaining a target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a sixth transformation matrix from the robot coordinate system to the world coordinate system;
acquiring a seventh transformation matrix of the robot coordinate system to the surgical instrument tip coordinate system;
and obtaining a fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring position information of a fourth type of position marker arranged on a robot base through a positioning instrument to obtain a robot base coordinate system, and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system;
obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix;
acquiring a tenth transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the robot;
obtaining an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix;
and obtaining a sixth transformation matrix based on the ninth transformation matrix and the eleventh transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a twelfth transformation matrix from the robot coordinate system to the robot arm tail end coordinate system;
acquiring a thirteenth transformation matrix from the coordinate system of the tail end of the robot arm to the coordinate system of the tip end of the surgical instrument;
and obtaining a seventh transformation matrix based on the twelfth transformation matrix and the thirteenth transformation matrix.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is a coordinate system of the established three-dimensional model of the object to be operated;
acquiring a fifteenth transformation matrix of the three-dimensional model coordinate system to the surgical path coordinate system;
and obtaining a fifth transformation matrix based on the fourteenth transformation matrix and the fifteenth transformation matrix.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical scene configuration method is characterized by comprising the following steps:
acquiring position information of a first type of position marker arranged in an operation space through a positioning instrument to obtain a world coordinate system, and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
acquiring position information of a second type of position marker arranged on an object to be operated by the positioning instrument to obtain a coordinate system of the object to be operated and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
obtaining a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
acquiring position information of a third type of position marker arranged on a robot flange plate through the positioning instrument to obtain a robot coordinate system, and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a surgical instrument tip coordinate system based on the robot coordinate system;
acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the surgical path coordinate system is a coordinate system for planning a surgical path in the three-dimensional model of the object to be operated;
and obtaining a target transformation matrix from the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
2. The method for configuring surgical scene according to claim 1, wherein the step of obtaining the fourth transformation matrix of the coordinate system of the positioning instrument and the coordinate system of the tip of the surgical instrument based on the robot coordinate system comprises the steps of:
acquiring a sixth transformation matrix from the robot coordinate system to the world coordinate system;
acquiring a seventh transformation matrix from the robot coordinate system to the surgical instrument tip coordinate system;
and obtaining the fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix and the seventh transformation matrix.
3. The surgical scene configuring method according to claim 2, wherein the step of obtaining a sixth transformation matrix from the robot coordinate system to the world coordinate system includes the steps of:
acquiring position information of a fourth type of position marker arranged on a robot base through the positioning instrument to obtain a robot base coordinate system, and acquiring an eighth transformation matrix from the coordinate system of the positioning instrument to the robot base coordinate system;
obtaining a ninth transformation matrix from the robot base coordinate system to the world coordinate system based on the first transformation matrix and the eighth transformation matrix;
acquiring a tenth transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the robot;
obtaining an eleventh transformation matrix from the robot coordinate system to the robot base coordinate system based on the eighth transformation matrix and the tenth transformation matrix;
and obtaining the sixth transformation matrix based on the ninth transformation matrix and the eleventh transformation matrix.
4. The surgical scene configuration method according to claim 2, wherein the step of obtaining a seventh transformation matrix from the robot coordinate system to the surgical instrument tip coordinate system comprises the steps of:
acquiring a twelfth transformation matrix from the robot coordinate system to the robot arm tail end coordinate system;
acquiring a thirteenth transformation matrix from the coordinate system of the tail end of the robot arm to the coordinate system of the tip end of the surgical instrument;
and obtaining the seventh transformation matrix based on the twelfth transformation matrix and the thirteenth transformation matrix.
5. The method for configuring surgical scene according to claim 1, wherein the step of obtaining the fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the surgical path comprises the steps of:
acquiring a fourteenth transformation matrix from the coordinate system of the object to be operated to the coordinate system of the three-dimensional model; the three-dimensional model coordinate system is a coordinate system of the established three-dimensional model of the object to be operated;
acquiring a fifteenth transformation matrix from the three-dimensional model coordinate system to the surgical path coordinate system;
and obtaining the fifth transformation matrix based on the fourteenth transformation matrix and the fifteenth transformation matrix.
6. The surgical scene configuration method according to any one of claims 1 to 5, wherein in the step of obtaining the target transformation matrix of the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix, and the fifth transformation matrix, the target transformation matrix is obtained based on the following formula:
TipTTar＝(OTTip)-1·OTW·(PTw)-1·PTTar
wherein the Tip represents the surgical instrument Tip coordinate system; the Tar represents the surgical path coordinate system; the above-mentionedTipTTarRepresenting the target transformation matrix; the O represents a coordinate system of the positioning instrument; the above-mentionedOTTipRepresenting the fourth transformation matrix; the W represents the world coordinate system; the above-mentionedOTWRepresenting the first transformation matrix; the P represents the coordinate system of the object to be operated; the above-mentionedPTwRepresenting the third transformation matrix; the above-mentionedPTTarRepresenting the fifth transformation matrix.
7. A surgical scene configuring apparatus, comprising:
the system comprises a first matrix acquisition module, a second matrix acquisition module and a third matrix acquisition module, wherein the first matrix acquisition module is used for acquiring position information of a first type of position marker arranged in an operation space through a positioning instrument to obtain a world coordinate system and acquiring a first transformation matrix from the coordinate system of the positioning instrument to the world coordinate system;
the second matrix acquisition module is used for acquiring the position information of a second type of position marker arranged on the object to be operated through the positioning instrument to obtain a coordinate system of the object to be operated and acquiring a second transformation matrix from the coordinate system of the positioning instrument to the coordinate system of the object to be operated;
a third matrix obtaining module, configured to obtain a third transformation matrix from the coordinate system of the object to be operated to the world coordinate system based on the first transformation matrix and the second transformation matrix;
the fourth matrix acquisition module is used for acquiring position information of a third type of position marker arranged on the robot flange plate through the positioning instrument to obtain a robot coordinate system and acquiring a fourth transformation matrix of the coordinate system of the positioning instrument and a coordinate system of the tip end of the surgical instrument based on the robot coordinate system;
the fifth matrix acquisition module is used for acquiring a fifth transformation matrix of the coordinate system of the object to be operated to the coordinate system of the operation path; the surgical path coordinate system is a coordinate system for planning a surgical path in the three-dimensional model of the object to be operated;
and the target transformation matrix obtaining module is used for obtaining a target transformation matrix from the surgical instrument tip coordinate system to the surgical path coordinate system based on the first transformation matrix, the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix.
8. The surgical scene configuring device of claim 7, wherein the fourth matrix acquisition module comprises:
a sixth matrix obtaining unit, configured to obtain a sixth transformation matrix from the robot coordinate system to the world coordinate system;
a seventh matrix obtaining unit, configured to obtain a seventh transformation matrix from the robot coordinate system to the surgical instrument tip coordinate system;
a fourth matrix obtaining unit, configured to obtain the fourth transformation matrix based on the first transformation matrix, the sixth transformation matrix, and the seventh transformation matrix.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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Application publication date: 20210713 |