CN113729949A - Space registration method, surgical robot and space registration system - Google Patents
Space registration method, surgical robot and space registration system Download PDFInfo
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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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- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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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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Abstract
The application relates to a space registration method, a space registration device, a surgical robot, a computer device and a storage medium. The method comprises the following steps: receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot; judging whether the registration probe is in contact with the preset mark point or not according to the first feedback force and the second feedback force; and if so, determining the coordinates of the marking points according to the coordinates of the registration probes. By adopting the method, the efficiency of determining the coordinates of the preset mark points can be improved.
Description
Technical Field
The present application relates to the field of surgical robot technology, and in particular, to a spatial registration method, a surgical robot, and a spatial registration system.
Background
With the development of surgical robot technology, surgical robots are increasingly widely used in surgical operations. Generally, when a surgical robot is used to assist a doctor in performing a surgical operation, a spatial registration of a site to be operated is required to complete registration between coordinate systems of the site to be operated.
In the conventional technology, a common spatial registration method is contact registration, which requires a human hand to drag a mechanical arm of a surgical robot to contact a tool (such as a registration probe) mounted at the end of the mechanical arm with a marking point (such as a bone nail) on the skull of a patient, and after confirming that the two are attached to each other, data acquisition is performed to acquire coordinates of the current marking point.
However, the conventional spatial registration method has a problem of being time-consuming.
Disclosure of Invention
In view of the above, it is necessary to provide a spatial registration method, a surgical robot, and a spatial registration system that can solve the problem of long time consumption in spatial registration of a site to be operated.
A method of spatial registration, the method comprising:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registration probes.
In one embodiment, the determining whether the registration probe is in contact with the preset mark point according to the first feedback force and the second feedback force includes:
obtaining a change value of the feedback force according to the value of the first feedback force and the value of the second feedback force;
determining whether the registration probe is in contact with the marker point based on the value of the change in the feedback force.
In one embodiment, the determining whether the registration probe is in contact with the marker point according to the change value of the feedback force includes:
and if the change value of the feedback force is larger than or equal to a preset threshold value, determining that the registration probe is in contact with the mark point.
In one embodiment, the determining whether the registration probe is in contact with the preset mark point according to the first feedback force and the second feedback force includes:
and judging whether the registration probe is in contact with the marker point according to the direction of the first feedback force and the direction of the second feedback force.
In one embodiment, the determining whether the registration probe is in contact with the marker point according to the direction of the first feedback force and the direction of the second feedback force includes:
and if the direction of the first feedback force is opposite to that of the second feedback force, determining that the registration probe is in contact with the mark point.
In one embodiment, the first time and the second time are adjacent times, or a time difference between the first time and the second time is within a preset time difference range.
In one embodiment, the method further comprises:
and performing spatial registration on the surgical robot according to the coordinates of the mark points.
In one embodiment, the marker points comprise at least four marker points; the space registration of the surgical robot according to the coordinates of the mark points comprises the following steps:
and under the condition that the coordinate acquisition of each marking point is finished, determining that the spatial registration of the surgical robot is finished.
A surgical robot comprising a mechanical sensor, a mechanical arm, and a registration probe, the mechanical sensor disposed on the mechanical arm; the registration probe is positioned at the tail end of the mechanical arm;
the mechanical sensor is used for collecting a first feedback force at a first moment and collecting a second feedback force at a second moment; wherein the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot.
A spatial registration system, the system comprising a surgical robot and a computer device; the surgical robot comprises a mechanical sensor, a mechanical arm and a registration probe, wherein the mechanical sensor is arranged on the mechanical arm; the registration probe is positioned at the tail end of the mechanical arm;
the mechanical sensor is used for collecting a first feedback force at a first moment and collecting a second feedback force at a second moment; wherein the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
and the computer equipment is used for judging whether the registration probe is in contact with the preset mark point or not according to the first feedback force and the second feedback force.
A spatial registration apparatus, the apparatus comprising:
the receiving module is used for receiving a first feedback force acquired by the mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
the judging module is used for judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and the determining module is used for determining the coordinates of the marking points according to the coordinates of the registration probes if the registration probes are contacted with the preset marking points.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registration probes.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registration probes.
According to the space registration method, the surgical robot and the space registration system, the first feedback force acquired by the mechanical sensor at the first moment and the second feedback force acquired by the mechanical sensor at the second moment are received; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the motion process of the registration probe of the surgical robot; judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force; and if the registration probe is contacted with the preset mark point, determining the coordinate of the mark point according to the coordinate of the registration probe. According to the first feedback force acquired by the mechanical sensor at the first moment and the second feedback force acquired by the mechanical sensor at the second moment, whether the registration probe is in contact with the preset mark point or not can be judged, and the judgment process is simple and consumes less time, so that the efficiency of judging whether the registration probe is in contact with the preset mark point or not is improved, the coordinate of the preset mark point can be determined according to the coordinate of the registration probe under the condition that the registration probe is in contact with the preset mark point, the determination process is simple, and the efficiency of determining the coordinate of the preset mark point is improved; in addition, in the process, the coordinates of the mark points can be determined according to the coordinates of the registration probes only by contacting the registration probes of the surgical robot with the preset mark points, the registration probes are not required to be inserted into the mark points, the operation process is simplified, the user is not required to judge whether the joint is adhered by naked eyes, and the operation is simple.
Drawings
FIG. 1 is a diagram of an application environment of a spatial registration method in one embodiment;
FIG. 2 is a flow diagram illustrating a spatial registration method in accordance with an embodiment;
FIG. 3 is a flow diagram illustrating a spatial registration method in accordance with an embodiment;
FIG. 3a is a flowchart illustrating a spatial registration method according to an embodiment;
FIG. 4 is a flowchart illustrating a spatial registration method according to an embodiment;
FIG. 5 is a schematic diagram of the surgical robot in one embodiment;
FIG. 6 is a block diagram that illustrates a spatial registration system, according to one embodiment;
fig. 7 is a block diagram showing a configuration of a spatial registration apparatus according to an embodiment.
Description of reference numerals:
1: bone nails; 2: registering a probe; 3: a transfer flange; 4: a six-dimensional force sensor; 5: a robotic arm.
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.
The space registration method provided by the application can be applied to the computer equipment shown in fig. 1. The computer device comprises a processor and a memory connected by a system bus, wherein a computer program is stored in the memory, and the steps of the method embodiments described below can be executed when the processor executes the computer program. Optionally, the computer device may further comprise a network interface, a display screen and an input device. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a nonvolatile storage medium storing an operating system and a computer program, and an internal memory. 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. Optionally, the computer device may be a server, a personal computer, a personal digital assistant, other terminal devices such as a tablet computer, a mobile phone, and the like, or a cloud or a remote server, and the specific form of the computer device is not limited in the embodiment of the present application.
In one embodiment, as shown in fig. 2, a spatial registration method is provided, which is described by taking the method as an example applied to the computer device in fig. 1, and includes the following steps:
s201, receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot.
Specifically, the computer equipment receives a first feedback force acquired by the mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot. It should be noted here that in a scenario where the registered probe is dragged to move to contact with the preset mark point, there may be countless movement paths and movement postures, and the first feedback force and the second feedback force may be generated during the movement of the registered probe of the surgical robot along any path. Alternatively, the mechanical sensor may be a six-dimensional force sensor. Optionally, the first time and the second time may be adjacent times, or a time difference between the first time and the second time is within a preset time difference range. It should be noted that, when the time difference between the first time and the second time is within the preset time difference range, a situation that the mechanical sensor does not collect the feedback force at a certain time in the process of the movement of the registration probe of the surgical robot at the adjacent time can be avoided. It should be further noted that, in the embodiment of the present application, the feedback force acquired by the mechanical sensor is calculated by each joint value of the mechanical arm of the surgical robot.
And S202, judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force.
Specifically, the computer device judges whether the registration probe of the surgical robot is in contact with a preset marking point according to the first feedback force and the second feedback force. Optionally, the computer device may obtain a difference between the first feedback force and the second feedback force, and determine whether the registration probe of the surgical robot is in contact with the preset marker point according to the difference between the first feedback force and the second feedback force.
And S203, if so, determining the coordinates of the marking points according to the coordinates of the registered probes.
Specifically, if the computer device determines that the registration probe of the surgical robot is in contact with the preset marking point, the computer device determines the coordinates of the preset marking point according to the coordinates of the registration probe. In some embodiments, the computer device may directly determine the coordinates of the second-time registration probe as the coordinates of the mark point, or may adjust the coordinates of the second-time registration probe, for example, the coordinates of the second-time registration probe may be adjusted according to a pre-trained algorithm to obtain the coordinates of the mark point.
In the space registration method, the computer equipment can judge whether the registration probe is contacted with the preset mark point according to the first feedback force acquired by the mechanical sensor at the first moment and the second feedback force acquired by the mechanical sensor at the second moment, and the judgment process is simple and consumes less time, so that the efficiency of judging whether the registration probe is contacted with the preset mark point is improved, the coordinate of the preset mark point can be determined according to the coordinate of the registration probe under the condition of determining that the registration probe is contacted with the preset mark point, the determination process is simple, and the efficiency of determining the coordinate of the preset mark point is improved; in addition, in the process, the coordinates of the mark points can be determined according to the coordinates of the registration probes only by contacting the registration probes of the surgical robot with the preset mark points, the registration probes are not required to be inserted into the mark points, the operation process is simplified, the user is not required to judge whether the joint is adhered by naked eyes, and the operation is simple.
In the above-described scenario in which whether the registration probe is in contact with the preset mark point is determined according to the first feedback force and the second feedback force, the computer device may determine whether the registration probe is in contact with the preset mark point at the second time according to a change value of the feedback force. In one embodiment, as shown in fig. 3, the step S202 includes:
and S301, obtaining a change value of the feedback force according to the value of the first feedback force and the value of the second feedback force.
Specifically, the computer device obtains a change value of the feedback force according to a first feedback force value acquired by the mechanical sensor at a first moment and a second feedback force value acquired by the mechanical sensor at a second moment. Optionally, the computer device may obtain a difference between the first feedback force value and the second feedback force value to obtain a change value of the feedback force, or obtain a ratio between the first feedback force value and the second feedback force to obtain the change value of the feedback force.
And S302, determining whether the registration probe is in contact with the marking point according to the change value of the feedback force.
Specifically, the computer device determines whether the registration probe of the surgical robot is in contact with a preset marking point according to the obtained change value of the feedback force. Optionally, if the change value of the feedback force is greater than or equal to a preset threshold, the computer device determines that the registration probe of the surgical robot is in contact with a preset mark point; the preset threshold is determined by the computer device according to the force value variation generated during the movement process of the registered probe of the surgical robot dragged by the user manually, that is, the computer device may determine whether the registered probe of the surgical robot contacts the preset mark point by using the flowchart shown in fig. 3a, and determine the coordinate of the mark point according to the coordinate of the registered probe when the registered probe contacts the preset mark point. It can be understood that under normal conditions, the force and moment in the movement process of dragging the registration probe of the surgical robot by the hand can be increased or reduced, and the maximum force and moment variation under the normal dragging condition of the hand is recorded as Va＝[VFx VFy VFz VTx VTy VTz]' the registration probe and the preset mark point of the surgical robot are both made of rigid materials, when the registration probe is dragged to be in contact with the preset mark point, a collision is generated, and the variation of force and moment at the moment exceeds the variation of the set normal dragging condition of the human hand, so that whether the registration probe of the surgical robot is in contact with the preset mark point at the second moment can be determined according to the variation of the feedback force and the variation of the force value generated in the motion process of manually dragging the registration probe by a user.
In this embodiment, the computer device can quickly obtain a change value of the feedback force according to the value of the first feedback force acquired by the mechanical sensor at the first moment and the value of the second feedback force acquired by the mechanical sensor at the second moment, and then can quickly determine whether the registration probe of the surgical robot is in contact with the preset mark point according to the change value of the feedback force, so that the efficiency of determining whether the registration probe of the surgical robot is in contact with the preset mark point is improved.
In the above scenario where the registration probe is determined to be in contact with the preset mark point according to the first feedback force and the second feedback force, the computer device may further determine whether the registration probe is in contact with the preset mark point according to a direction of the first feedback force and a direction of the second feedback force. In one embodiment, the step S202 includes: and judging whether the registration probe is contacted with the marking point or not according to the direction of the first feedback force and the direction of the second feedback force.
Specifically, the computer device judges whether a registration probe of the surgical robot is in contact with a preset marking point according to the direction of a first feedback force acquired by the mechanical sensor at a first moment and the direction of a second feedback force acquired by the mechanical sensor at a second moment. Optionally, if the direction of the first feedback force is opposite to the direction of the second feedback force, the computer device determines that the registered probe of the surgical robot has contacted the preset marking point at the second moment. The computer device can determine the coordinates of the contact between the registration probe of the surgical robot and the preset mark points as the coordinates of the mark points, and can determine the coordinates of the contact with the mark points according to the contact time. In some embodiments, the computer device may directly determine the coordinates of the second-time registration probe as the coordinates of the mark point, or may adjust the coordinates of the second-time registration probe to obtain the coordinates of the mark point. It can be understood that, if the registration probe of the surgical robot is in contact with the preset marking point, the impact force during the contact changes the direction of the feedback force, so that whether the registration probe of the surgical robot is in contact with the preset marking point can be determined according to the direction of the feedback force.
Further, the computer device may further obtain a change value of the feedback force according to the value of the first feedback force and the value of the second feedback force, obtain whether the direction is changed according to the direction of the first feedback force and the direction of the second feedback force, determine that the registration probe is in contact with the mark point if the change value of the feedback force is greater than or equal to a preset threshold or the direction is changed, that is, if one of the change value and the direction is satisfied, and determine that the registration probe is not in contact with the mark point if the change value of the feedback force is less than the preset threshold and the direction is not changed.
In this embodiment, the process of determining whether the registration probe of the surgical robot contacts the preset mark point by the computer device according to the direction of the first feedback force acquired by the mechanical sensor at the first time and the direction of the second feedback force acquired by the mechanical sensor at the second time is very simple, the time consumption is low, and the efficiency of determining whether the registration probe of the surgical robot contacts the preset mark point by the computer device is improved.
On the basis of the above embodiment, in an embodiment, the method further includes: and performing space registration on the surgical robot according to the coordinates of the marking points.
Specifically, the computer device performs spatial registration on the surgical robot according to the coordinates of the preset mark points. It can be understood that, a precondition for performing a surgery on a patient by using a surgical robot is to determine a relative positional relationship between a patient space and a surgical robot operating space, the patient space is usually determined by a medical imaging device such as a CT image generated by CT scanning, and in order to determine the patient space and simultaneously avoid the surgical robot colliding with the medical imaging device, it is necessary to determine the relative positional relationship between the surgical robot operating space and the medical imaging device space, that is, to implement spatial registration between the surgical robot and the medical imaging device. Optionally, the computer device may determine the relative position relationship between the medical imaging device space and the patient space through the coordinates of the above-mentioned mark points, and perform spatial registration on the surgical robot. Generally, the marking points may include at least four marking points, and the computer device may determine that the spatial registration of the surgical robot is completed when the coordinate acquisition of the four marking points is completed, for example, as shown in fig. 4, fig. 4 is a schematic flow chart of the spatial registration of the surgical robot, and when the four marking points are completed (i.e., the contact between the registration probe and the bone nail is acquired four times), the computer device determines that the spatial registration of the surgical robot is completed. It can be understood that, in the conventional technology, in the contact registration workflow of the stereotactic navigation operation, a hand is required to drag the mechanical arm to contact a tool (such as a registration probe) installed at the tail end of the mechanical arm with a marking point (such as a bone nail) on the skull of a patient, and click on the acquired data on a software interface after confirming that the two are attached immovably, so as to acquire coordinates of the current marking point to finish one-time data acquisition.
In the embodiment, the computer device can perform spatial registration on the surgical robot according to the preset coordinates of the mark points, the registration process is simple, other operations are not needed, and the accuracy of spatial registration on the surgical robot is ensured.
It should be understood that although the various steps in the flow charts of fig. 2-4 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. 2-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided a surgical robot comprising a mechanical sensor 4, a robotic arm 5 and a registration probe 2, the mechanical sensor 4 being disposed on the robotic arm 5; the registration probe 2 is positioned at the tail end of the mechanical arm 5
The mechanical sensor 4 is used for collecting a first feedback force at a first moment and collecting a second feedback force at a second moment; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot. It should be noted that the mechanical sensor 4 in the present embodiment may be a six-dimensional force sensor as shown in fig. 5.
Illustratively, the position relationship between the mechanical sensor 4 and the mechanical arm 5 of the surgical robot may be as shown in fig. 5, and the registration probe 2 of the surgical robot may also be the registration probe 2 as shown in fig. 5. In fig. 5, reference numeral 1 denotes a bone screw, and reference numeral 3 denotes an adapter flange.
The mechanical sensor in the surgical robot provided in this embodiment may perform the steps performed by the mechanical sensor in the above method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.
In one embodiment, as shown in fig. 6, a spatial registration system is provided, the system comprising a surgical robot and a computer device; the surgical robot comprises a mechanical sensor, a mechanical arm and a registration probe, wherein the mechanical sensor is arranged on the mechanical arm; the registration probe is positioned at the tail end of the mechanical arm
The mechanical sensor is used for acquiring a first feedback force at a first moment and acquiring a second feedback force at a second moment; the first feedback force and the second feedback force are generated in the motion process of a registration probe of the surgical robot;
and the computer equipment is used for judging whether the registration probe is in contact with the preset marking point or not according to the first feedback force and the second feedback force acquired by the mechanical sensor, and determining the coordinate of the marking point according to the coordinate of the registration probe at the second moment under the condition that the registration probe is in contact with the preset marking point.
The spatial registration system provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, as shown in fig. 7, there is provided a spatial registration apparatus including: receiving module, judging module and confirming module, wherein:
the receiving module is used for receiving a first feedback force acquired by the mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot.
And the judging module is used for judging whether the registration probe is contacted with the preset mark point or not according to the first feedback force and the second feedback force.
And the determining module is used for determining the coordinates of the marking points according to the coordinates of the registration probes if the registration probes are contacted with the preset marking points.
Optionally, the first time and the second time are adjacent times, or a time difference between the first time and the second time is within a preset time difference range.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the determining module includes: an acquisition unit and a determination unit, wherein:
and the acquisition unit is used for obtaining the change value of the feedback force according to the value of the first feedback force and the value of the second feedback force.
And the determining unit is used for determining whether the registration probe is in contact with the marking point according to the change value of the feedback force.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the determining unit is specifically configured to determine that the registration probe is in contact with the mark point if the variation value of the feedback force is greater than or equal to a preset threshold value; the preset threshold is determined according to the force value variation generated in the movement process of manually dragging the registration probe by a user.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the determining module includes: a judging unit, wherein:
and the judging unit is used for judging whether the registration probe is contacted with the marking point according to the direction of the first feedback force and the direction of the second feedback force.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the determining unit is specifically configured to determine that the registration probe is in contact with the marker point if the direction of the first feedback force is opposite to the direction of the second feedback force.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the apparatus further includes: a registration module, wherein:
and the registration module is used for performing space registration on the surgical robot according to the coordinates of the mark points.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
On the basis of the foregoing embodiment, optionally, the mark points include at least four mark points, and the registration module includes: a registration unit, wherein:
and the registration unit is used for determining that the spatial registration of the surgical robot is finished under the condition that the coordinate acquisition of each marking point is finished.
The spatial registration apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
For the specific definition of the spatial registration apparatus, reference may be made to the above definition of the spatial registration method, which is not described herein again. The modules in the spatial registration 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, 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:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the motion process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registered probes.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
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:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein, the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the motion process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registered probes.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
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 can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
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 scope of the invention. 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 method of spatial registration, the method comprising:
receiving a first feedback force acquired by a mechanical sensor at a first moment and a second feedback force acquired by the mechanical sensor at a second moment; wherein the mechanical sensor is arranged on a mechanical arm of the surgical robot; the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
judging whether the registration probe is in contact with a preset mark point or not according to the first feedback force and the second feedback force;
and if so, determining the coordinates of the marking points according to the coordinates of the registration probes.
2. The method of claim 1, wherein determining whether the registration probe is in contact with a predetermined marker point based on the first feedback force and the second feedback force comprises:
obtaining a change value of the feedback force according to the value of the first feedback force and the value of the second feedback force;
determining whether the registration probe is in contact with the marker point based on the value of the change in the feedback force.
3. The method of claim 2, wherein determining whether the registration probe is in contact with the marker point based on the value of the change in the feedback force comprises:
and if the change value of the feedback force is larger than or equal to a preset threshold value, determining that the registration probe is in contact with the mark point.
4. The method of claim 1, wherein determining whether the registration probe is in contact with the predetermined marker point based on the first feedback force and the second feedback force comprises:
and judging whether the registration probe is in contact with the marker point according to the direction of the first feedback force and the direction of the second feedback force.
5. The method of claim 4, wherein determining whether the registration probe is in contact with the marker point based on the direction of the first feedback force and the direction of the second feedback force comprises:
and if the direction of the first feedback force is opposite to that of the second feedback force, determining that the registration probe is in contact with the mark point.
6. The method according to claim 1, wherein the first time and the second time are adjacent times, or a time difference between the first time and the second time is within a preset time difference range.
7. The method of any one of claims 1 to 6, further comprising:
and performing spatial registration on the surgical robot according to the coordinates of the mark points.
8. The method of claim 7, wherein the marker points comprise at least four marker points; the space registration of the surgical robot according to the coordinates of the mark points comprises the following steps:
and under the condition that the coordinate acquisition of each marking point is finished, determining that the spatial registration of the surgical robot is finished.
9. A surgical robot, comprising a mechanical sensor, a mechanical arm and a registration probe, wherein the mechanical sensor is arranged on the mechanical arm; the registration probe is positioned at the tail end of the mechanical arm;
the mechanical sensor is used for collecting a first feedback force at a first moment and collecting a second feedback force at a second moment; wherein the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot.
10. A spatial registration system, comprising a surgical robot and a computer device; the surgical robot comprises a mechanical sensor, a mechanical arm and a registration probe, wherein the mechanical sensor is arranged on the mechanical arm; the registration probe is positioned at the tail end of the mechanical arm;
the mechanical sensor is used for collecting a first feedback force at a first moment and collecting a second feedback force at a second moment; wherein the first feedback force and the second feedback force are generated in the movement process of the registration probe of the surgical robot;
and the computer equipment is used for judging whether the registration probe is in contact with the preset mark point or not according to the first feedback force and the second feedback force.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS59135333A (en) * | 1982-12-29 | 1984-08-03 | ウエスターン エレクトリック カムパニー，インコーポレーテッド | Contact sensor |
| CN1554315A (en) * | 2003-12-26 | 2004-12-15 | 北京航空航天大学 | Medical robot vision registration method |
| US20180263714A1 (en) * | 2017-03-16 | 2018-09-20 | KB Medical SA | Robotic navigation of robotic surgical systems |
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2021
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59135333A (en) * | 1982-12-29 | 1984-08-03 | ウエスターン エレクトリック カムパニー，インコーポレーテッド | Contact sensor |
| CN1554315A (en) * | 2003-12-26 | 2004-12-15 | 北京航空航天大学 | Medical robot vision registration method |
| US20180263714A1 (en) * | 2017-03-16 | 2018-09-20 | KB Medical SA | Robotic navigation of robotic surgical systems |
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