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CN114027975A - A 3D visualization system for puncture surgery robot CT - Google Patents

A 3D visualization system for puncture surgery robot CT Download PDF

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CN114027975A
CN114027975A CN202111178490.0A CN202111178490A CN114027975A CN 114027975 A CN114027975 A CN 114027975A CN 202111178490 A CN202111178490 A CN 202111178490A CN 114027975 A CN114027975 A CN 114027975A
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puncture
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needle
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欧阳春
甘中学
牛福永
张宏达
管宇翔
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Fudan University
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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
    • A—HUMAN NECESSITIES
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    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B2034/2065—Tracking using image or pattern recognition

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Abstract

本发明属于医疗设备技术领域，具体为一种穿刺手术机器人CT三维可视化系统；本发明系统包括超声仪系统、空间定位系统、图像采集系统、计算机系统；超声仪系统用于获取实施的B型超声图像；空间定位系统采用电磁定位系统，用于确定穿刺针的空间定位；图像采集系统用于将二维图像采集到的计算机中，以便进行三维图像的重建；计算机用于接收其余系统的数据并将其三维重建以及可视化。本发明通过电磁定位，定位能力强，抗干扰能力强，并且体积微型化，在手术下能够获得较好的精度，包括可确保后期三维可视化有更高的精度，在穿刺手术中可以获得精确的路径规划。

Figure 202111178490

The invention belongs to the technical field of medical equipment, in particular to a CT three-dimensional visualization system of a puncture surgery robot; the system of the invention comprises an ultrasonic instrument system, a spatial positioning system, an image acquisition system and a computer system; the ultrasonic instrument system is used for acquiring the implemented B-type ultrasound image; the spatial positioning system adopts the electromagnetic positioning system to determine the spatial positioning of the puncture needle; the image acquisition system is used to collect the two-dimensional image into the computer for reconstruction of the three-dimensional image; the computer is used to receive the data of the other systems and 3D reconstruction and visualization. Through electromagnetic positioning, the invention has strong positioning ability, strong anti-interference ability, and miniaturized volume, so that better precision can be obtained under operation, including ensuring higher precision of three-dimensional visualization in the later stage, and accurate precision can be obtained in puncture operation. route plan.

Figure 202111178490

Description

CT three-dimensional visualization system of puncture surgical robot
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a CT three-dimensional visualization system of a puncture surgery robot.
Background
The puncture surgery is more and more favored by doctors and patients due to the advantages of small trauma, light pain, less surgical complications, quick recovery and the like, and ultrasound images are mostly used for guiding the puncture surgery in clinic, but the clinical manual puncture surgery often has certain limitations due to the problems of low accuracy, low precision and the like, so that the operation mode of the image-guided puncture robot is urgently needed to be popularized and applied, and the image-guided mode has greater requirements on the three-dimensional image constructed by the image-guided puncture robot. Therefore, a three-dimensional CT visualization system with high image accuracy and high positioning accuracy for a puncture surgical robot is needed.
Disclosure of Invention
The invention aims to provide a CT three-dimensional visualization system of a puncture surgery robot, which has high image precision and high positioning precision.
The invention provides a CT three-dimensional visualization system of a puncture surgical robot, which comprises: the system comprises an ultrasonic instrument system, a space positioning system, an image acquisition system and a computer system; wherein:
the ultrasonic instrument system is used for acquiring an implemented B-mode ultrasonic image;
the space positioning system adopts electromagnetic positioning to determine the space positioning of the puncture needle;
the image acquisition system is used for acquiring the two-dimensional image into a computer so as to reconstruct a three-dimensional image;
and the computer system is used for receiving the data of the other systems and carrying out three-dimensional reconstruction and visualization on the data.
Further, the space positioning system comprises an electromagnetic transmitter, an electromagnetic receiver and an electronic unit; the electromagnetic transmitter and the electromagnetic receiver are respectively connected with the electronic unit and used for transmitting and receiving pose data.
Further, the electromagnetic receiver comprises an ultrasonic probe electromagnetic receiver and a puncture needle tail end electromagnetic receiver; the ultrasonic probe electromagnetic receiver is used for determining the spatial position of a pixel in a two-dimensional ultrasonic image in a three-dimensional lattice; the electromagnetic receiver at the tail end of the puncture needle is used for monitoring the pose of the puncture needle.
The electromagnetic transmitter is fixed relative to the surgical robot base and the surgical bed, and the electromagnetic receiver is respectively fixed on the ultrasonic probe and the tail end of the puncture needle so as to transmit and receive signals.
Furthermore, the computer system comprises a software system running on a computer, wherein the software system comprises a 2D ultrasonic image and position acquisition module thereof, a 2D ultrasonic image preprocessing and feature point extraction module, a voxel gray body calculation and three-dimensional crystal visualization module, a puncture robot motion parameter calculation module and a puncture robot motion control module. By acquiring the 2D image and the pose information of the focus and establishing the three-dimensional model of the focus by using the three-dimensional reconstruction technology, a doctor can conveniently perform surgical planning on the three-dimensional reconstruction model of the focus and designate a proper needle insertion route.
The 2D ultrasonic image and position acquisition module thereof comprises: in a freehand three-dimensional ultrasonic system based on electromagnetic positioning, software needs to acquire a 2D ultrasonic image of a focus area and pose data corresponding to each image at the same time so as to establish a three-dimensional model of the focus.
The 2D ultrasonic image preprocessing and feature point extracting module comprises: since B-mode ultrasound contains a lot of useless information areas, in order to reduce the calculation amount of three-dimensional reconstruction, the software module needs to reserve high-density important information area images and eliminate images of the useless areas. When the ultrasonic probe is calibrated, 5 bright spot areas on an image need to be extracted, and software needs to determine that the coordinates of 5 points in an image coordinate system are characteristic points.
The voxel gray body calculation and three-dimensional crystal visualization module comprises: the software module firstly calculates the coordinates of pixel points in a two-dimensional image in a three-dimensional lattice according to the calibration result of the probe and the coordinate transformation relation between the electromagnetic emitter and the three-dimensional image, then calculates the voxel gray scale according to the spatial position relation between voxels and pixels in the three-dimensional lattice, finally displays the three-dimensional lattice after the voxels are filled through a three-dimensional visualization technology, and allows a doctor to carry out interactive operations such as sectioning and measurement on the three-dimensional lattice so as to select an optimal needle insertion path.
The puncture robot motion parameter calculation module: the software module firstly maps the needle insertion path in the three-dimensional image to a robot space through coordinate transformation, and then calculates the motion parameters of the robot according to the geometric relationship between the robot and the needle insertion path and the puncture needle: three translation amounts of the arm, two rotation angles of the wrist, and the depth of the needle insertion.
The puncture robot motion control module: based on the motion planning of the robot, the software module realizes the motion function required by the robot puncture operation. The motion of the robot can be divided into arm translation motion, wrist rotation motion, needle insertion motion and needle withdrawal motion according to the sequence. The arm translation motion is realized by a robot external force dragging mode, and is similar to clinical manual puncture. In order to keep the needle point still when the wrist adjusts the puncture needle position, the software realizes the robot fixed-point posture adjustment function through a needle point displacement compensation algorithm ' refer to ' puncture surgery robot auxiliary system research based on three-dimensional ultrasonic images '. The problems of safety, soft tissue deformation and the like need to be considered when the robot is used for needle insertion, and the software realizes the fuzzy control of the needle insertion speed of the robot based on force/position feedback. After tissue extraction or treatment is completed, the robot rapidly withdraws the puncture needle to a safe position along the needle insertion path.
In the motion parameter calculation module of the puncture robot, the required position of the robot can be represented in the laplace domain as follows: firstly, the impedance control position model building module used by the method is as follows:
Fh＝Md(Xd-Xc)+Bd(Xd-Xc)+Kd(Xd-Xc)；
wherein: xcIndicates the current position, XdIndicating the desired position, MdVirtual inertia matrix representing the robot, BdVirtual damping matrix, K, representing a robotdVirtual stiffness matrix representing a robot, M in a modeld，KdImpedance of robotThe characteristic coefficients are all diagonal arrays. MdThe virtual inertia matrix has strong impact force and great influence on the motion process with large speed transformation; b isdThe virtual damping matrix has great influence on external interference and rapid movement of position change; the virtual stiffness matrix has a large influence on motion near a low-speed motion or stationary state.
The robot desired position can then be expressed in the laplace domain as:
△X(S)＝Fh(s)/Mds2+BdS+Kd＝Fh(s)H(s)； (1)
wherein, Delta X(S)Is the Laplace transform of DeltaX, Fh(s) is FhAnd laplace transform of s. S, obtaining the position of the robot through a six-dimensional force sensor; h(s) obtaining the position of the outer robot on the height through a six-dimensional force sensor;
through the analysis, the controller for the compliant position of the robot joint space is as follows:
Figure BDA0003296364220000031
wherein, f is the external acting force obtained by the six-dimensional force sensor.
An expression of velocity and acceleration is obtained by using a backward difference method:
△X(k)＝a0△F(k)+a1△x(k-1)+a2△x(k-2)； (3)
wherein:
Figure BDA0003296364220000032
wherein: fh is Md(Xd-Xc)+Bd(Xd-Xc)+Kd(Xd-Xc)；
Xc represents the current position, Xd represents the desired position, Md represents the virtual inertial matrix of the robot, Bd represents the virtual damping matrix of the robot, Kd represents the virtual stiffness matrix of the robot, and T is the sampling time.
Furthermore, in the three-dimensional crystal visualization module, a Ray-Casting algorithm is adopted. The Ray-Casting algorithm, belonging to the volume rendering algorithm, is a light Ray transmission method, and has higher and clearer image quality. The basic principle of Ray Casting (Ray-Casting) is that, based on the visual imaging mechanism, an idealized physical model is first constructed (i.e. each voxel is considered as a particle capable of projecting, emitting and reflecting light), then a specific color value v I (the gray level image is a gray level value, also called light intensity) and opacity (opacity) are assigned to each voxel according to the illumination model, the shading model and the medium properties of the voxel, then a ray is emitted from each pixel point on the screen along the set sight line direction, the ray passes through the three-dimensional data field and intersects with a plurality of voxels, selecting a plurality of equidistant or non-equidistant sampling points on a ray, and solving the color value and opacity of all the sampling points on the ray by an interpolation method (nearest neighbor interpolation or trilinear interpolation), see 'research on puncture surgery robot auxiliary system based on three-dimensional ultrasonic images'.
The invention has the beneficial effects that:
through the effect of electromagnetic positioning, the location ability is strong, and the interference killing feature is strong to the volume is miniature, can obtain better precision effect under the operation, plays a better precision assurance effect to the three-dimensional visualization of later stage, guarantees that the three-dimensional effect of later stage is more accurate, can obtain accurate route planning in the puncture operation.
Drawings
Fig. 1 is a structural diagram of a CT three-dimensional visualization system of a puncture surgical robot according to the present invention.
Fig. 2 is a data acquisition flow diagram of an electromagnetic positioning system of a CT three-dimensional visualization system of a puncture surgical robot according to the present invention.
Fig. 3 is a three-dimensional visualization step illustration of a CT three-dimensional visualization system of a puncture surgical robot according to the present invention.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
the invention aims to provide a CT three-dimensional visualization software system of a puncture surgery robot, which has high image precision and high positioning precision.
As shown in fig. 1, in order to ensure high image precision and high positioning precision during use, the invention relates to a CT three-dimensional visualization software system for a puncture surgical robot, comprising:
the system comprises an ultrasonic instrument system, a space positioning system, an image acquisition system and a computer system;
the ultrasonic instrument system is used for acquiring an implemented B-mode ultrasonic image; the space positioning system adopts an electromagnetic positioning system and is used for determining the space positioning of the puncture needle; the image acquisition system is used for acquiring a two-dimensional image into a computer so as to reconstruct a three-dimensional image; the computer is used for receiving data of the rest systems, and reconstructing and visualizing the data in three dimensions.
The invention has the advantages that through the electromagnetic positioning effect, the positioning capability is strong, the anti-interference capability is strong, the size is miniature, a better precision effect can be obtained under the operation, a better precision guarantee effect is realized on the later three-dimensional visualization, the later three-dimensional effect is more accurate, and the accurate path planning can be obtained in the puncture operation.
As shown in fig. 2, further, the electromagnetic positioning system includes an electromagnetic transmitter, an electromagnetic receiver, an electronic unit; the electromagnetic transmitter and the electromagnetic receiver are respectively connected with the electronic unit and used for transmitting and receiving pose data.
Further, the electromagnetic receiver comprises an ultrasonic probe electromagnetic receiver and a puncture needle tail end electromagnetic receiver; the ultrasonic probe electromagnetic receiver is used for determining the spatial position of a pixel in a two-dimensional ultrasonic image in a three-dimensional lattice; the electromagnetic receiver at the tail end of the puncture needle is used for monitoring the pose of the puncture needle. The transmitter is fixed relative to the surgical robot base and the operating bed, and the receiver is respectively fixed on the ultrasonic probe and the tail end of the puncture needle, so as to transmit and receive signals.
As shown in fig. 3, the computer system further includes a 2D ultrasound image and position acquisition module, a 2D ultrasound image preprocessing and feature point extraction module, a voxel gray body calculation and three-dimensional crystal visualization module, a puncture robot motion parameter calculation module, and a puncture robot motion control module. By acquiring the 2D image and the pose information of the focus and establishing the three-dimensional model of the focus by using the three-dimensional reconstruction technology, a doctor can conveniently perform surgical planning on the three-dimensional reconstruction model of the focus and designate a proper needle insertion route.
In actual operation, the 2D ultrasonic image and the position acquisition module thereof are used for acquiring the 2D ultrasonic image of a focus area and the pose data corresponding to each image so as to establish a three-dimensional image of the focus, and the 2D ultrasonic image preprocessing and feature point extraction module is used for removing useless information areas in B-mode ultrasonography so as to reduce the calculation amount of three-dimensional reconstruction. The coordinate of a pixel point of the two-dimensional image in the three-dimensional lattice is calculated by a voxel gray body calculation and three-dimensional crystal visualization module according to the calibration result of the probe and the coordinate transformation relation between the electromagnetic emitter and the three-dimensional image, then the voxel gray is calculated according to the spatial position relation between the voxel and the pixel in the three-dimensional lattice, finally the three-dimensional lattice filled with the voxel is displayed by a three-dimensional visualization technology, and a doctor is allowed to carry out sectioning, measurement and other interactive operations on the three-dimensional lattice so as to select the optimal needle insertion path.
Further, the three-dimensional crystal visualization module adopts a Ray-Casting algorithm. The Ray-Casting algorithm, belonging to the volume rendering algorithm, is a light Ray transmission method, and has higher and clearer image quality.
In actual operation, firstly constructing an ideal physical model by a ray transmission method according to a visual imaging mechanism, then distributing a specific color value and different transparencies for each voxel according to a lighting model, a shading model machine and the medium attributes of the voxels, then starting from each pixel point on a screen, sending a ray along a set ray direction, enabling the ray to pass through a three-dimensional data field and intersect with a plurality of voxels, selecting a plurality of equidistant or non-equidistant sampling points on the ray, calculating the color value and the opacity of all the sampling points on the ray by a difference method, setting the intersection point of the ray and the voxels as the sampling points, finally respectively synthesizing and accumulating the color value and the opacity of all the sampling points on the ray in a right backward or forward or backward sequence, and stopping ray propagation when the opacity is accumulated to 1 or the ray passes through the three-dimensional data field, and the current synthesized color value is taken as the color value of the pixel point on the screen.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Claims (8)

1.一种穿刺手术机器人CT三维可视化系统，其特征在于，包括：超声仪系统，空间定位系统，图像采集系统，计算机系统；其中：1. a puncture operation robot CT three-dimensional visualization system, is characterized in that, comprises: ultrasonic instrument system, space positioning system, image acquisition system, computer system; Wherein: 所述超声仪系统，用于获取实施的B型超声图像；The ultrasound system is used to obtain the implemented B-mode ultrasound image; 所述空间定位系统，采用电磁定位，确定穿刺针的空间定位；包括电磁发射器、电磁接收器、电子单元；所述电磁发射器、电磁接收器分别与所述电子单元连接，用于发射和接收位姿数据；The spatial positioning system adopts electromagnetic positioning to determine the spatial positioning of the puncture needle; it includes an electromagnetic transmitter, an electromagnetic receiver, and an electronic unit; the electromagnetic transmitter and the electromagnetic receiver are respectively connected with the electronic unit for transmitting and receive pose data; 所述电磁接收器包括超声探头电磁接收器、穿刺针末端电磁接收器；所述超声探头电磁接收器用于确定二维超声图像中的像素在三维晶格中的空间位置；所述穿刺针末端电磁接收器是用来实施监控穿刺针的位姿；The electromagnetic receiver includes an ultrasonic probe electromagnetic receiver and an electromagnetic receiver at the end of the puncture needle; the ultrasonic probe electromagnetic receiver is used to determine the spatial position of the pixel in the two-dimensional ultrasonic image in the three-dimensional lattice; the electromagnetic receiver at the end of the puncture needle The receiver is used to monitor the posture of the puncture needle; 所述电磁发射器相对于手术机器人底座和手术床固定，所述电磁接收器分别固定在超声探头上以及穿刺针的末端，以此来发射和接收信号；The electromagnetic transmitter is fixed relative to the base of the surgical robot and the operating bed, and the electromagnetic receiver is respectively fixed on the ultrasonic probe and the end of the puncture needle to transmit and receive signals; 所述图像采集系统，用于将二维图像采集到计算机中，以便进行三维图像的重建；The image acquisition system is used to acquire two-dimensional images into a computer, so as to reconstruct three-dimensional images; 所述计算机系统，用于接收其余系统的数据并将其三维重建以及可视化；包括运行于计算机上的软件系统，软件系统包括2D超声图像及其位置采集模块，2D超声图像预处理及特征点提取模块，体素灰体计算及三维晶体可视化模块，穿刺机器人运动参数计算模块，穿刺机器人运动控制模块；通过获取病灶的2D图像及位姿信息，并且利用三维重建技术建立病灶的三维模型，以便医生能够在病灶的三维重建模型上进行手术规划，指定合适的进针路线。The computer system is used to receive the data of other systems and to reconstruct and visualize them in 3D; including a software system running on the computer, the software system includes a 2D ultrasound image and its position acquisition module, 2D ultrasound image preprocessing and feature point extraction module, voxel gray body calculation and 3D crystal visualization module, puncture robot motion parameter calculation module, puncture robot motion control module; by acquiring 2D images and pose information of the lesion, and using 3D reconstruction technology to build a 3D model of the lesion, so that doctors can Surgical planning can be performed on the 3D reconstructed model of the lesion and an appropriate needle insertion route can be specified. 2.根据权利要求1所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述2D超声图像及其位置采集模块，通过在基于电磁定位的freehand三维超声系统内，同时采集病灶区域的2D超声图像及每张图像对应的位姿数据，以便建立病灶的三维模型。2 . The three-dimensional visualization system for puncture surgery robot CT according to claim 1 , wherein the 2D ultrasound image and its position acquisition module are collected in a freehand three-dimensional ultrasound system based on electromagnetic positioning by simultaneously collecting 2D images of the lesion area. 3 . Ultrasound images and the pose data corresponding to each image in order to establish a three-dimensional model of the lesion. 3.根据权利要求2所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述2D超声图像预处理及特征点提取模块中，通过预处理，保留高密度的重要信息区域图像，剔除无用区域的图像；超声探头标定时提取图像上的5个亮点区，确定5个点在图像坐标系中的坐标即为特征点。3. The CT three-dimensional visualization system of a puncture surgery robot according to claim 2, characterized in that, in the 2D ultrasound image preprocessing and feature point extraction module, through preprocessing, high-density images of important information regions are retained, and useless images are eliminated. When the ultrasonic probe is calibrated, 5 bright spots on the image are extracted, and the coordinates of the 5 points in the image coordinate system are determined as feature points. 4.根据权利要求2所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述体素灰体计算及三维晶体可视化模块，首先根据探头标定结果及电磁发射器与三维图像的坐标变换关系计算出二维图像中的像素点在三维晶格中的坐标，然后根据三维晶格中体素与像素的空间位置关系计算体素灰度，最后通过三维可视化技术显示填充体素后的三维晶格，并允许医生对三维晶格进行剖切和测量等交互操作，以便选择最佳进针路径。4. The CT three-dimensional visualization system of a puncture surgery robot according to claim 2, wherein the voxel gray body calculation and the three-dimensional crystal visualization module are first based on the probe calibration result and the coordinate transformation relationship between the electromagnetic transmitter and the three-dimensional image. Calculate the coordinates of the pixels in the two-dimensional image in the three-dimensional lattice, then calculate the voxel grayscale according to the spatial position relationship between the voxels and the pixels in the three-dimensional lattice, and finally display the three-dimensional crystal after filling the voxels through the three-dimensional visualization technology. It allows the physician to perform interactive operations such as sectioning and measuring the 3D lattice in order to select the optimal needle entry path. 5.根据权利要求4所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述穿刺机器人运动参数计算模块，首先通过坐标变换将三维图像中的进针路径映射到机器人空间，然后根据机器人与进针路径、穿刺针的几何关系计算出机器人的运动参数，运动参数包括：手臂的三个平移量、手腕的两个旋转角以及进针深度。5. The CT three-dimensional visualization system of the puncture surgery robot according to claim 4, wherein the puncture robot motion parameter calculation module first maps the needle insertion path in the three-dimensional image to the robot space through coordinate transformation, and then according to the robot The motion parameters of the robot are calculated from the geometric relationship with the needle insertion path and the puncture needle. The movement parameters include: three translations of the arm, two rotation angles of the wrist and the depth of the needle insertion. 6.根据权利要求5所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述穿刺机器人运动控制模块，基于机器人的运动规划，实现机器人穿刺手术所需要的运动功能；机器人运动按先后顺序分为手臂平移运动、手腕旋转运动、进针运动以及退针运动；其中，手臂平移运动是通过机器人外力拖动方式实现的，与临床手动穿刺相类似；为了使手腕在调整穿刺针方位时保持针尖点不动，通过针尖位移补偿算法实现机器人定点调姿功能；机器人进针时要考虑安全性及软组织变形等问题，该软件模块基于力/位反馈的机器人进针速度模糊控制；在完成组织提取或治疗后，机器人快速将穿刺针沿进针路径退出到安全位置。6. The CT three-dimensional visualization system of a puncture operation robot according to claim 5, wherein the puncture robot motion control module realizes the motion function required by the robot puncture operation based on the motion planning of the robot; the robot moves in sequence. It is divided into arm translation movement, wrist rotation movement, needle insertion movement and needle withdrawal movement; among them, the arm translation movement is realized by the external force of the robot, which is similar to clinical manual puncture; in order to keep the wrist when adjusting the orientation of the puncture needle The needle point does not move, and the robot's fixed-point attitude adjustment function is realized through the needle point displacement compensation algorithm; the safety and soft tissue deformation must be considered when the robot is inserted into the needle. After extraction or treatment, the robot quickly withdraws the puncture needle along the needle entry path to a safe position. 7.根据权利要求6所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述穿刺机器人运动参数计算模块中，机器人所需位置在拉普拉斯域中的表示如下：7. The CT three-dimensional visualization system of a puncture surgery robot according to claim 6, wherein, in the puncture robot motion parameter calculation module, the representation of the required position of the robot in the Laplace domain is as follows: 首先，对于其所用到的阻抗控制位置模型建立如下：First, the impedance control position model used is established as follows: Fh＝Md(Xd-Xc)+Bd(Xd-Xc)+Kd(Xd-Xc)；F h =M d (X d -X c )+B d (X d -X c )+K d (X d -X c ); 其中：Xc表示当前位置，Xd表示期望位置，Md表示机器人的虚拟惯性矩阵，Bd表示机器人的虚拟阻尼矩阵，Kd表示机器人的虚拟刚度矩阵，模型中的Md，Kd为机器人的阻抗特性系数，都为对角阵；Md虚拟惯性矩阵对冲击力较强，速度变换较大的运动过程有较大影响；Bd虚拟阻尼矩阵对外界干扰以及位置变化较快的运动有较大的影响；虚拟刚度矩阵对低速运动或静止状态附近的运动影响较大；Where: X c represents the current position, X d represents the desired position, M d represents the virtual inertia matrix of the robot, B d represents the virtual damping matrix of the robot, K d represents the virtual stiffness matrix of the robot, and M d in the model, K d is The impedance characteristic coefficients of the robot are all diagonal matrices; the M d virtual inertia matrix has a great influence on the motion process with strong impact force and large speed transformation ; have a greater impact; the virtual stiffness matrix has a greater impact on low-speed motion or motion near a stationary state; 于是，机器人所需位置在拉普拉斯域中表示为：Therefore, the desired position of the robot is expressed in the Laplace domain as: △X(S)＝Fh(s)/Mds2+BdS+Kd＝Fh(s)H(s)； (1)△X (S) =F h (s)/M d s 2 +B d S+K d =F h (s)H(s); (1) 其中，△X(S)是△X的拉普拉斯变换，Fh(s)是Fh和s的拉普拉斯变换；S是通过六维力传感器得到机器人位置；H(s)通过六维力传感器得到外部的机器人高度上的位置；Among them, △X (S) is the Laplace transform of △X, F h (s) is the Laplace transform of F h and s; S is the robot position obtained by the six-dimensional force sensor; H(s) is obtained by The six-dimensional force sensor obtains the position on the height of the external robot; 机器人关节空间的柔顺位置控制器为:The compliant position controller of the robot joint space is:
Figure FDA0003296364210000021
Figure FDA0003296364210000021
 其中，f为六维力传感器得到外部的作用力；Among them, f is the external force obtained by the six-dimensional force sensor; 通过使用向后差分的方法得到速度与加速度的表达式：The expressions for velocity and acceleration are obtained by using the backward difference method: △X(k)＝a0△F(k)+a1△x(k-1)+a2△x(k-2)； (3)△X(k)=a 0 △F(k)+a 1 △x(k-1)+a 2 △x(k-2); (3) 其中：in:
Figure FDA0003296364210000022
Figure FDA0003296364210000022
 其中：Fh＝Md(Xd-Xc)+Bd(Xd-Xc)+Kd(Xd-Xc)；Wherein: Fh=M d (X d -X c )+B d (X d -X c )+K d (X d -X c ); Xc表示当前位置，Xd表示期望位置，Md表示机器人的虚拟惯性矩阵，Bd表示机器人的虚拟阻尼矩阵，Kd表示机器人的虚拟刚度矩阵，T是采样时间。Xc is the current position, Xd is the desired position, Md is the virtual inertia matrix of the robot, Bd is the virtual damping matrix of the robot, Kd is the virtual stiffness matrix of the robot, and T is the sampling time. 8.根据权利要求7所述的穿刺手术机器人CT三维可视化系统，其特征在于，所述三维晶体可视化模块中，采用Ray-Casting算法，基本原理是视觉成像机理，首先构造出理想化的物理模型，即将每个体素都看成是能够投射、发射和反射光线的粒子；然后依据光照模型、明暗模型及体素的介质属性为每个体素分配特定的颜色值vI和不透明度；然后从屏幕上的每个像素点出发，沿设定的视线方向发出一条射线；该射线穿过三维体数据场并与很多体素相交，在射线上选择若干个等距或不等距采样点，并用插值方法求出该射线上所有采样点的颜色值和不透明度。8. The CT three-dimensional visualization system of a puncture surgery robot according to claim 7, wherein, in the three-dimensional crystal visualization module, a Ray-Casting algorithm is adopted, and the basic principle is a visual imaging mechanism, and an idealized physical model is first constructed. , that is, treat each voxel as a particle that can cast, emit and reflect light; then assign each voxel a specific color value vI and opacity according to the lighting model, shading model, and the media properties of the voxel; Starting from each pixel point, a ray is emitted along the set line of sight; the ray passes through the 3D volume data field and intersects with many voxels, selects several equidistant or non-equidistant sampling points on the ray, and uses the interpolation method Finds the color value and opacity of all sample points on this ray.
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