CN100496429C - Robot operation locating method of surgical operation navigation system based on optical positioning - Google Patents
Robot operation locating method of surgical operation navigation system based on optical positioning Download PDFInfo
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- CN100496429C CN100496429C CNB2005100131901A CN200510013190A CN100496429C CN 100496429 C CN100496429 C CN 100496429C CN B2005100131901 A CNB2005100131901 A CN B2005100131901A CN 200510013190 A CN200510013190 A CN 200510013190A CN 100496429 C CN100496429 C CN 100496429C
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Abstract
A robot operation locating method based on optical location for the surgical operation navigation system includes designing 3 position markers on the base of robot for marking the directions of two coordinate axises in the reference coordinate system of robot, extracting said 3 markers by the locating probe of optical tracking instrument, sampling the same coordinate points in space by the robot probe and said locating probe at the same time when they are in butt contact, and mutual coordinate conversion between robot and optical tracking instrument by coordinate conversion algorithm.
Description
Technical field
The invention belongs to the application of stereotactic surgery operation, particularly be a kind of robotic surgery localization method that is applied to medical stereotactic surgery operation guiding system based on optical alignment.
Background technology
In recent years, robotics is applied to the great attention that the medical surgery field has been subjected to world developed country.Robotics is in the application of surgical field, not only accurately bring a series of technological change in aspects such as location, operation minimal damage, operation quality in operation, and changed many notions of conventional medical surgery, aspects such as robotize surgical apparatus of new generation development are had crucial meaning.
The robotic surgery navigation system is divided into initiatively and passive two kinds: for the passive type robot, can make things convenient for the driven machine people to gather the gauge point spatial mappings that undergos surgery by manual type, but need manual intervention, expend doctor's muscle power, operate miss be bigger; For active robot, do not need human intervention, if but directly control the collection patient of robot gauge point, efficient is low, low precision, the danger of operation is also very big.
The frameless stereotactic surgery of the CAS-R-2 type system of Huazhi Computer Application Co., Ltd., Tianjin City's Development and Production is used widely clinical, completes successfully thousands of routine clinical operations, millions of surplus yuan of wound direct economic benefit, but its technology is not perfect.At first, require the doctor that three dimensions notion is clearly arranged, simultaneously passive robot motion's rule is had certain understanding, like this when the manually-operated robot, could be comparatively flexible; Secondly, when carrying out surgical navigational, adopt artificial method of drawing robot identification marking point, operating process is more numerous and diverse, needs the long time, and the doctor is had certain physical demands, should alleviate in operation process as far as possible; Once more, the assurance of operation precision is to rely on the eye-observation computer screen artificially to judge, is difficult to avoid error like this, and is influential to surgical effect; At last, because robot is motorless, makes and relatively difficulty of system's further raising technically can not satisfy the diversified demand that surgical operation develops.In order to overcome the above problems, press for exploitation automaticity height, new generation product safe and reliable, with low cost.
Summary of the invention
The purpose of this invention is to provide the robotic surgery localization method of a kind of surgical navigation systems based on optical alignment, it is the problem that presses for solution at surgical operation, the active medical robotic surgical device surgery positioning device and the localization method of exploitation automaticity height, dependable performance, make the stereotactic surgery operation more accurate, easier, more extensive.
The present invention is achieved by the following technical solutions: a kind of surgical navigation systems is based on the robotic surgery localization method of optical alignment, at first on robot base, design three flag bits, in order to two change in coordinate axis direction of the sign robot frame of reference, generally get X-axis and Z axle; Extract this three signs by optical tracker (NDI POLARIS Optical TrackingSystem) positioning pointer again, and allow robot and optical tracker once shake hands, be that the butt joint of robot probe and optical tracker positioning pointer the time is gathered the same coordinate points in space simultaneously, form one shake hands a little right; By the space coordinate conversion algorithm, realize the coordinate interchange of optical tracker and robot system at last.
Below the inventive method is further described, particular content is as follows:
1, the design of three flag bits on the robot base: three flag bits promptly can be made on the pedestal of robot body, also can be made on the specific attribute block, as long as the assurance direction that flag bit indicated is consistent with the change in coordinate axis direction of the robot frame of reference, when being the robot assembling, this part work just can finish.
2, flag bit registration and shaking hands: promptly two coordinate systems are gathered the space a bit simultaneously, form one shake hands a little right; The positioning pointer of optical tracker lightly freely, and is easy to use, and precision is very high, realize flag bit is registered and shaken hands with the space of robot with it, both guaranteed precision, time saving and energy saving again, improved operation efficient, this part is unique manual intervention that needs.
3, coordinates transformation method: the present invention proposes not the coordinate system coordinate transformation algorithm of initial point altogether, adopt the common origin system revolution mapping algorithm of robotics can be apace to convert pairwise orthogonal coordinate system arbitrarily to parallel two coordinate systems, promptly coordinate axes is parallel and direction is identical; Shake hands by above-mentioned space then and a little to vector be the initial point of obtaining two coordinate systems
Obtain the transition matrix that is not total to two arbitrary systems of initial point at last, thereby the arbitrary coordinate of realizing two coordinate systems exchanges.Specific algorithm is as follows:
[1] adopt the common initial point orthogonal coordinate system of robotics to turn round mapping algorithm.Arrive the method for the available Euler's transformation of coordinate system oi ' j ' k ' by coordinate system oijk, rotate and get around different coordinate axess for continuous three times.Process is as follows:
Get the common vertical line ON of kk ', i is arrived the ON position around k axle revolution θ angle;
■ arrives k in k ' around ON revolution φ angle;
■ arrives ON in i ' around k ' revolution Ψ angle;
Then, have by above-mentioned revolution order change
[i′j′k′]=E
kθE
iφE
kψ=E
[2] initial point of obtaining two coordinate systems to vector is
According to a P two vectors as can be known of shaking hands
With
, after the initial point orthogonal coordinate system is turned round conversion altogether,
[3] obtain not the transition matrix of two arbitrary systems of initial point altogether.The method that generates transition matrix T is also very simple, and establishing optical device (NDI) coordinate is o system, and robot coordinate system (RBT) for o ' is,
, the P point is coordinate (x ', y ', z ') at RBT, position vector is R '
O ', then in NDI system, position vector R is:
R=R
0+R’=R
0+E(R’
o’);
(1.1)
E is the transformation matrix represented of revolution transformation tensor, visually turns round around coordinate axes
Or around arbitrary axis revolution or definite around different situations such as initial point revolutions.
Formula (1.1) homogeneous coordinates pattern
Promptly
Like this, the space coordinates of optical tracker and robot is set up an one-to-one relationship, can be unique and be mapped to the relevant position of RBT system exactly at each position coordinates of your NDI system, and each position coordinates of RBT system also can be unique and shine upon the relevant position of NDI system exactly, and its conversion formula is:
p
RBT=T
-1*p
NDIp
NDI=T*p
RBT
Because all conversions all are rigid body translations, this mapping is one to one.
The present invention has substantive distinguishing features and marked improvement, the present invention has overcome the active medical robot can not conveniently register patient's defective of gauge point on one's body, with intelligent machine arm and the successful integrated clinical practice that is used for of optical tracker, adopt high-precision optical tracker assist location, make location of operation more accurate, have higher success rate; Simple and effective spatial mappings algorithm has solved complicated loaded down with trivial details mapping relations between optical tracker space, robot space, the operative space, and the practicality simple to operate of this method is not high to the operation environmental requirement yet, is convenient to actual promoting the use of.
Description of drawings
Fig. 1 is NDI of the present invention and RBT coordinate system sketch map.
The specific embodiment
Provide embodiment in conjunction with content of the present invention, the present invention is done further statement.
As shown in Figure 1, be example with a routine cerebral surgery operation, based on P41.6MHz 256 internal memory PCs, be that example is illustrated with robot system in conjunction with NDI optical tracker (NDI POLARIS OpticalTracking System), concrete steps are as follows:
1. the man-hour that puts together machines will three flag bits of device be with the both direction axle of the sign robot frame of reference on the pedestal, and three signs are designated as O, S, R respectively,
The i axle of the expression robot frame of reference,
Expression k axle;
2. gather three index points that install on the robot base with the positioning pointer of NDI optical tracker, finish the registration to the robot frame of reference, the registration point coordinate is respectively O[105 259-1977], S[105 275-2000], R[72 259-1977];
3. getting rid of the positioning pointer and the robot probe of NDI optical tracker shakes hands, promptly gather the space a bit with the positioning pointer of NDI optical tracker, as P[200-105-2157], also gather this point coordinates T[-133.434 425.589-54.3371 with the robot probe simultaneously], thus form one shake hands a little right.
4. obtain the transition matrix that is not total to two arbitrary systems of initial point.If optical device (NDI) coordinate is an o system, robot coordinate system (RBT) for o ' is,
The P point is coordinate (x ', y ', z ') at RBT, and position vector is R '
O ', then in NDI system, position vector R is:
R=R
0+R’=R
0+E(R’
o’);
(1.1)
The transformation matrix that E represents for the revolution transformation tensor, visual around the coordinate axes revolution or around arbitrary axis revolution or definite around different situations such as initial point revolutions.
Formula (1.1) homogeneous coordinates pattern
Promptly
Like this, the space coordinates of optical tracker and robot is set up an one-to-one relationship, can be unique and be mapped to the relevant position of RBT system exactly at each position coordinates of your NDI system, and each position coordinates of RBT system also can be unique and shine upon the relevant position of NDI system exactly, and its conversion formula is:
p
RBT=T
-1*p
NDI p
NDI=T*p
RBT
Because all conversions all are rigid body translations, this mapping is one to one; Adopt above-mentioned algorithm to generate coordinate conversion matrix E, the matrix of generation is as follows:
5. be attached to four Mark points of patient head then with the positioning pointer collection of NDI optical tracker, its corresponding coordinate is:
Mrk1
ndi[64?-89?-2218]、Mrk2
ndi[145?-165?-2269]、
Mrk3
ndi[161?-20?-2196]、Mrk4
ndi[80?-74?-2250]、
6. the transition matrix by generating in the step 4 is the coordinate of system of robot to the coordinate transform of gathering in the NDI optical tracker, and Mark point corresponding coordinate is after the conversion:
Mrk1
rbt[-54.2218?447.289?81.6629]
Mrk2
rbt[-55.7565?538.803?0.6629]
Mrk3
rbt[-32.8782?378.084?-15.3371]
Mrk4
rbt[-19.3868?453.25?65.6629]
So just finished four the Mark point registering functionals of robot to patient head, thereby robot just can put according to the automatic motion of the operation pathway of doctor's design in place, auxiliary doctor has implemented surgical operation.
The present invention is not limited to the cerebral surgery operation among this embodiment, and it is applicable to the stereotactic surgery operation.
Implementation result: this routine result is that the position error that is converted to robot coordinate by the collection of NDI optical tracker is 2.5mm, substantially satisfy requirements for clinical application (less than 2mm), if adopt the optimization method of some engineerings again, transition matrix is done some optimizations, can subdue position error greatly, make it more to meet the clinical practice requirement; This routine time of implementation is T≤2 second.
Claims (4)
1, a kind of surgical navigation systems is characterized in that based on the robotic surgery localization method of optical alignment: at first design three flag bits on robot base, in order to two change in coordinate axis direction of the sign robot frame of reference, get X-axis and Z axle; Extract this three signs by the optical tracker positioning pointer again, and allow robot and optical tracker once shake hands, i.e. robot probe and optical tracker positioning pointer butt joint the time is gathered the same coordinate points in space simultaneously, form one shake hands a little right; At last by the space coordinate conversion algorithm, realize the coordinate interchange of optical tracker and robot system, described coordinates transformation method is to adopt not the coordinate system coordinate transformation algorithm of initial point altogether, adopt the common origin system revolution mapping algorithm of robotics can be apace to convert pairwise orthogonal coordinate system arbitrarily to parallel two coordinate systems, promptly coordinate axes is parallel and direction is identical; Shake hands by space above-mentioned then and a little to vector be the initial point of obtaining two coordinate systems
Obtain the transition matrix that is not total to two arbitrary systems of initial point at last, thereby the arbitrary coordinate of realizing two coordinate systems exchanges.
2, a kind of surgical navigation systems according to claim 1 is based on the robotic surgery localization method of optical alignment, it is characterized in that: described on robot base the design three flag bits, concrete grammar is as follows: three flag bits are made on the pedestal of robot body, or be made on the specific attribute block, the assurance direction that flag bit indicated is consistent with the change in coordinate axis direction of the robot frame of reference.
3, a kind of surgical navigation systems according to claim 1 is characterized in that based on the robotic surgery localization method of optical alignment: described flag bit registration and shaking hands: promptly two coordinate systems are gathered the space a bit simultaneously, form one shake hands a little right.
4, a kind of surgical navigation systems according to claim 1 is characterized in that based on the robotic surgery localization method of optical alignment: the described coordinate system coordinate transformation algorithm that is not total to initial point, and specific algorithm is as follows:
A) adopt the common initial point orthogonal coordinate system revolution mapping algorithm of robotics: arrive the method for the available Euler's transformation of coordinate system oi ' j ' k ' by coordinate system oijk, rotate and get around different coordinate axess for continuous three times; Process is as follows:
Get the common vertical line ON of kk ', i is arrived the ON position around k axle revolution θ angle;
I. k is arrived k ' around ON revolution φ angle;
Ii arrives ON in i ' around k ' revolution ψ angle;
Then, have by above-mentioned revolution order change
[i′j′k′]=E
kθE
iφE
kψ=E
B) initial point of obtaining two coordinate systems to vector is
According to a P two vectors as can be known of shaking hands
With
After the initial point orthogonal coordinate system is turned round conversion altogether,
C) obtain not the transition matrix of two arbitrary systems of initial point altogether: the method that generates transition matrix T is also very simple, and establishing optics instrument (NDI) coordinate is o system, and robot coordinate system (RBT) for o ' is R
0=oo ', the P point is coordinate (x ', y ', z ') at RBT, position vector is R '
O', then in NDI system, position vector R is:
R=R
0+R’=R
0+E(R’
o');
(1.1)
The transformation matrix that E represents for the revolution transformation tensor, visual around the coordinate axes revolution or around arbitrary axis revolution or definite around different situations such as initial point revolutions;
Formula (1.1) homogeneous coordinates pattern
Promptly
Like this, the space coordinates of optical tracker and robot is set up an one-to-one relationship, can be unique at each position coordinates of optical tracker coordinate system and be mapped to robot coordinate system's relevant position exactly, and each position coordinates of robot coordinate system also can be unique and shines upon the relevant position of optical tracker coordinate system exactly, and its conversion formula is:
P
RBT=T
-1*P
NDI P
NDI=T*P
RBT
Because all conversions all are rigid body translations, this mapping is one to one.
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CN100345525C (en) * | 2005-12-07 | 2007-10-31 | 嘉兴市第一医院 | Framed stereo directed neurosurgery system registration method |
CN100464720C (en) * | 2005-12-22 | 2009-03-04 | 天津市华志计算机应用技术有限公司 | Celebral operating robot system based on optical tracking and closed-loop control and its realizing method |
CN102551892A (en) * | 2012-01-17 | 2012-07-11 | 王旭东 | Positioning method for craniomaxillofacial surgery |
CN103006335B (en) * | 2013-01-06 | 2015-01-28 | 新博医疗技术有限公司 | General calibration mould for surgical navigation and calibration method |
CN103705307B (en) * | 2013-12-10 | 2017-02-22 | 中国科学院深圳先进技术研究院 | Surgical navigation system and medical robot |
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CN105919669B (en) * | 2016-07-01 | 2018-07-20 | 华南理工大学 | A method of realizing that optical operation navigation surgical instrument is demarcated using caliberating device |
CN109528274A (en) * | 2017-09-22 | 2019-03-29 | 清华大学深圳研究生院 | A kind of method for registering and device |
CN108324373B (en) * | 2018-03-19 | 2020-11-27 | 南开大学 | Accurate positioning implementation method of puncture surgery robot based on electromagnetic positioning system |
CN109620408B (en) * | 2018-12-10 | 2020-06-19 | 华南理工大学 | Augmented reality operation navigation system calibration method based on electromagnetic positioning |
CN111603240B (en) * | 2020-05-29 | 2021-12-31 | 北京箴石医疗科技有限公司 | Registration method and device for medical image guidance |
CN112641512B (en) * | 2020-12-08 | 2023-11-10 | 北京信息科技大学 | Spatial registration method applied to preoperative robot planning |
CN112618017B (en) * | 2020-12-16 | 2022-05-03 | 苏州微创畅行机器人有限公司 | Navigation operation system, computer readable storage medium and electronic device |
CN112991457B (en) * | 2021-02-22 | 2023-05-26 | 北京理工大学 | Method and device for calibrating spatial position and internal and external parameters of projector in operation navigation |
CN113100933A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Operation scene configuration method and device, computer equipment and storage medium |
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