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Coordinate system registration method, robot control method and device, equipment and medium

A coordinate system and robot technology, applied in the medical field, can solve problems such as complex operation methods and algorithms

Active Publication Date: 2019-12-13
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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Problems solved by technology

[0005] Based on this, it is necessary to provide a coordinate system registration tool, a coordinate system registration method, a robot control method, device, equipment and medium

Method used

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  • Coordinate system registration method, robot control method and device, equipment and medium
  • Coordinate system registration method, robot control method and device, equipment and medium
  • Coordinate system registration method, robot control method and device, equipment and medium

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Embodiment approach

[0158] optional, such as Figure 10 As shown, as an implementation manner of the above S403, it includes:

[0159] S501. Using a preset generalized inverse matrix algorithm, determine a rotation matrix and a translation matrix between the image coordinate system and the robot coordinate system according to the first matrix and the second matrix.

[0160] Specifically, the rotation matrix can be a 3×3 matrix, which represents the directional relationship between the image coordinate system and the robot coordinate system. The rotation matrix can be the above-mentioned rotation matrix matrix R, and the translation matrix can be a 1×3 matrix, which represents the image The distance relationship between the coordinate system and the robot coordinate system, the translation matrix may be the above-mentioned three-dimensional translation vector t.

[0161] Exemplarily, when the computer device determines the first matrix in the image coordinate system and the second matrix in the r...

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Abstract

The invention relates to a coordinate system registration method, a robot control method and a device, equipment and a medium. The method comprises the following steps: acquiring a first position coordinate of each correction element of a coordinate system registration tool in an image coordinate system; wherein the coordinate system registration tool comprises at least four correction elements which are fixed in position and are not in a same plane; acquiring a second position coordinate of each correction element in the robot coordinate system by controlling an execution tail end connected with an operation arm of the robot to be in contact with the correction element; determining a conversion relationship between the image coordinate system and the robot coordinate system according to each first position coordinate and each second position coordinate; wherein the conversion relation is used for converting the target position of the target object from the image coordinate system to the robot coordinate system so as to obtain the position coordinate of the target position under the robot coordinate system. According to the method, the coordinate system registration tool is used, the operation steps and the calculation method are simple, and the registration speed between the robot coordinate system and the image coordinate system is greatly increased.

Description

technical field [0001] The invention relates to the field of medical technology, in particular to a coordinate system registration method, a robot control method, a device, equipment and a medium. Background technique [0002] With the continuous development of medical technology, the use of surgical robots for assisted surgery is becoming more and more common. For example, surgical robots can be used for assisted puncture surgery, and surgical robots can also be used for assisted diagnosis of tumors, which greatly improves the efficiency of surgery. [0003] In the prior art, in order to improve the accuracy of the operation, a laser scanner (NDI for short) is generally used to register the coordinate system of the surgical robot. For example, the patient is generally fixed on the scanning bed of the X-ray equipment. The positions of the X-ray equipment and the patient are relatively unchanged. Therefore, the coordinate system of the surgical robot can be registered accordi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00A61B34/20G06T3/60G06T7/70
CPCA61B34/20A61B34/30A61B34/70A61B2034/2068A61B2090/3983G06T3/604G06T7/70
Inventor 胡江胜朱良凡佟留住王芸方啸刘剑
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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