CN115153782A - Puncture robot space registration method under ultrasonic guidance - Google Patents
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- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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Abstract
The embodiment of the invention provides a puncture robot space registration method under ultrasonic guidance, which comprises the steps of obtaining a conversion relation among a needle point initial position coordinate system, a camera coordinate system and a mechanical arm coordinate system through a structure, establishing a conversion relation among a needle point current position coordinate system and the mechanical arm coordinate system through the control of a motor, and finishing space registration between a puncture needle and a robot; identifying mark points on the ultrasonic initial position through a camera to establish a conversion relation between an ultrasonic initial position coordinate system and a camera coordinate system, and establishing a conversion relation between an ultrasonic current position coordinate system and an initial position coordinate system through the control of a motor to complete space registration between the ultrasonic and the robot; and after the conversion relation between the current position coordinate system of the needle point and the current position coordinate system of the ultrasound is obtained through registration, the final conversion relation between the current position coordinate system of the needle point and the image coordinate system is obtained by combining the conversion relation between the ultrasound coordinate system and the image coordinate system.
Description
Technical Field
The embodiment of the invention relates to the field of artificial intelligence, in particular to a puncture robot space registration method under ultrasonic guidance.
Background
With the development of the robot technology, the application of the robot in the medical field is also rapidly developed, wherein due to the high precision characteristic of the operation, high requirements are put forward on the space registration technology of the robot, and the space registration technology of the medical robot is a technology aiming at establishing a coordinate system conversion relation among the robot, an instrument and a patient and is a key technology for completing navigation in the operation.
The space registration method of the medical robot commonly used at present comprises the following steps: mark points are arranged at proper positions of a patient, a surgical instrument and the robot, the mark points are placed in an identification range of a positioning system, and the mark points are collected by the positioning system to establish a conversion relation between the coordinate systems of the patient, the surgical instrument and the robot relative to the coordinate system of the positioning system; based on the three conversion relations, the coordinate system of the positioning system can be used as an intermediate conversion medium to establish the mutual conversion relation among the coordinate system of the robot, the coordinate system of the surgical instrument and the coordinate system of the patient, so that the spatial registration among the patient, the surgical instrument and the robot is completed.
However, in the process of implementing the above spatial registration, due to the particularity of the positioning system, a large space is often required to be occupied for arranging the positioning system, or the positioning system is easily interfered by a complex surgical environment, and is difficult to arrange in a surgical scene.
Disclosure of Invention
One of the technical problems to be solved by the embodiments of the present application is to provide a spatial registration method for a puncture robot under ultrasound guidance, which is convenient for arrangement, not only reduces the arrangement space in an operation scene, but also is not easily interfered by a complex operation environment, and can simultaneously complete spatial registration.
The embodiment of the invention provides a puncture robot space registration method under ultrasonic guidance, which comprises the steps of fixedly connecting a puncture needle to the tail end of a mechanical arm through a mechanical structure driven by a motor, fixedly connecting a binocular camera to the front end of the tail end of the mechanical arm, and establishing a conversion relation among a needle point initial position coordinate system, a binocular camera coordinate system and a mechanical arm coordinate system through the coordinates of the tail end of the mechanical arm in the mechanical arm coordinate system acquired through positive kinematics of the mechanical arm.
And establishing a conversion relation between the needle point current position coordinate system and the mechanical arm coordinate system according to the initial conversion relation between the needle point initial position coordinate system and the mechanical arm coordinate system and the movement distance of the needle point current position relative to the initial position, which is acquired through the control of the motor, so as to complete the space registration between the puncture needle and the robot.
According to the space coordinates of at least five mark points on the ultrasonic initial position recognized by a camera on the tail end of the mechanical arm in a camera coordinate system, the mark points are divided into three groups, wherein two groups respectively comprise two points to determine the direction of an axis, the third group comprises a point set as a coordinate origin, and the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system is established.
And establishing a conversion relation between the ultrasonic current position coordinate system and the initial position coordinate system and a conversion relation between the ultrasonic current position coordinate system and the mechanical arm coordinate system through the control of the motor according to the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system, and completing the space registration between the ultrasonic and the robot.
And obtaining a final conversion relation between the current position coordinate system of the needle point and the current position coordinate system of the ultrasound according to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot.
And establishing a final conversion relation among the needle point current position coordinate system, the ultrasonic current position coordinate system and the image coordinate system according to the final conversion relation between the needle point current position coordinate system and the ultrasonic current position coordinate system and the conversion relation between the ultrasonic current position coordinate system and the image coordinate system.
Optionally, the five marking points are divided into three groups, two groups of the five marking points are respectively provided with two points, connecting lines of the two points are perpendicular to each other and are respectively marked as two coordinate axes of the ultrasonic coordinate system, only one point of the third group of marking points is marked as a coordinate origin and is determined as a third coordinate axis of the ultrasonic coordinate system, and the ultrasonic coordinate system is established.
Optionally, the rotation of the ultrasound, the feeding motion in the forward and backward directions, and the motion of the puncture needle are controlled by a motor, so as to determine a conversion relationship between a coordinate system of the current position of the ultrasound and the current position of the needle point of the puncture needle and an initial position coordinate system.
Optionally, the step of obtaining the final conversion relationship between the needle point current position coordinate system and the ultrasound current position coordinate system by the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot includes: establishing a first spatial relationship between the needle point current position coordinate system and the robot coordinate system according to the conversion relationship between the needle point initial position coordinate system and the robot coordinate system and the conversion relationship between the needle point current position coordinate system and the initial position coordinate system; taking the established conversion relation between the robot and the ultrasonic initial position as a second spatial relation; establishing a third spatial relationship between the ultrasonic current position coordinate system and the robot coordinate system according to the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system and the second spatial relationship; and establishing a fourth spatial relationship between the current ultrasonic position coordinate system and the current puncture needle point position coordinate system according to the first spatial relationship and the third spatial relationship.
Optionally, the step of establishing a final conversion relationship among the needle tip current position coordinate system, the ultrasound current position coordinate system, and the image coordinate system according to the final conversion relationship between the needle tip current position coordinate system and the ultrasound current position coordinate system and the conversion relationship between the ultrasound current position coordinate system and the image coordinate system includes: the transmitting surface of the ultrasonic wave on the ultrasonic wave is fixed, a fifth spatial relationship between an ultrasonic image space coordinate system and an ultrasonic current position coordinate system can be established, a conversion relationship between a puncture needle current position coordinate system and an ultrasonic image space coordinate system is established according to a fourth spatial relationship, the sixth spatial relationship is established, the surgical instrument and the ultrasonic wave are uniformly mapped into an ultrasonic image space by combining the fifth spatial relationship and the sixth spatial relationship, a final conversion relationship among the coordinate systems of the image, the ultrasonic wave and the puncture needle is established, and spatial registration among the image, the ultrasonic wave and the surgical instrument is completed.
According to the technical scheme, the space registration method of the ultrasonic-guided puncture robot provided by the embodiment of the application comprises the steps that a puncture needle is fixedly connected to the tail end of a mechanical arm through a mechanical structure driven by a motor, a binocular camera is fixedly connected to the front end of the tail end of the mechanical arm, and the conversion relation among a needle point initial position coordinate system, a binocular camera coordinate system and a mechanical arm coordinate system is established through the coordinate of the tail end of the mechanical arm in the mechanical arm coordinate system acquired through positive kinematics of the mechanical arm; establishing a conversion relation between the needle point current position coordinate system and the mechanical arm coordinate system according to the initial conversion relation between the needle point initial position coordinate system and the mechanical arm coordinate system and the movement distance of the needle point current position relative to the initial position, which is obtained through the control of a motor, and finishing the space registration between the puncture needle and the robot; according to the space coordinates of at least five mark points on the ultrasonic initial position recognized by a camera on the tail end of the mechanical arm in a camera coordinate system, the mark points are divided into three groups, wherein two groups respectively comprise two points to determine the direction of an axis, the third group comprises a point set as a coordinate origin, and the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system is established; according to the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system and the conversion relation between the ultrasonic current position coordinate system and the initial position coordinate system through the control of the motor, the conversion relation between the ultrasonic current position coordinate system and the mechanical arm coordinate system is established, and the space registration between the ultrasonic and the robot is completed; obtaining a final conversion relation between a needle point current position coordinate system and an ultrasonic current position coordinate system according to the space registration between the puncture needle and the robot and the space registration between the ultrasonic and the robot; and establishing a final conversion relation among the current position coordinate system of the needle point, the current position coordinate system of the ultrasound and the image coordinate system according to the final conversion relation between the current position coordinate system of the needle point and the current position coordinate system of the ultrasound and the conversion relation between the current position coordinate system of the ultrasound and the image coordinate system of the ultrasound, and finishing the space registration of the current positions of the image, the ultrasound and the puncture needle.
Compared with the space registration method of the surgical robot in the prior art, the embodiment of the utility model has the advantages that on one hand, the robot body is started to establish the high-precision conversion relation among the high-precision surgical instrument, the sensor and the robot through the mechanical structure, the sensor carried on the robot is used for carrying out space positioning on the ultrasound, the high-precision conversion relation is established between the ultrasound coordinate system and the robot coordinate system, and then the ultrasound and the image are fixedly converted, so that the ultrasound is used as the registration medium to complete the high-precision space registration among the image, the ultrasound, the robot and the surgical instrument, and the difficult problems that the positioning system is difficult to arrange and the clinical application are solved; on the other hand, the rotation of the ultrasound, the feed motion in the front-back direction and the motion of the puncture needle are controlled by the motor, the conversion relation between the coordinate system of the current position of the ultrasound and the current position of the needle point of the puncture needle and the initial position coordinate system is established, an important ring in the whole space registration process is formed, the control precision of the motor plays a vital role in the space registration precision, the motor is precisely controlled by the servo motor, and the final space registration precision is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is also possible for a person skilled in the art to obtain other drawings based on the drawings.
Fig. 1 is a schematic flowchart of a method for spatial registration of a piercing robot under ultrasound guidance according to an embodiment of the present disclosure.
Detailed Description
Of course, it is not necessary for any particular embodiment of the invention to achieve all of the above advantages at the same time.
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention shall fall within the scope of the protection of the embodiments of the present invention.
As shown in fig. 1, the present application provides a method for ultrasound-guided control registration of a piercing robot, including steps 101-106.
Step 101: according to the method, a transformation relation among a needle point initial position coordinate system, a binocular camera coordinate system and a mechanical arm coordinate system is established according to the fact that a puncture needle is fixedly connected to the tail end of a mechanical arm through a mechanical structure driven by a motor, a binocular camera is fixedly connected to the front end of the tail end of the mechanical arm, and the coordinates of the tail end of the mechanical arm in the mechanical arm coordinate system are obtained through positive kinematics of the mechanical arm.
In the actual operation process, the tail end of the mechanical arm is fixedly provided with a set of tail end executing device through bolt connection, the foremost end face of the tail end executing device is fixedly connected with a camera module through a bolt, the moving device of the tail end executing device is fixedly connected with a puncture needle module through a bolt, the installation precision of each module is ensured through machining and assembling precision, and as long as the mechanical structure design is reliable, the dimensional relation among the modules can be obtained from the design drawing, so that the high-precision conversion relation is established.
Step 102: and establishing a conversion relation between the needle point current position coordinate system and the mechanical arm coordinate system according to the initial conversion relation between the needle point initial position coordinate system and the mechanical arm coordinate system and the movement distance of the needle point current position relative to the initial position, which is acquired through the control of the motor, so as to complete the space registration between the puncture needle and the robot.
In the actual operation process, the initial installation position of the puncture needle is set as the initial position of the puncture needle, the initial position coordinate system of the needle point of the puncture needle can be obtained from the method in the step 101, the puncture needle module is driven by the motor, the circumferential rotation of the motor is converted into the forward and backward movement of the puncture needle along the needle axis direction through the mechanical transmission structure, the movement effect of the puncture is achieved, in the process, the mechanical transmission precision and the control precision of the motor have great influence on the final current position of the needle point of the puncture needle, the problem is solved by using the servo motor to carry out high-precision closed-loop control, the high-precision conversion relation between the current position of the puncture needle and the initial position can be obtained, and then the high-precision conversion relation between the initial position coordinate system of the needle point of the puncture needle and the robot coordinate system obtained in the step 101 is combined, the current position coordinate system of the puncture needle can be mapped under the robot coordinate system, and the high-precision conversion relation between the current position coordinate system of the puncture needle and the robot coordinate system is established, and is the first spatial relation.
Step 103: according to the space coordinates of at least five mark points on the ultrasonic initial position recognized by a camera on the tail end of the mechanical arm in a camera coordinate system, the mark points are divided into three groups, wherein two groups respectively comprise two points to determine the direction of an axis, the third group comprises a point set as a coordinate origin, and the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system is established.
In the actual operation process, five mark points with specific position relation are installed at fixed positions on an ultrasonic support frame, the five mark points are divided into three groups, two groups of the five mark points are provided with two points, connecting lines of the two points are perpendicular to each other and coplanar, the directions determined by the two groups of points are respectively marked as the directions of two coordinate axes of an ultrasonic coordinate system, only one point of the third group of mark points is marked as a coordinate origin, the perpendicular direction of the point to the plane determined by the two groups of points is determined as the third coordinate axis of the ultrasonic coordinate system, and an ultrasonic initial position coordinate system is established.
Step 104: and establishing a conversion relation between the ultrasonic current position coordinate system and the initial position coordinate system and a conversion relation between the ultrasonic current position coordinate system and the mechanical arm coordinate system through the control of the motor according to the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system, and completing the space registration between the ultrasonic and the robot.
In the actual operation process, the ultrasonic probe is carried on a fixed ultrasonic probe stepper, in order to ensure that the ultrasonic probe is installed at a specific initial position with repeated positioning precision, the stepper integrates a transmission mechanism which rotates around an ultrasonic axis and moves back and forth, and is controlled in a closed loop mode by a high-precision servo motor, and the specific control method is as the method is controlled by the movement of the puncture needle in the step 102, so that the high-precision conversion relation between the current position and the initial position coordinate system of the ultrasonic is determined; the spatial localization of the ultrasound initial position has been completed as described in step 103, a transformation relationship between the ultrasound initial position coordinate system and the camera coordinate system is established, a second spatial relationship between the ultrasound initial position coordinate system and the robot coordinate system is established in combination with the transformation relationship between the camera coordinate system and the robot coordinate system described in step 101, thereby obtaining a positional relationship of the robot with respect to the ultrasound current position coordinate system, and a third spatial relationship between the ultrasound current position coordinate system and the robot coordinate system is finally obtained in combination with the transformation relationship between the ultrasound current position coordinate system and the initial position coordinate system, thereby completing the spatial registration between the ultrasound current position coordinate system and the robot coordinate system.
Step 105: and obtaining a final conversion relation between the current position coordinate system of the needle point and the current position coordinate system of the ultrasound according to the space registration between the puncture needle and the robot and the space registration between the ultrasound and the robot.
In the actual operation process, according to the first spatial relationship between the current position coordinate system of the puncture needle and the robot coordinate system in the step 102 and the third spatial relationship between the current position coordinate system of the ultrasound and the robot coordinate system in the step 104, since the robot coordinate system and the initial position coordinate system of the ultrasound are fixed, the robot coordinate system is mapped into the initial position coordinate system of the ultrasound, the ultrasound probe stepper is used as a core registration medium of the whole registration system, the high-precision conversion relationship between the current position coordinate system of the puncture needle tip and the current position coordinate system of the ultrasound is established, and the fourth spatial relationship is used, so that the spatial registration between the ultrasound and the puncture needle is realized.
Step 106: and establishing a final conversion relation among the needle point current position coordinate system, the ultrasound current position coordinate system and the image coordinate system according to the final conversion relation between the needle point current position coordinate system and the ultrasound current position coordinate system and the conversion relation between the ultrasound current position coordinate system and the image coordinate system, and finishing the space registration of the image, the ultrasound and the puncture needle current position.
In the actual operation process, the emitting surface of the ultrasonic wave on the ultrasonic wave is fixed, so that the spatial position of the sagittal plane and the coronal plane of the ultrasonic wave relative to the ultrasonic probe can be determined by the ultrasonic parameters, the conversion relation between the ultrasonic emitting point spatial coordinate system and the ultrasonic current position coordinate system can be established according to the fixed distance parameters, and the ultrasonic image space and the actual ultrasonic space have fixed proportionality coefficients, so that the position relation of a certain point in an image in the actual space can be determined, the ultrasonic current position coordinate system is mapped into the ultrasonic image spatial coordinate system, the conversion relation between the ultrasonic image coordinate system and the ultrasonic current position can be established, the fifth spatial relation is obtained, the fourth spatial relation is combined, the puncture needle current position coordinate system is mapped into the ultrasonic image space, the conversion relation between the puncture needle current position coordinate system and the ultrasonic image spatial coordinate system is established, the sixth spatial relation is obtained, the fifth spatial relation and the sixth spatial relation are combined, the surgical instrument and the surgical instrument are mapped into the ultrasonic space, and the final conversion relation between the image, the ultrasonic image, the puncture needle and the surgical instrument is established, and the surgical instrument is registered in a unified way.
According to the method for spatial registration of the puncture robot under the ultrasonic guidance, a conversion relation among a needle point initial position coordinate system, a binocular camera coordinate system and a mechanical arm coordinate system is established through a mechanical structure of a robot body, the conversion relation between the needle point current position coordinate system and the mechanical arm coordinate system is established through the movement distance of the needle point current position relative to the initial position, which is obtained through the control of a motor, and the spatial registration between the puncture needle and the robot is completed, so that the relative position relation between the puncture needle current position and the robot is obtained; the method comprises the steps that space positioning of an ultrasonic current position is achieved through space coordinates of at least five marking points on an ultrasonic initial position in a camera coordinate system, which are recognized by a camera on the tail end of a mechanical arm, the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system is established, the conversion relation between the ultrasonic current position coordinate system and the ultrasonic initial position coordinate system is established through control of a motor, and space registration between the ultrasonic current position and a robot is completed; obtaining a final conversion relation between a needle point current position coordinate system and an ultrasonic current position coordinate system according to the space registration between the current position of the puncture needle and the robot and the space registration between the ultrasonic current position and the robot, and finishing the space registration between the current position of the puncture needle and the ultrasonic current position by taking the ultrasonic as a medium; and according to the spatial position relationship and the conversion relationship between the ultrasonic current position coordinate system and the image coordinate system, establishing a final conversion relationship among the needle point current position coordinate system, the ultrasonic current position coordinate system and the image coordinate system, and finishing spatial registration of the image, the ultrasonic and the puncture needle current positions.
The method for spatial registration of the puncture robot under ultrasonic guidance provided by the embodiment of the application avoids the problems that the arrangement space of a positioning system is too large and is easily influenced by the surgical environment in the existing spatial registration process, the spatial registration can be completed only by one-time spatial positioning in the whole surgical process, the clinical surgical efficiency of the applied surgical robot is improved, the existing necessary surgical equipment is used as a registration medium, the spatial registration arrangement space is compressed to the maximum extent, good registration precision can be achieved, and compared with the traditional puncture surgery, the puncture precision is greatly improved.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.
Claims (5)
1. A puncture robot space registration method under ultrasonic guidance is characterized by comprising the following steps:
according to the method, a needle point initial position coordinate system, a binocular camera coordinate system and a mechanical arm coordinate system are established according to the fact that a puncture needle is fixedly connected to the tail end of a mechanical arm through a mechanical structure driven by a motor, a binocular camera is fixedly connected to the front end of the tail end of the mechanical arm, and the coordinate of the tail end of the mechanical arm in the mechanical arm coordinate system is obtained through positive kinematics of the mechanical arm;
establishing a conversion relation between the needle point current position coordinate system and the mechanical arm coordinate system according to the initial conversion relation between the needle point initial position coordinate system and the mechanical arm coordinate system and the movement distance of the needle point current position relative to the initial position, which is obtained through the control of the motor, and finishing the space registration between the puncture needle and the robot;
according to the space coordinates of at least five mark points on the ultrasonic initial position recognized by a camera on the tail end of the mechanical arm in a camera coordinate system, the mark points are divided into three groups, wherein two groups respectively comprise two points to determine the direction of an axis, the third group comprises a point set as a coordinate origin, and the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system is established;
according to the conversion relation between the ultrasonic initial position coordinate system and the camera coordinate system and the conversion relation between the ultrasonic current position coordinate system and the initial position coordinate system through the control of the motor, the conversion relation between the ultrasonic current position coordinate system and the mechanical arm coordinate system is established, and the space registration between the ultrasonic and the robot is completed;
obtaining a final conversion relation between a needle point current position coordinate system and an ultrasonic current position coordinate system according to the space registration between the puncture needle and the robot and the space registration between the ultrasonic and the robot;
and establishing a final conversion relation among the current position coordinate system of the needle point, the current position coordinate system of the ultrasound and the image coordinate system according to the final conversion relation between the current position coordinate system of the needle point and the current position coordinate system of the ultrasound and the conversion relation between the current position coordinate system of the ultrasound and the image coordinate system of the ultrasound, and finishing the space registration of the current positions of the image, the ultrasound and the puncture needle.
2. The ultrasound-guided spatial registration method for a piercing robot according to claim 1, wherein the five marking points are divided into three groups, two of the five marking points are perpendicular to each other, and the connecting lines of the two marking points are respectively marked as two coordinate axes of an ultrasound coordinate system, and only one marking point of the third group is marked as an origin of coordinates and is determined as a third coordinate axis of the ultrasound coordinate system, thereby establishing the ultrasound coordinate system.
3. The ultrasound-guided spatial registration method for a puncture robot according to claim 1, wherein the rotation of the ultrasound and the forward and backward feeding movements of the ultrasound and the movement of the puncture needle are controlled by a motor, thereby determining a conversion relationship between a coordinate system of the current position of the ultrasound and the current position of the tip of the puncture needle and an initial position coordinate system.
4. The ultrasound-guided spatial registration method for a lancing robot according to claim 1, wherein the spatial registration between the lancing needle and the robot and the spatial registration between the ultrasound and the robot are performed to obtain a final transformation relationship between a current position coordinate system of the needle tip and a current position coordinate system of the ultrasound:
establishing a first spatial relationship between the needle point current position coordinate system and the robot coordinate system according to the conversion relationship between the needle point initial position coordinate system and the robot coordinate system and the conversion relationship between the needle point current position coordinate system and the initial position coordinate system;
taking the established conversion relation between the robot and the ultrasonic initial position as a second spatial relation;
establishing a third spatial relationship between the ultrasonic current position coordinate system and the robot coordinate system according to the conversion relationship between the ultrasonic current position coordinate system and the initial position coordinate system and the second spatial relationship;
and establishing a fourth spatial relationship between the current ultrasonic position coordinate system and the current puncture needle point position coordinate system according to the first spatial relationship and the third spatial relationship.
5. The ultrasound-guided spatial registration method for a penetration robot according to claim 1, wherein the step of establishing the final transformation relationship among the needle tip current position coordinate system, the ultrasound current position coordinate system and the image coordinate system based on the final transformation relationship between the needle tip current position coordinate system and the ultrasound current position coordinate system and the transformation relationship between the ultrasound current position coordinate system and the image coordinate system comprises:
according to the emission surface fixation of the ultrasonic waves on the ultrasound, a fifth spatial relationship between an ultrasonic image space coordinate system and an ultrasonic current position coordinate system can be established;
according to the fourth and fifth spatial relations, establishing a conversion relation between the coordinate system of the current position of the puncture needle and the spatial coordinate system of the ultrasonic image, wherein the conversion relation is a sixth spatial relation;
and according to the fifth and sixth spatial relations, uniformly mapping the surgical instrument and the ultrasound to an ultrasound image space, establishing a final conversion relation among coordinate systems of the image, the ultrasound and the puncture needle, and completing spatial registration among the image, the ultrasound and the surgical instrument.
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