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CN-115700768-B - Positioning method and surgical robot system

CN115700768BCN 115700768 BCN115700768 BCN 115700768BCN-115700768-B

Abstract

The present disclosure relates to the field of positioning technology, and discloses a positioning method, a computer device, a computer readable storage medium and a surgical robot system for determining a pose. The positioning method for determining the pose comprises the steps of obtaining a positioning image, identifying a plurality of pose identifiers on an object in the positioning image, identifying an angle identifier on the object based on the plurality of pose identifiers, wherein the angle identifier has a position association relationship with a first pose identifier in the plurality of pose identifiers, and determining the pose of the object relative to a reference coordinate system based on the angle identifier and the plurality of pose identifiers.

Inventors

  • XU KAI
  • Wu Baibo
  • WANG LONGFEI
  • LIU XU

Assignees

  • 术锐(上海)科技有限公司

Dates

Publication Date
20260512
Application Date
20210727

Claims (20)

  1. 1. A positioning method for determining a pose, comprising: Acquiring a positioning image; Identifying a plurality of pose identifiers on an object in the positioning image; identifying an angular identifier located on the object based on the plurality of pose identifiers, the angular identifier having a positional relationship with a first pose identifier of the plurality of pose identifiers, and Determining the pose of the object relative to a reference coordinate system based on the angle identification and the plurality of pose identifications; determining the pose of the object relative to a reference coordinate system based on the angle identity and the plurality of pose identities comprises: Determining a roll angle of the pose identification coordinate system relative to the object coordinate system based on the angle identifications and the plurality of pose identifications; Determining the pose of the pose identification coordinate system relative to the reference coordinate system based on the plurality of pose identifications, and Determining a pose of the object relative to the reference coordinate system based on a roll angle of the pose identification coordinate system relative to the object coordinate system and a pose of the pose identification coordinate system relative to the reference coordinate system; Or alternatively Determining a roll angle of the pose identification coordinate system relative to the object coordinate system based on the angle identifications and the plurality of pose identifications; Determining three-dimensional coordinates of the plurality of pose markers in the object coordinate system based on the roll angle of the pose marker coordinate system relative to the object coordinate system and the three-dimensional coordinates of the plurality of pose markers in the pose marker coordinate system, and And determining the pose of the object relative to the reference coordinate system based on the two-dimensional coordinates of the pose identifications in the positioning image and the three-dimensional coordinates of the pose identifications in the object coordinate system.
  2. 2. The positioning method of claim 1, determining a pose of the pose identification coordinate system relative to the reference coordinate system comprising: and determining the pose of the pose identification coordinate system relative to the reference coordinate system based on the two-dimensional coordinates of the pose identifications in the positioning image and the three-dimensional coordinates of the pose identifications in the pose identification coordinate system.
  3. 3. The positioning method according to claim 1 or 2, comprising: determining a first pivot angle identified in an object coordinate system by the angle identification; determining a second pivot angle identified in the pose identification coordinate system by the first pose identification, and And determining a roll angle of the pose identification coordinate system relative to the object coordinate system based on the first pivot angle and the second pivot angle.
  4. 4. A positioning method according to claim 3, comprising: And determining the first winding shaft angle based on the pattern information of the angle mark.
  5. 5. The positioning method according to claim 1 or 2, the positional association relation comprising: And the angle mark and the first pose mark are in axial corresponding relation.
  6. 6. The positioning method according to claim 1, comprising: determining an imaging transformation relationship based on the two-dimensional coordinates of the plurality of pose identifications in the positioning image and the three-dimensional coordinates of the plurality of pose identifications in a pose identification coordinate system; Determining a plurality of angle identification candidate areas in the positioning image based on the imaging transformation relation, the three-dimensional coordinates in the pose identification coordinate system and the position association relation, and And identifying candidate areas from the angles, and identifying the angle identification.
  7. 7. The positioning method of claim 6, comprising: Determining a plurality of angle identification candidate three-dimensional coordinates in a pose identification coordinate system based on the three-dimensional coordinates in the pose identification coordinate system and the position association relation, and The plurality of angle identification candidate regions are determined in the localization image based on the imaging transformation relationship and the plurality of angle identification candidate three-dimensional coordinates.
  8. 8. The positioning method according to claim 6 or 7, comprising: determining the pixel with the maximum likelihood value of the corner point in each angle identification candidate area to form a pixel set; determining an angle identification candidate region corresponding to a pixel with the maximum corner likelihood value in the pixel set as the angle identification candidate region to be identified, and And respectively matching the angle pattern matching templates with the candidate areas of the angle marks to be identified by using a plurality of angle pattern matching templates so as to identify the angle marks.
  9. 9. The positioning method of claim 8, comprising: And responding to the matching failure, and determining an angle identification candidate region corresponding to the pixel with the maximum corner likelihood value in the rest pixels of the pixel set as the angle identification candidate region to be identified.
  10. 10. The positioning method according to claim 6 or 7, comprising: and determining the first pose mark with a position association relation with the angle mark based on the angle mark candidate area where the angle mark is positioned.
  11. 11. The positioning method according to claim 1 or 2, comprising: based on the distribution of the plurality of pose identifiers, three-dimensional coordinates of the plurality of pose identifiers in the pose identifier coordinate system are determined.
  12. 12. The positioning method according to claim 1, comprising: determining a plurality of candidate pose identifiers from the positioning image; identifying an initial pose identifier from the plurality of candidate pose identifiers based on a pose pattern matching template, and And searching the pose identifiers from the rest candidate pose identifiers by taking the initial pose identifiers as starting points.
  13. 13. The positioning method of claim 12, comprising: Determining a second pose identifier from the rest candidate pose identifiers by taking the initial pose identifier as a starting point; Determining a search direction based on the initial pose identification and the second pose identification, and And searching the pose identifiers from the rest candidate pose identifiers in the searching direction by taking the initial pose identifier or the second pose identifier as a starting point.
  14. 14. The positioning method according to claim 12 or 13, comprising: and stopping the search for pose identifiers in response to the determined number of pose identifiers being greater than or equal to the pose identifier number threshold.
  15. 15. The positioning method according to any one of claims 1, 2, 6, 7, 12, 13, comprising: based on the pose of the object relative to the reference coordinate system, the pose of the end of the object relative to the reference coordinate system is determined.
  16. 16. The positioning method according to any one of claims 1,2, 6,7, 12, 13, the plurality of pose markers and the angle marker being axially disposed on the object.
  17. 17. The positioning method according to any one of claims 1,2, 6,7, 12, 13, the plurality of pose markers and the angle marker being provided on an outer surface of a cylindrical portion of the object.
  18. 18. A computer device, the computer device comprising: A memory for storing at least one instruction, and A processor coupled to the memory for executing the at least one instruction to perform the method of any of claims 1-17.
  19. 19. A computer readable storage medium having stored therein at least one instruction for execution by a processor to cause a computer to perform the method of any one of claims 1-17.
  20. 20. A surgical robotic system, comprising: A surgical tool comprising an arm, an actuator disposed at a distal end of the arm, and at least one angle indicator and a plurality of pose indicators disposed on a distal end portion of the arm; an image collector for collecting the positioning image of the arm body, and A processor, coupled to the image collector, for performing the method of any of claims 1-17 to determine the pose of the end portion of the arm.

Description

Positioning method and surgical robot system Technical Field The disclosure belongs to the technical field of positioning, and particularly relates to a positioning method and a surgical robot system. Background As technology advances, it has become increasingly popular to manually or computer control related machine equipment to perform desired actions to assist or replace operators. For example, sorting of express delivery is performed using a logistics robot, surgery is performed using a surgical robot to assist a doctor, and the like. In the above applications, it is necessary to position a movable part such as a controlled device or structure, so as to control the machine. Disclosure of Invention In some embodiments, the present disclosure provides a positioning method for determining a pose, comprising: Acquiring a positioning image; in the positioning image, a plurality of pose identifiers positioned on the object are identified; identifying an angle identifier located on the object based on the plurality of pose identifiers, the angle identifier having a positional relationship with a first pose identifier of the plurality of pose identifiers, and Based on the angle identifications and the plurality of pose identifications, a pose of the object relative to a reference coordinate system is determined. In some embodiments, the present disclosure provides a computer device comprising: A memory for storing at least one instruction, and And a processor coupled to the memory for executing the at least one instruction to perform the positioning method of the present disclosure. In some embodiments, the present disclosure provides a computer-readable storage medium having stored therein at least one instruction that is executed by a processor to cause a computer to perform the positioning method of the present disclosure. In some embodiments, the present disclosure provides a surgical robotic system comprising: A surgical tool including an arm body, an actuator provided at a distal end of the arm body, at least one angle marker and a plurality of pose markers provided on a distal end portion of the arm body; An image collector for collecting the positioning image of the arm body, and And the processor is connected with the image collector and is used for executing the positioning method disclosed by the disclosure to determine the pose of the tail end part of the arm body. Drawings FIG. 1 illustrates a schematic diagram of an apparatus 100 capable of performing positioning methods of some embodiments of the present disclosure; FIG. 2 illustrates a tag 200 that includes multiple pose identifiers and multiple angle identifiers; Fig. 3 shows that the tag 200 is disposed on a cylindrical tag 300 formed on the circumferential side of an object; FIG. 4 illustrates a schematic diagram of an implementation scenario 400 according to some embodiments of the present disclosure; FIG. 5 illustrates a flow chart of a positioning method 500 according to some embodiments of the present disclosure; FIG. 6 illustrates a flow chart of a method 600 for determining a pose of an object coordinate system relative to a reference coordinate system according to some embodiments of the present disclosure; FIG. 7 illustrates a flowchart of a method 700 for determining a pose of an object coordinate system relative to a reference coordinate system, according to some embodiments of the present disclosure; FIG. 8 illustrates a schematic diagram of a plurality of pose markers in cross-section circle 822, according to some embodiments of the present disclosure; FIG. 9 illustrates a flowchart of a method 900 for identifying pose identifiers according to some embodiments of the present disclosure; FIG. 10 illustrates a schematic diagram of a pose identification pattern 1011 according to some embodiments of the present disclosure; FIG. 11 illustrates a flow chart of a method 1100 for searching for pose identification according to some embodiments of the present disclosure; FIG. 12 illustrates a schematic diagram of search pose identification according to some embodiments of the present disclosure; FIG. 13 illustrates a flowchart of a method 1300 of identifying an angle identity, according to some embodiments of the present disclosure; FIG. 14 illustrates a block diagram of a computer device 1400 in accordance with some embodiments of the present disclosure; fig. 15 illustrates a block schematic diagram of a surgical robotic system 1500 according to some embodiments of the present disclosure. Detailed Description Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, and those skilled in the art will appreciate that the scope of the present disclosure is not limited to only these embodiments. Various modifications and variations of the present disclosure can be made on the basis of the following embodiments. Such modifications and variations are intended to be included within the scop