Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine
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摘要: 治疗室与其机器人是重离子治疗装置（HIMM）精准治疗系统的重要组成部分，为了提升重离子放疗过程中患者摆位的精度和效率，研究一种使用激光跟踪仪和其配套软件SA将运载治疗床的机器人基座坐标系与治疗室坐标系统一的方法，通过图形拟合的方法确定了标定点在法兰盘坐标系中的坐标；通过数学模型的搭建完成了机器人法兰盘坐标系和基座标系之间的坐标变换；利用SA软件中最佳拟合算法求出了治疗室坐标系与机器人坐标系之间的变换矩阵，完成了坐标系的统一。在HIMM中的实际应用表明，坐标系的统一方法的使用不但简化了标定点在法兰盘中心坐标系中坐标的标定，简化了法兰盘中心坐标系和基座标系转换的计算过程，而且标定精度良好、效率更高，更加符合重离子精准治疗系统及其他工业应用。Abstract: To accurately locate patients in the process of heavy ion therapy for cancer, a method of coordinate unification between treatment room and the robot system of heavy ion therapy system based on the laser tracker and its supporting software Spatial Analyzer is proposed. First, we determine the coordinates of the calibration point in the flange center coordinate system by geometric fitting method. Second, the coordinate transformation between the robot flange coordinate system and the base coordinate system is accomplished by simple calculation. Finally, the transformation matrix between the treatment room coordinate system and the robot coordinate system is calculated by using the best fitting algorithm in Spatial Analyzer software. The unification of the coordinate system is completed, and the accuracy of the unified coordinate system is verified. The practical application in HIMM (Heavy Ion Medical Machine) shows that the coordinate unification method simplifies the conversion between treatment room and the robot system of heavy ion therapy system. Moreover, the calibration accuracy is good and the calibration efficiency is high. This method of coordinate unification is easy to operate in heavy ion therapy system and other industrial applications.
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Key words:
- Heavy Ion Medical Machine /
- treatment room /
- robot /
- coordinate transformation /
- laser tracker
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图 3 坐标系转换前后的误差对比
Figure 3. Error comparison before and after the conversion of the coordinate system
表 1 示教器上法兰盘中心位姿参数
Table 1. Center position parameters of the flange on the teach pendant
No. x/mm y/mm z/mm A/(°) B/(°) C/(°) $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $ 764.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}2 $ 964.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}3 $ 964.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}4 $ 764.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}5 $ 564.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}6 $ 564.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}7 $ 564.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}8 $ 764.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}9 $ 964.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}10 $ 964.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}11 $ 964.93 1378.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}12 $ 964.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}13 $ 764.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}14 $ 564.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}15 $ 564.93 1378.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}16 $ 564.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}17 $ 764.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $8 764.93 1378.01 −1987.06 0 0 0 
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表 2 标定点在治疗室{ISO}坐标系中的坐标
Table 2. Coordinates of the calibration point in the ISO coordinate system of the treatment room
No. x/mm y/mm z/mm $ {P}_{{\rm{ISO}}} $1 −817.51 −638.78 −485.96 $ {P}_{{\rm{ISO}}} $2 −1017.28 −639.84 −485.32 $ {P}_{{\rm{ISO}}} $3 −1016.9 −640.17 −285.34 $ {P}_{{\rm{ISO}}} $4 −817.03 −639.09 −285.97 $ {P}_{{\rm{ISO}}} $5 −617.22 −637.97 −286.48 $ {P}_{{\rm{ISO}}} $6 −617.58 −637.71 −486.5 $ {P}_{{\rm{ISO}}} $7 −617.95 −637.39 −686.42 $ {P}_{{\rm{ISO}}} $8 −817.79 −638.49 −685.91 $ {P}_{{\rm{ISO}}} $9 −1017.65 −639.55 −685.27 $ {P}_{{\rm{ISO}}} $10 −1018.77 −439.62 −684.97 $ {P}_{{\rm{ISO}}} $11 −1018.44 −439.89 −484.95 $ {P}_{{\rm{ISO}}} $12 −1017.99 −440.14 −285.03 $ {P}_{{\rm{ISO}}} $13 −818.09 −439.06 −285.59 $ {P}_{{\rm{ISO}}} $14 −618.24 −438.03 −286.13 $ {P}_{{\rm{ISO}}} $15 −618.62 −437.72 −486.17 $ {P}_{{\rm{ISO}}} $16 −619 −437.44 −686.15 $ {P}_{{\rm{ISO}}} $17 −818.92 −438.51 −685.54 $ {P}_{{\rm{ISO}}} $18 −818.58 −438.8 −485.58
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表 3 标定点在机器人基座标系下的坐标
Table 3. Coordinates of the calibration point under the robot base system
No. x/mm y/mm z/mm $ {P}_{{\rm{B}}} $1 916.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $2 1116.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $3 1116.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $4 916.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $5 716.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $6 716.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $7 716.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $8 916.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $9 1116.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $10 1116.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $11 1116.26 1122.57 −1730.1 $ {P}_{{\rm{B}}} $12 1116.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $13 916.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $14 716.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $15 716.26 1122.57 −1730.1 $ {P}_{{\rm{B}}} $16 716.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $17 916.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $18 916.26 1122.57 −1730.05
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表 4 坐标转换精度
Table 4. Coordinate conversion accuracy
Δxmax/mm δRMS-x Δymax/mm δRMS-y Δzmax/mm δRMS-z ΔMag-max/mm ΔRMS-mag/mm 0.26 0.14 0.06 0.03 0.15 0.09 0.3 0.16
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