CN113662665A - Precision detection method and device of knee joint replacement surgical robot system - Google Patents
Precision detection method and device of knee joint replacement surgical robot system Download PDFInfo
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 98
- 238000001514 detection method Methods 0.000 title claims abstract description 31
- 238000001356 surgical procedure Methods 0.000 claims abstract description 43
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000013150 knee replacement Methods 0.000 claims abstract description 22
- 239000000523 sample Substances 0.000 claims description 37
- 238000002059 diagnostic imaging Methods 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 22
- 239000000700 radioactive tracer Substances 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 7
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- 230000005236 sound signal Effects 0.000 description 4
- 239000003550 marker Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002683 hand surgery Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
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- 238000012795 verification Methods 0.000 description 1
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1675—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
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- A—HUMAN NECESSITIES
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- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
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Abstract
The present disclosure relates to a precision detection method and apparatus for a knee joint replacement surgical robot system. A knee replacement surgical robotic system includes a surgical robot, the method comprising: acquiring spatial position information of a target osteotomy plane; controlling a mechanical arm of the surgical robot to move according to a surgical planning instruction until an osteotomy groove of an osteotomy device installed on the mechanical arm is located at a planned position, wherein the planned position represents a working position for osteotomy operation on the target osteotomy plane; and acquiring the spatial position information of the plane where the osteotomy groove is positioned, and determining the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is positioned. According to the knee joint replacement surgery robot system and the evaluation method thereof, comprehensive evaluation can be accurately made on the precision of the knee joint replacement surgery robot system.
Description
Technical Field
The disclosure relates to the technical field of medical equipment, in particular to a precision detection method and device of a knee joint replacement surgery robot system.
Background
The positioning accuracy is the core performance and the outstanding advantages of the orthopaedic surgical robot system compared with the traditional free-hand surgery method, so that the accurate evaluation and detection of the positioning accuracy of the orthopaedic surgical robot system are key links for evaluating the product performance and guaranteeing the surgical safety and effect, and are important bases for technology research and development, product development and verification. For example, for a patient with middle and late knee joint osteoarthritis, the knee joint is accurately cut by the assistance of the knee joint replacement surgery robot system, and the accuracy and the safety of the knee joint replacement surgery can be guaranteed.
The detection of the positioning accuracy of an industrial robot generally measures the repeated positioning accuracy and the absolute positioning accuracy of an end effector of the industrial robot relative to a reference coordinate system, and is divided into two position measurement modes of a contact type and a non-contact type. These methods only describe point-to-point errors between the end of the robot actuator and the target.
However, the precision of the knee joint operation robot is affected by various factors, including image deformation, robot motion error, guide pin clearance, optical tracking and positioning error, etc., and the comprehensive positioning precision of the system not only requires a fixed point error range, but also needs to meet the orientation requirement.
Furthermore, the accuracy evaluation indexes of the knee joint surgery robot system are inconsistent with the detection method, and the product performance evaluation and the product inspection are difficult.
Therefore, how to effectively measure the accuracy of the knee joint replacement surgical robot system is a problem to be solved at present.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a method and an apparatus for detecting the accuracy of a knee replacement surgical robot system.
According to a first aspect of embodiments of the present disclosure, there is provided a precision detection method of a knee replacement surgical robot system including a surgical robot, the method including:
acquiring spatial position information of a target osteotomy plane, wherein the target osteotomy plane is one plane in a plurality of planes included by the knee joint mould;
controlling a mechanical arm of the surgical robot to move according to a surgical planning instruction until an osteotomy groove of an osteotomy device installed on the mechanical arm is located at a planned position, wherein the planned position represents a working position for osteotomy operation on the target osteotomy plane;
obtaining the spatial position information of the plane where the osteotomy groove is positioned, and
and determining the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is located.
Optionally, the spatial position information of the target osteotomy plane and the spatial position information of the working plane are obtained by measuring with a spatial position measuring device.
Optionally, the knee joint replacement surgery robot system further includes a medical imaging device, an optical tracking device, and a planning and navigation system, and the method further includes, after controlling a robotic arm of the surgery robot to move according to a surgery planning instruction until an osteotomy slot of an osteotome mounted on the robotic arm is located at a planned position:
controlling the medical imaging equipment to scan and image the knee joint mould;
scanning the knee joint mould by using a scanning probe, and tracking and identifying a tracer arranged on the scanning probe through the optical tracking device so as to determine the spatial position scanned by the scanning probe;
image registering a medical image acquired by the medical imaging device with a spatial position of the knee joint mold acquired by the scanning probe;
receiving surgical planning instructions of an operator, the surgical planning instructions including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
Optionally, the target osteotomy plane includes a first measurement point, a second measurement point, and a third measurement point, and the spatial location information of the target osteotomy plane includes a spatial coordinate of the first measurement point, a spatial coordinate of the second measurement point, and a spatial coordinate of the third measurement point.
Optionally, the determining an error between the spatial position information of the target osteotomy plane and the spatial position information of the plane in which the osteotomy notch is located includes:
determining the distance from at least one of the first measuring point, the second measuring point and the third measuring point to the spatial position information of the plane of the osteotomy groove, and
determining the angle between the working plane and the plane formed by the first measuring point, the second measuring point and the third measuring point;
determining the distance and the angle as an error between the spatial position information of the target osteotomy plane and the spatial position information of the working plane.
According to a second aspect of the embodiments of the present disclosure, there is provided an accuracy detection apparatus of a knee replacement surgical robot system including a surgical robot, the apparatus including:
the knee joint mould comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the spatial position information of a target osteotomy plane, and the target osteotomy plane is one plane in a plurality of planes included by the knee joint mould;
the determining module is used for controlling the mechanical arm of the surgical robot to move according to a surgical planning instruction until the osteotomy groove of the osteotomy device installed on the mechanical arm is located at a planned position, the planned position represents a working position for osteotomy operation on the target osteotomy plane, the spatial position information of the plane where the osteotomy groove is located is obtained, and the spatial position information is obtained
And determining the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is located.
Optionally, the spatial position information of the target osteotomy plane and the spatial position information of the working plane are obtained by measuring with a spatial position measuring device.
Optionally, the knee joint replacement surgery robot system further includes a medical imaging device, an optical tracking device, and a planning and navigation system, and the determination module is further configured to, according to a surgery planning instruction, control a robot arm of the surgery robot to move until an osteotomy slot of an osteotome mounted on the robot arm is located at a planned position:
controlling the medical imaging equipment to scan and image the knee joint mould;
scanning the knee joint mould by using a scanning probe, and tracking and identifying a tracer arranged on the scanning probe through the optical tracking device so as to determine the spatial position scanned by the scanning probe;
image registering a medical image acquired by the medical imaging device with a spatial position of the knee joint mold acquired by the scanning probe;
receiving surgical planning instructions of an operator, the surgical planning instructions including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
Optionally, the target osteotomy plane includes a first measurement point, a second measurement point, and a third measurement point, and the spatial location information of the target osteotomy plane includes a spatial coordinate of the first measurement point, a spatial coordinate of the second measurement point, and a spatial coordinate of the third measurement point.
Optionally, the determining module determines an error between the spatial position information of the target osteotomy plane and the spatial position information of the plane in which the osteotomy notch is located by:
determining the distance from at least one of the first measuring point, the second measuring point and the third measuring point to the spatial position information of the plane of the osteotomy groove, and
determining the angle between the working plane and the plane formed by the first measuring point, the second measuring point and the third measuring point;
determining the distance and the angle as an error between the spatial position information of the target osteotomy plane and the spatial position information of the working plane.
According to the technical scheme, after the surgical robot included in the knee joint replacement surgical robot system is used for acquiring the spatial position information of the target osteotomy screen edge included by the knee joint mold, the mechanical arm of the surgical robot is controlled to move according to the operation planning instruction of an operator until the osteotomy groove of the osteotomy device installed on the mechanical arm is positioned at the planned position, the spatial position information of the plane where the osteotomy groove is positioned can be acquired, and then the precision detection result of the knee joint replacement surgical robot system can be determined according to the spatial position information of the plane where the osteotomy groove is positioned and the spatial position information of the target osteotomy plane, and the result is based on the comprehensive positioning precision of the knee joint replacement surgical robot system, namely the results include optical equipment, computing equipment, operating equipment and the like in the whole knee joint replacement surgical robot system, The accuracy of the knee joint replacement surgery robot system can be comprehensively evaluated accurately due to the comprehensive errors of hardware and the like.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is an exemplary diagram illustrating a knee joint accuracy detection tool according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a method of accuracy detection of a knee replacement surgery robot system according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating a method of accuracy detection of a knee replacement surgery robot system according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating an accuracy detection apparatus of a knee replacement surgery robot system according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the process of a real robot-assisted knee joint replacement surgery, computer-assisted preoperative planning is firstly needed, registration among three coordinate systems of a medical image, an optical camera system and a patient is carried out by using an image processing technology based on scanned images of the knee joint of the patient, and a realistic graph is generated. A doctor determines surgical schemes such as a target osteotomy plane of knee joint replacement in a three-dimensional visualization environment. Based on the operation scheme planned by the doctor, the planning and navigation system forms a control instruction to control the mechanical arm of the knee joint replacement operation robot to move until the osteotomy slot installed on the mechanical arm is positioned at the affected part of the patient and reaches the working position for osteotomy operation on the target osteotomy plane so as to carry out joint replacement on the target osteotomy plane of the knee joint of the patient later.
Since the actual knee joint replacement surgery needs to be performed on an actual patient, the detection of the system accuracy cannot be performed in the actual surgery. Therefore, in the accuracy detection method of the knee joint replacement surgery robot system, the knee joint accuracy detection tool can be used for simulating and restoring the actual process of the clinical joint replacement surgery, and the accuracy detection result is obtained, namely, the error between the theoretical target positioning and the actual working positioning of the surgery robot system is obtained through the process, and the error can comprise the comprehensive positioning accuracy representing the position error and the angle error. The system precision detected based on the method is consistent with the precision of practical clinical application, the operation is simple and convenient, and the system positioning precision of the joint replacement surgical robot can be accurately and comprehensively evaluated.
Fig. 1 is an exemplary diagram illustrating a knee joint accuracy detection tool according to an exemplary embodiment. In fig. 1, the knee joint precision detection tool comprises a knee joint mold and an optical tracking device.
The knee joint mould comprises a knee joint curved surface and an osteotomy plane, wherein the knee joint curved surface and the osteotomy plane are used for simulating the surface profile of the human knee joint. The osteotomy plane may be a position of a femoral osteotomy or a position of a tibial osteotomy determined according to the knee joint curved surface when a doctor plans before an operation, or may be a plane position for simulating a femoral prosthesis or a tibial prosthesis to be installed. Three osteotomy planes are illustratively shown in fig. 1, including osteotomy plane a, osteotomy plane B, and osteotomy plane C.
The optical tracking device (reference coordinate system) is used for tracking and identifying a tracer arranged on the scanning probe when the scanning probe scans the knee joint mould so as to determine the space position scanned by the scanning probe. And then after the spatial position of the knee joint mold is obtained, the image registration of the medical image of the knee joint mold obtained by the medical imaging equipment before the operation and the position of the knee joint mold obtained by the scanning probe can be realized according to the medical image obtained by the medical imaging equipment after scanning and imaging the knee joint mold.
Fig. 2 is a flowchart illustrating a method of detecting accuracy of a knee replacement surgery robot system according to an exemplary embodiment, and as shown in fig. 2, the method of detecting accuracy of the knee replacement surgery robot system includes the following steps.
In step S11, spatial position information of the target osteotomy plane is acquired.
In the present disclosure, the target osteotomy plane may be, for example, one selected from among a plurality of osteotomy planes (an osteotomy plane a, an osteotomy plane B, and an osteotomy plane C) included in the knee joint mold shown in fig. 1. The target osteotomy plane may be a position of a femoral osteotomy or a position of a tibial osteotomy determined from the knee joint curvature during the simulated pre-operative planning by the physician, or may be a plane position simulating a femoral prosthesis or a tibial prosthesis to be installed.
The spatial position information of the target osteotomy plane may be measured by a spatial position measuring device, such as a three-coordinate measuring device.
In step S12, according to the surgical planning instruction, the robot arm of the surgical robot is controlled to move until the osteotomy slot of the osteotomy tool mounted on the robot arm is located at the planned position, and the planned position represents the working position for the osteotomy operation on the target osteotomy plane.
In the present disclosure, the surgical planning instruction may be a surgical planning instruction determined according to a result of image registration after image registration of a medical image of a knee joint mold acquired by a medical imaging device and a position of the knee joint mold acquired by a scanning probe before an operation. The surgical planning instructions may be implemented to control a robotic arm of the surgical robot to move until an osteotomy slot of an osteotome mounted on the robotic arm is at a planned position.
In step S13, the spatial position information of the plane in which the osteotomy groove is located is acquired, and the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane in which the osteotomy groove is located is determined.
The spatial position information of the plane of the osteotomy groove can be obtained by measuring through a spatial position measuring device. After obtaining the spatial position information of the plane where the osteotomy groove is located, the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is located can be determined by the following method:
by determining a plurality of measuring points on the target osteotomy plane, if a first measuring point, a second measuring point and a third measuring point are obtained, the spatial position information of the target osteotomy plane comprises the spatial coordinate of the first measuring point, the spatial coordinate of the second measuring point and the spatial coordinate of the third measuring point.
Determining the distance from at least one of the first measuring point, the second measuring point and the third measuring point to the spatial position information of the plane of the osteotomy groove, determining the angle between the plane formed by the first measuring point, the second measuring point and the third measuring point and the working plane, and determining the distance and the angle as the error between the spatial position information of the target osteotomy plane and the spatial position information of the working plane.
In an exemplary embodiment of the disclosure, after acquiring spatial position information of a target osteotomy plane included in a knee joint mold, according to an operation planning instruction of an operator, a manipulator of a surgical robot is controlled to move until an osteotomy groove of an osteotome mounted on the manipulator is located at a planned position, spatial position information of a plane where the osteotomy groove is located can be acquired, and then, according to the spatial position information of the plane where the osteotomy groove is located and the spatial position information of the target osteotomy plane, a precision detection result of the knee joint replacement surgical robot system can be determined The accuracy of the knee joint replacement surgery robot system can be comprehensively evaluated accurately due to the comprehensive errors of hardware and the like.
Fig. 3 is a flowchart illustrating a method of detecting accuracy of a knee replacement surgery robot system according to an exemplary embodiment, and as shown in fig. 3, the method of detecting accuracy of the knee replacement surgery robot system includes the following steps.
In step S21, spatial position information of the target osteotomy plane is acquired.
In step S22, the medical imaging apparatus is controlled to scan and image the knee joint mold.
In practical application, the fixed knee joint mold needs to be scanned by medical imaging equipment in the knee joint replacement surgery robot system to obtain an image of the knee joint mold. That is, for example, the knee joint precision detection tool fixed with the knee joint mold in fig. 1 may be scanned by a medical imaging device (CT device) in advance to obtain a scanned image of the knee joint mold.
In step S23, the knee joint mold is scanned with the scanning probe, and the tracer disposed on the scanning probe is tracked and identified by the optical tracking device to determine the spatial position scanned by the scanning probe.
The scanning probe in the disclosure is provided with the tracer, when an operator scans the knee joint mold by holding the scanning probe, for example, the scanning probe has a predetermined size, and the tracer is arranged at a predetermined position on the scanning probe, so that a motion track of the tail end of the scanning probe can be calculated according to spatial position data of each tracer captured by the optical tracking device, thereby obtaining a spatial position of the knee joint mold under a coordinate system of the optical tracking device.
In step S24, the medical image acquired by the medical imaging device is image-registered with the spatial position of the knee joint mold acquired by the scanning probe.
In the present disclosure, after obtaining the spatial position of the knee joint mold in the optical tracking device coordinate system, the medical image acquired by the medical imaging device is image-registered with the spatial position of the knee joint mold acquired by the scanning probe. Therefore, the relation is established between the coordinate system of the optical tracking equipment and the world coordinate system of the three-coordinate measuring instrument, and the image registration work in the actual clinical process is simulated.
When a medical image acquired by medical imaging equipment is aligned with a spatial position of a knee joint mold acquired by a scanning probe, a doctor cannot easily plan a bone cutting plane from an image of a knee joint curved surface in an image (such as a three-dimensional image) of a knee joint precision detection tool, on one hand, the knee joint curved surface image is often corroded and expanded to cause the situation that the knee joint curved surface in the three-dimensional image deviates from reality, and on the other hand, the plane is directly picked up in an image composed of basic elements such as points and triangular surface slices, so that the fitting problem is complex and the precision problem exists. Therefore, in the present disclosure, an easily identifiable marker can be placed in the knee joint mold in advance, and the spatial position relationship between the osteotomy plane and the marker can be measured in advance by the three-coordinate measuring instrument. And then in the image of the knee joint mould is obtained through the medical imaging equipment, the accurate position of the osteotomy plane under the image coordinate system can be deduced by identifying the position of the marker under the image coordinate system, and accurate image registration can be realized according to the accurate position of the osteotomy plane under the image coordinate system.
In step S25, a surgical planning instruction of the operator is received, the surgical planning instruction including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
In one embodiment, after the medical image acquired by the medical imaging device is image-registered with the spatial position of the knee joint mold acquired by the scanning probe, the operator can plan the planned position of the target osteotomy plane on the planning and navigation system according to the result of the image registration.
In step S26, according to the surgical planning instruction, the robot arm of the surgical robot is controlled to move until the osteotomy slot of the osteotomy tool mounted on the robot arm is located at the planned position, and the planned position represents the working position for the osteotomy operation on the target osteotomy plane.
In step S27, the spatial position information of the plane in which the osteotomy groove is located is acquired, and the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane in which the osteotomy groove is located is determined.
According to the technical scheme, after the surgical robot included in the knee joint replacement surgical robot system is used for acquiring the spatial position information of the target osteotomy screen edge included by the knee joint mold, the mechanical arm of the surgical robot is controlled to move according to the operation planning instruction of an operator until the osteotomy groove of the osteotomy device installed on the mechanical arm is positioned at the planned position, the spatial position information of the plane where the osteotomy groove is positioned can be acquired, and then the precision detection result of the knee joint replacement surgical robot system can be determined according to the spatial position information of the plane where the osteotomy groove is positioned and the spatial position information of the target osteotomy plane, and the result is based on the comprehensive positioning precision of the knee joint replacement surgical robot system, namely the results include optical equipment, computing equipment, operating equipment and the like in the whole knee joint replacement surgical robot system, The accuracy of the knee joint replacement surgery robot system can be comprehensively evaluated accurately due to the comprehensive errors of hardware and the like.
Fig. 4 is a block diagram illustrating an accuracy detection apparatus 400 of a knee replacement surgery robot system according to an exemplary embodiment. Referring to fig. 4, the accuracy detecting apparatus of the knee replacement surgery robot system includes:
an obtaining module 401, configured to obtain spatial position information of a target osteotomy plane;
a determining module 402, configured to control a mechanical arm of the surgical robot to move according to a surgical planning instruction until an osteotomy slot of an osteotome mounted on the mechanical arm is located at a planned position, where the planned position represents a working position of an osteotomy operation on the target osteotomy plane, obtain spatial position information of a plane where the osteotomy slot is located, and determine an error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy slot is located.
Optionally, the spatial position information of the target osteotomy plane and the spatial position information of the working plane are obtained by measuring with a spatial position measuring device.
Optionally, the knee joint replacement surgery robot system further includes a medical imaging device, an optical tracking device, and a planning and navigation system, and the determining module 402 is further configured to, after controlling a robotic arm of the surgery robot to move according to a surgery planning instruction until an osteotomy slot of an osteotome mounted on the robotic arm is located at a planned position:
controlling the medical imaging equipment to scan and image the knee joint mould;
scanning the knee joint mould by using a scanning probe, and tracking and identifying a tracer arranged on the scanning probe through the optical tracking device so as to determine the spatial position scanned by the scanning probe;
image registering a medical image acquired by the medical imaging device with a spatial position of the knee joint mold acquired by the scanning probe;
receiving surgical planning instructions of an operator, the surgical planning instructions including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
Optionally, the target osteotomy plane includes a first measurement point, a second measurement point, and a third measurement point, and the spatial location information of the target osteotomy plane includes a spatial coordinate of the first measurement point, a spatial coordinate of the second measurement point, and a spatial coordinate of the third measurement point.
Optionally, the determining module 402 determines the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane in which the osteotomy slot is located by:
determining the distance from at least one of the first measuring point, the second measuring point and the third measuring point to the spatial position information of the plane of the osteotomy groove, and
determining the angle between the working plane and the plane formed by the first measuring point, the second measuring point and the third measuring point;
determining the distance and the angle as an error between the spatial position information of the target osteotomy plane and the spatial position information of the working plane.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 5 is a block diagram illustrating an electronic device 700 according to an example embodiment. As shown in fig. 5, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the accuracy detection method of the knee replacement surgery robot system. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described XXXX methods.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions, which when executed by a processor, implement the steps of the accuracy detection method of the knee replacement surgical robot system described above. For example, the computer readable storage medium may be the memory 702 including program instructions executable by the processor 701 of the electronic device 700 to perform the accuracy detection method of the knee replacement surgery robot system described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described accuracy detection method of a knee replacement surgery robotic system when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of accuracy detection of a knee replacement surgical robot system, the knee replacement surgical robot system including a surgical robot, the method comprising:
acquiring spatial position information of a target osteotomy plane;
controlling a mechanical arm of the surgical robot to move according to a surgical planning instruction until an osteotomy groove of an osteotomy device installed on the mechanical arm is located at a planned position, wherein the planned position represents a working position for osteotomy operation on the target osteotomy plane;
obtaining the spatial position information of the plane where the osteotomy groove is positioned, and
and determining the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is located.
2. The method of claim 1, wherein the spatial position information of the target osteotomy plane and the spatial position information of the working plane are measured by a spatial position measuring device.
3. The method of claim 1, wherein the knee replacement surgery robot system further comprises a medical imaging device, an optical tracking device and a planning and navigation system, and the method further comprises the following steps of, before controlling a robotic arm of the surgery robot to move according to surgery planning instructions until an osteotomy slot of an osteotomy device mounted on the robotic arm is located at a planned position:
controlling the medical imaging equipment to scan and image the knee joint mould;
scanning the knee joint mould by using a scanning probe, and tracking and identifying a tracer arranged on the scanning probe through the optical tracking device so as to determine the spatial position scanned by the scanning probe;
image registering a medical image acquired by the medical imaging device with a spatial position of the knee joint mold acquired by the scanning probe;
receiving surgical planning instructions of an operator, the surgical planning instructions including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
4. The method of claim 1, wherein the target osteotomy plane includes a first measurement point, a second measurement point, and a third measurement point, and wherein the spatial location information of the target osteotomy plane includes spatial coordinates of the first measurement point, spatial coordinates of the second measurement point, and spatial coordinates of the third measurement point.
5. The method of claim 4, wherein determining an error between the spatial location information of the target osteotomy plane and the spatial location information of the plane in which the osteotomy slot is located comprises:
determining the distance from at least one of the first measuring point, the second measuring point and the third measuring point to the spatial position information of the plane of the osteotomy groove, and
determining the angle between the working plane and the plane formed by the first measuring point, the second measuring point and the third measuring point;
determining the distance and the angle as an error between the spatial position information of the target osteotomy plane and the spatial position information of the working plane.
6. An accuracy detection apparatus of a knee replacement surgical robot system including a surgical robot, the apparatus comprising:
the knee joint mould comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the spatial position information of a target osteotomy plane, and the target osteotomy plane is one plane in a plurality of planes included by the knee joint mould;
the determining module is used for controlling the mechanical arm of the surgical robot to move according to a surgical planning instruction until the osteotomy groove of the osteotomy device installed on the mechanical arm is located at a planned position, the planned position represents a working position for osteotomy operation on the target osteotomy plane, the spatial position information of the plane where the osteotomy groove is located is obtained, and the spatial position information is obtained
And determining the error between the spatial position information of the target osteotomy plane and the spatial position information of the plane where the osteotomy groove is located.
7. The apparatus of claim 6, wherein the spatial position information of the target osteotomy plane and the spatial position information of the working plane are measured by a spatial position measuring device.
8. The apparatus of claim 6, wherein the knee replacement surgery robot system further comprises a medical imaging device, an optical tracking device and a planning and navigation system, and the determining module is further configured to, before controlling the robotic arm of the surgery robot to move according to the surgery planning instruction until the osteotomy slot of the osteotomy device mounted on the robotic arm is located at the planned position:
controlling the medical imaging equipment to scan and image the knee joint mould;
scanning the knee joint mould by using a scanning probe, and tracking and identifying a tracer arranged on the scanning probe through the optical tracking device so as to determine the spatial position scanned by the scanning probe;
image registering a medical image acquired by the medical imaging device with a spatial position of the knee joint mold acquired by the scanning probe;
receiving surgical planning instructions of an operator, the surgical planning instructions including a planned position of the target osteotomy plane planned by the operator on the planning and navigation system.
9. A non-transitory computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
10. An apparatus, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
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