CN114305688A - Hip joint replacement surgery navigation positioning method based on flexible flange - Google Patents
Hip joint replacement surgery navigation positioning method based on flexible flange Download PDFInfo
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- CN114305688A CN114305688A CN202111581802.2A CN202111581802A CN114305688A CN 114305688 A CN114305688 A CN 114305688A CN 202111581802 A CN202111581802 A CN 202111581802A CN 114305688 A CN114305688 A CN 114305688A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 19
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 8
- 210000001981 hip bone Anatomy 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 11
- 238000011540 hip replacement Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000013459 approach Methods 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 5
- 239000012636 effector Substances 0.000 abstract description 20
- 238000011900 installation process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Abstract
The invention relates to a navigation and positioning method for hip joint replacement surgery based on a flexible flange, which comprises the following steps: the operation tool and the three-dimensional reconstructed skeleton model are converted into a binocular camera coordinate system, the operation tool and the skeleton pose of the patient can be tracked in real time through a binocular camera to realize navigation positioning, the mechanical arm is controlled in a visual servo mode to enable the operation tool to approach the target pose planned before the operation of the patient skeleton infinitely, and hip bone grinding and acetabular cup installation are completed. The invention optimizes the navigation positioning algorithm, simplifies the operation process, eliminates the errors generated in the registration process of the end effector and the mechanical arm, and further improves the system precision. In addition, by the scheme of adding the flexible flange between the end flange of the mechanical arm and the end effector, the problem that the mechanical arm is locked or damaged due to overlarge external force in the installation process of the acetabular cup by using the low-load mechanical arm is solved, and the low-load mechanical arm can also complete hip replacement surgery.
Description
Technical Field
The invention relates to the field of orthopedic medical robots, in particular to a hip joint replacement surgery navigation positioning method based on a flexible flange.
Background
Robot-assisted surgery navigation is a hot item in the medical field in recent years, and a hip replacement surgery navigation system is one of the items.
The existing navigation positioning method needs to complete the registration of the end effector, convert the coordinates of the surgical tool into the flange coordinate system at the tail end of the mechanical arm, convert the coordinates of the surgical tool into the base coordinate system of the mechanical arm from the flange coordinate system at the tail end of the mechanical arm through the registration of the mechanical arm, convert the base coordinate system of the mechanical arm into the base array coordinate system, and finally convert the coordinates into the coordinate system of the binocular camera through the base array. The end effector registration is essentially that the sphere center coordinates are obtained through the claime rule, and the method for obtaining the sphere center through the claime rule has certain errors and cannot ensure the consistency of the result obtained by each registration. The result of the registration of the mechanical arm is influenced by the relative position relationship between the binocular camera and the end effector array and the base array, and the coaxiality between the base array and the end effector also influences the result of the registration of the mechanical arm. On one hand, the processes of end effector registration and mechanical arm registration are complicated, and the complexity of the operation can be increased; on the other hand, small errors in the end effector registration and mechanical arm registration processes are gradually amplified after multiple coordinate conversions, so that large errors exist after the final surgical tool coordinates are converted into the coordinates of a binocular camera.
In addition, the existing mechanical arm is divided into a low-load mechanical arm and a high-load mechanical arm, the end effector is connected with a flange at the tail end of the mechanical arm through an isolation flange, a doctor can smash the end effector by using very large force in the process of pressing the acetabular cup into the acetabular fossa, the force applied by the doctor can be directly transmitted to the mechanical arm through the end effector, and when the low-load mechanical arm is used, the mechanical arm is directly locked and even damaged, so that the operation cannot be performed. The problem of mechanical arm locking can be solved by using a high-load mechanical arm, but the volume of the whole mechanical arm trolley is increased due to the overlarge appearance of the mechanical arm, so that the equipment is difficult to move in an operating room; on the other hand, the use of a high-load mechanical arm also increases the production cost of the enterprise.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a flexible flange-based hip replacement surgery navigation and positioning method. The method can simplify the operation flow of the operation, eliminate the system errors caused by the registration of the end effector and the registration of the mechanical arm, and solve the problem that the low-load mechanical arm is locked or damaged due to overlarge external force when the acetabular cup is installed.
The invention provides a navigation and positioning method for hip replacement surgery based on a flexible flange, which specifically comprises the following steps:
s100: converting the coordinates of the surgical tool to a mechanical arm base coordinate system;
s200: obtaining a mapping relation between the binocular camera coordinate system and the mechanical arm base coordinate system;
s300: converting the surgical tool coordinates to a binocular camera coordinate system;
s400: converting the three-dimensional reconstructed skeleton model into a binocular camera coordinate system;
s500: and performing navigation positioning to finish hip bone grinding and acetabular cup installation.
Preferably, the step S100 of converting the surgical tool coordinates to the robot arm base coordinate system includes:
the mapping relation between the coordinates of the surgical tool and the flange coordinate system at the tail end of the mechanical arm can be directly obtained through the mechanical processing parameters of the surgical tool, so that the coordinates of the surgical tool are converted to be under the flange coordinate system at the tail end of the mechanical arm;
the mapping relation between the coordinate system of the flange at the tail end of the mechanical arm and the coordinate system of the mechanical arm base can be obtained by recording the pose of the flange at the tail end of the mechanical arm under the coordinate system of the mechanical arm base during the righting movement;
and converting the coordinates of the surgical tool from the robot arm end flange coordinate system to the robot arm base coordinate system.
Further, the converting the surgical tool coordinates to a binocular camera coordinate system in the step S300 includes:
the mapping relation between the surgical tool coordinate and the mechanical arm tail end array coordinate system can be directly obtained through the mechanical processing parameter of the surgical tool, so that the surgical tool coordinate is converted into the mechanical arm tail end array coordinate system;
the pose of the mechanical arm tail end array under the coordinate system of the binocular camera is obtained in real time through the binocular camera, and the mapping relation between the coordinate system of the mechanical arm tail end array and the coordinates of the binocular camera can be obtained;
and converting the coordinates of the surgical tool from the mechanical arm end array coordinate system to be under the binocular camera coordinate system.
Further, the step S400 of converting the three-dimensional reconstructed bone model into the binocular camera coordinate system includes:
reconstructing a three-dimensional skeleton model according to CT images of a patient during preoperative planning;
extracting spatial information contained in the reconstructed three-dimensional skeleton model, and acquiring a mapping relation between the target position of the surgical tool and the three-dimensional skeleton model;
selecting registration points on a skeleton model, sequentially collecting the registration points on the actual skeleton of the patient by using a passive identification point sharp needle according to a planning scheme, and simultaneously recording the poses of the passive identification point sharp needle and the hip bone array under a binocular camera coordinate system when each registration point is collected;
and converting the three-dimensional skeleton model into a hip bone array coordinate system, and converting the hip bone array coordinate system into the binocular camera coordinate system.
Further, the navigation positioning in step S500 is performed to complete hip bone grinding and acetabular cup installation, and the navigation positioning includes:
acquiring the position and posture information of the mechanical arm in real time through a binocular camera and a mechanical arm tail end array arranged between a tail end actuator and a mechanical arm tail end flange;
the positions of the surgical tool and the skeleton of the patient are tracked in real time through a binocular camera to realize navigation and positioning;
converting the target position of the surgical tool to be under the mechanical arm base coordinate system;
the mechanical arm is controlled to move by adopting a position-based visual servo control mode, and an operation tool infinitely approaches to a target position and a posture of a skeleton of a patient planned before an operation to form closed-loop feedback control;
and finishing hip bone grinding and acetabular cup installation.
Further, when the acetabular cup is installed in the step S500, a flexible flange is added between the end flange of the mechanical arm and the isolation flange, and the flexible flange can play a role of energy absorption to absorb part of external force transmitted to the mechanical arm, so as to solve the problem that the mechanical arm with low load is locked or damaged due to excessive external force applied to the mechanical arm during installation of the acetabular cup.
Compared with the prior art, the flexible flange-based hip joint replacement surgery navigation positioning method provided by the invention optimizes a navigation positioning algorithm, and further improves the robustness of system precision by adopting a visual servo mode; the operation flow of the operation is simplified, and doctors do not need to register the end effector and the mechanical arm in the operation process, so that the whole operation process is more suitable for the operation habit of the doctors, errors generated in the registration process of the end effector and the mechanical arm are eliminated, and the system precision is further improved; in addition, by the scheme of adding the flexible flange between the end flange of the mechanical arm and the end effector, the problem that the mechanical arm is locked or damaged due to overlarge external force in the installation process of the acetabular cup by using the low-load mechanical arm is solved, so that the low-load mechanical arm can also complete hip joint replacement surgery, the production cost of a product can be saved, the appearance design of the product can be lighter, and the space of an operating room can be saved.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of an installation of an embodiment of the present invention at an angle.
Description of reference numerals: 1. an end effector; 2. an isolation flange; 3. a flexible flange; 4. an array of mechanical arm ends; 5. a mechanical arm tail end flange; 6. a mechanical arm; 7. arm base.
Detailed Description
The following detailed description of embodiments of the invention, taken in conjunction with the accompanying drawings and examples, illustrate by way of example the principles of the invention, but are not intended to limit the scope of the invention, which is not limited to the embodiments described.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated for convenience in describing the invention and to simplify description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "assembled" are to be construed broadly, e.g., as meaning either a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
For a better understanding of the present invention, embodiments thereof are described in detail below with reference to the accompanying drawings.
The invention provides a navigation and positioning method for hip replacement surgery based on a flexible flange, which comprises the following steps:
s100: converting the coordinates of the surgical tool to a mechanical arm base coordinate system;
s200: obtaining a mapping relation between the binocular camera coordinate system and the mechanical arm base coordinate system;
s300: converting the surgical tool coordinates to a binocular camera coordinate system;
s400: converting the three-dimensional reconstructed skeleton model into a binocular camera coordinate system;
s500: and performing navigation positioning to finish hip bone grinding and acetabular cup installation.
Wherein the converting of the surgical tool coordinates to the robotic arm base coordinate system of step S100 comprises:
the mapping relation between the coordinates of the surgical tool and the flange coordinate system at the tail end of the mechanical arm can be directly obtained through the mechanical processing parameters of the surgical tool, so that the coordinates of the surgical tool are converted to be under the flange coordinate system at the tail end of the mechanical arm;
by recording the pose of the end flange 5 of the mechanical arm under the coordinate system of the mechanical arm base during the righting movement, the mapping relation between the coordinate system of the end flange of the mechanical arm and the coordinate system of the mechanical arm base can be obtained;
and converting the coordinates of the surgical tool from the robot arm end flange coordinate system to the robot arm base coordinate system.
Step S300 said converting said surgical tool coordinates to a binocular camera coordinate system, comprising:
the mapping relation between the surgical tool coordinate and the mechanical arm tail end array coordinate system can be directly obtained through the mechanical processing parameter of the surgical tool, so that the surgical tool coordinate is converted into the mechanical arm tail end array coordinate system;
the pose of the mechanical arm tail end array 4 under the coordinate system of the binocular camera is obtained in real time through the binocular camera, and the mapping relation between the coordinate system of the mechanical arm tail end array and the coordinates of the binocular camera can be obtained;
and converting the coordinates of the surgical tool from the mechanical arm end array coordinate system to be under the binocular camera coordinate system.
Step S400, converting the three-dimensional reconstructed bone model to the binocular camera coordinate system, including:
reconstructing a three-dimensional skeleton model according to CT images of a patient during preoperative planning;
extracting spatial information contained in the reconstructed three-dimensional skeleton model, and acquiring a mapping relation between the target position of the surgical tool and the three-dimensional skeleton model;
selecting registration points on a skeleton model, sequentially collecting the registration points on the actual skeleton of the patient by using a passive identification point sharp needle according to a planning scheme, and simultaneously recording the poses of the passive identification point sharp needle and the hip bone array under a binocular camera coordinate system when each registration point is collected;
and converting the three-dimensional skeleton model into a hip bone array coordinate system, and converting the hip bone array coordinate system into the binocular camera coordinate system.
Step S500, navigation and positioning are carried out to finish hip bone grinding and acetabular cup installation, and the method comprises the following steps:
acquiring position and posture information of a mechanical arm 6 in real time through a binocular camera and a mechanical arm tail end array 4 arranged between an end effector 1 and a mechanical arm tail end flange 5;
the positions of the surgical tool and the skeleton of the patient are tracked in real time through a binocular camera to realize navigation and positioning;
converting the target position of the surgical tool to be under the mechanical arm base coordinate system;
the mechanical arm 6 is controlled to move by adopting a position-based visual servo control mode, and an operation tool infinitely approaches to a target position and a posture of a skeleton of a patient planned before an operation to form closed-loop feedback control;
and carrying out hip bone grinding and acetabular cup installation.
As shown in figure 1, a flexible flange 3 is added between a flange 5 at the tail end of the mechanical arm and an isolation flange 2, the flexible flange 3 can play a role of energy absorption, and partial external force transmitted to the mechanical arm 6 is absorbed, so that the problem that the mechanical arm with low load is locked or damaged due to overlarge external force when an acetabular cup is installed is solved.
The invention further improves the robustness of the system precision by adopting a visual servo mode; the operation flow of the operation is simplified, and doctors do not need to register the end effector and the mechanical arm in the operation process, so that the whole operation process is more suitable for the operation habit of the doctors, errors generated in the registration process of the end effector and the mechanical arm are eliminated, and the system precision is further improved; in addition, by the scheme of adding the flexible flange between the end flange of the mechanical arm and the end effector, the problem that the mechanical arm is locked or damaged due to overlarge external force in the installation process of the acetabular cup by using the low-load mechanical arm is solved, so that the low-load mechanical arm can also complete hip joint replacement surgery, the production cost of a product can be saved, the appearance design of the product can be lighter, and the space of an operating room can be saved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. A hip joint replacement surgery navigation positioning method based on a flexible flange is characterized by comprising the following steps:
s100: converting the coordinates of the surgical tool to a mechanical arm base coordinate system;
s200: obtaining a mapping relation between the binocular camera coordinate system and the mechanical arm base coordinate system;
s300: converting the surgical tool coordinates to a binocular camera coordinate system;
s400: converting the three-dimensional reconstructed skeleton model into a binocular camera coordinate system;
s500: and performing navigation positioning to finish hip bone grinding and acetabular cup installation.
2. The flexible flange-based hip replacement surgery navigation and positioning method according to claim 1, wherein the step S100 comprises the following steps:
the mapping relation between the coordinates of the surgical tool and the flange coordinate system at the tail end of the mechanical arm can be directly obtained through the mechanical processing parameters of the surgical tool, so that the coordinates of the surgical tool are converted to be under the flange coordinate system at the tail end of the mechanical arm;
the mapping relation between the coordinate system of the flange at the tail end of the mechanical arm and the coordinate system of the mechanical arm base can be obtained by recording the pose of the flange at the tail end of the mechanical arm under the coordinate system of the mechanical arm base during the righting movement;
and converting the coordinates of the surgical tool from the robot arm end flange coordinate system to the robot arm base coordinate system.
3. The flexible flange-based hip replacement surgery navigation and positioning method according to claim 1, wherein the steps S200 and S300 comprise the following steps:
the mapping relation between the surgical tool coordinate and the mechanical arm tail end array coordinate system can be directly obtained through the mechanical processing parameter of the surgical tool, so that the surgical tool coordinate is converted into the mechanical arm tail end array coordinate system;
the pose of the mechanical arm tail end array under the coordinate system of the binocular camera is obtained in real time through the binocular camera, and the mapping relation between the coordinate system of the mechanical arm tail end array and the coordinates of the binocular camera can be obtained;
and converting the coordinates of the surgical tool from the mechanical arm end array coordinate system to be under the binocular camera coordinate system.
4. The flexible flange-based hip replacement surgery navigation and positioning method according to claim 1, wherein the step S400 comprises the following steps:
reconstructing a three-dimensional skeleton model according to CT images of a patient during preoperative planning;
extracting spatial information contained in the reconstructed three-dimensional skeleton model, and acquiring a mapping relation between the target position of the surgical tool and the three-dimensional skeleton model;
selecting registration points on a skeleton model, sequentially collecting the registration points on the actual skeleton of the patient by using a passive identification point sharp needle according to a planning scheme, and simultaneously recording the poses of the passive identification point sharp needle and the hip bone array under a binocular camera coordinate system when each registration point is collected;
and converting the three-dimensional skeleton model into a hip bone array coordinate system, and converting the hip bone array coordinate system into the binocular camera coordinate system.
5. The flexible flange-based hip replacement surgery navigation and positioning method according to claim 1, wherein the step S500 comprises the following steps:
acquiring the position and posture information of the mechanical arm in real time through a binocular camera and a mechanical arm tail end array arranged between a tail end actuator and a mechanical arm tail end flange;
the positions of the surgical tool and the skeleton of the patient are tracked in real time through a binocular camera to realize navigation and positioning;
converting the target position of the surgical tool to be under the mechanical arm base coordinate system;
the mechanical arm is controlled to move by adopting a position-based visual servo control mode, and an operation tool infinitely approaches to a target position and a posture of a skeleton of a patient planned before an operation to form closed-loop feedback control;
and carrying out hip bone grinding and acetabular cup installation.
6. The navigation and positioning method for hip replacement surgery based on flexible flange as claimed in claim 5, wherein in the step S500, when the acetabular cup is installed, a flexible flange is added between the end flange of the mechanical arm and the isolation flange.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111581802.2A CN114305688A (en) | 2021-12-22 | 2021-12-22 | Hip joint replacement surgery navigation positioning method based on flexible flange |
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| CN202111581802.2A CN114305688A (en) | 2021-12-22 | 2021-12-22 | Hip joint replacement surgery navigation positioning method based on flexible flange |
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| WO2024002253A1 (en) * | 2022-07-01 | 2024-01-04 | 北京和华瑞博医疗科技有限公司 | Robotic arm system and surgical operation system |
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