CN114795496A - Passive surgical robot navigation positioning system - Google Patents

Passive surgical robot navigation positioning system Download PDF

Info

Publication number
CN114795496A
CN114795496A CN202210526122.9A CN202210526122A CN114795496A CN 114795496 A CN114795496 A CN 114795496A CN 202210526122 A CN202210526122 A CN 202210526122A CN 114795496 A CN114795496 A CN 114795496A
Authority
CN
China
Prior art keywords
mechanical arm
joint
coordinate
coordinate system
points
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210526122.9A
Other languages
Chinese (zh)
Inventor
宋德政
刘勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Exxon Medical Technology Development Co ltd
Original Assignee
Beijing Exxon Medical Technology Development Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Exxon Medical Technology Development Co ltd filed Critical Beijing Exxon Medical Technology Development Co ltd
Priority to CN202210526122.9A priority Critical patent/CN114795496A/en
Publication of CN114795496A publication Critical patent/CN114795496A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/171—Guides or aligning means for drills, mills, pins or wires for external fixation
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • 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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a passive surgical robot navigation and positioning system, which comprises an optical tracker, a mechanical arm and a main control system. The optical tracker and the mechanical arm are connected with a main control system, and the main control system is main operating equipment and is used for processing space coordinate conversion between the shot images and the real-time images, and performing medical image acquisition processing, planning, registration navigation and postoperative data analysis. The navigation positioning system is used for operations such as orthopedics, neurosurgery, oral treatment, puncture biopsy, injection administration and the like, and can assist a doctor in navigation positioning operation. The system can reduce the labor intensity of doctors, improve the operation precision, reduce the operation wound and improve the operation quality.

Description

Passive surgical robot navigation positioning system
Technical Field
The invention relates to the technical field of medical robots, in particular to a navigation and positioning system of a passive surgical robot.
Background
In the last two decades, as various subjects such as medicine, robotics, computer graphics, intelligent control and the like are increasingly mature and gradually fused to form a robot-assisted surgery technology, many advantages of the robot-assisted surgery technology meet the requirements of modern medical development, and by means of the characteristics of rapidness, accuracy and easiness in repeated operation of an image processing technology and a robot technology, various defects of a traditional surgery mode are overcome, so that domestic and foreign scientific workers already fuse the robot and a vision technology into a traditional medical surgery, and the medical robot is widely applied to neurosurgery, abdominal surgery, thoracic surgery, bone surgery, vascular intervention, craniofacial surgery and other surgeries.
Compared with the traditional operation, the robot-assisted operation has the advantages of minimal invasion, clear visual angle, flexible operation, accurate positioning and the like, realizes that the operation tool reaches the planned pose, assists a doctor to safely and reliably finish various operations with higher difficulty, can reduce radiation injury, reduce operation wound, shorten operation time, improve operation quality and ensure the health of the doctor and a patient.
At present, aiming at different indications, the functional requirements on the robot are different, and the software and hardware design of the robot is different. From the surgical robot technical path, the general classification is master-slave type surgical robots and positioning type surgical robots. The positioning type surgical robot which provides a navigation positioning tool for doctors is widely applied to chest, abdomen and pelvic cavity puncture minimally invasive diagnosis and treatment, orthopedic surgery and neurosurgery. Although some progress is made in the current robot surgery system, the robot surgery system still is in a long-term development process, and the surgery robot will develop towards a plurality of directions such as being smaller, safer, more economical and more intelligent in the future.
The invention provides a passive surgical robot navigation and positioning system, which integrates functions of medical image processing, planning navigation and the like into a whole, and has the advantages of compact structure, low cost, simple operation and high surgical positioning precision.
Disclosure of Invention
A passive surgical robot navigation positioning system comprises an optical tracker, a mechanical arm and a main control system.
The optical tracker is used for tracking optical marking points of the diseased part, the mechanical arm and other parts of the patient in real time in the operation to acquire the positions of the marking points.
The mechanical arm comprises a mechanical body, a controller and a navigation positioning component, and can manually and accurately position the position and the posture of the terminal navigation tool.
The main control system comprises a computer control center, a display device and input and output equipment.
The optical tracker and the mechanical arm are connected with a main control system, and the main control system is main operating equipment and is used for processing space coordinate conversion between the shot images and the real-time images, and performing medical image acquisition processing, planning, registration navigation and postoperative data analysis.
The mechanical arm has four joints, the first three joints comprising base, waist seat, large arm and small arm are rotating joints, encoder is installed in the joints, and the last joint comprising small arm and navigation positioning part is spherical joint.
The two ends of the rotary joint are provided with mechanical interfaces and are respectively connected with the two rod pieces through the connecting module, when the electromagnetic clutch is disconnected, the two rod pieces rotate coaxially around the axis of the rotary joint according to external force applied to the rotary joint, and the encoder detects the rotating angle of the rotary joint.
Another type of mechanical arm has two ball joints in common.
When the electromagnetic clutch is disconnected, the ball joint rotates around the ball center of the ball joint in any direction according to the external force applied to the connecting rod piece.
Each joint of the two mechanical arms is a passive joint, a mechanical limiting device and an electromagnetic clutch are installed on each joint, and an optical mark point is installed on the mechanical arm body.
The mechanical limiting device is used for limiting the motion range of each joint.
When the electromagnetic clutch is closed, all joints are locked, and the position and the posture of the navigation positioning component are fixed relative to the mechanical arm base.
The optical mark points on the mechanical arm body are used for calibrating the structural parameters of the mechanical arm body.
The navigation positioning component is provided with at least three optical mark points which are not on a straight line, the relative position and posture between the navigation tool at the tail end of the mechanical arm and the optical mark points on the navigation positioning component are determined to be known, and the navigation positioning component is provided with an electromagnetic clutch switch for a doctor to hold and operate during an operation.
The navigation positioning component is provided with a guide frame connected with the tail end of the mechanical arm, the slide rail frame can slide along the guide frame, the two V-shaped sliding blocks and the spring form a clamping device which can clamp surgical instruments, the clamping device can slide up and down along the slide rail frame to adjust the position, the clamping device is fixed by fastening screws after adjustment is finished, and the axis of the implant is consistent with the working axis of the surgical instruments during operation.
The guiding frame is provided with a graduated scale, the sliding rail frame is provided with optical mark points, and the depth of the implant embedded into the human body is estimated according to the distance between the optical mark points when the operation starts and ends.
The mechanical arm and the optical tracker can be arranged on an operating bed or a bedside device, and the mechanical arm, the optical tracker and the main control system can be arranged independently or can be integrated on one device.
The optical tracker can track the optical mark points on the navigation positioning component in real time in the operation, and if the optical mark points deviate from the planning target, the system can send out warning.
And calibrating a mechanical arm structure parameter, and establishing a mechanical arm kinematics model. The big arm and the small arm can be provided with optical mark points. The optical tracker is fixed and the mechanical arm base is fixed in the calibration process.
Rotating the first joint and keeping the rest joints still, taking at least two optical mark point series position points, fitting each series position point to generate a circle, taking the connection line of the circle centers to establish a coordinate axis Z 1 、X 2 Rotating the second joint and keeping the rest joints still, taking at least two optical mark point series position points, fitting each series position point to generate a circle, taking the connection line of the circle centers to establish a coordinate axis Y 1 、Z 2 And coordinate axis Z 1 、X 2 The point of intersection is the origin O 1 、O 2 Establishing coordinate axis X according to the right-hand rule of the space rectangular coordinate system 1 、Y 2 Thus, two coordinate systems O are established 1 X 1 Y 1 Z 1 、O 2 X 2 Y 2 Z 2 。
Coordinate system O when mechanical arm is at zero position 1 X 1 Y 1 Z 1 Along a coordinate axis Z 1 Reverse bias l 1 Establishing a base coordinate system O 0 X 0 Y 0 Z 0 。
Rotating the third joint while the rest joints are still, and taking at least twoOptical mark point series position points, fitting each series position point to generate a circle, and establishing a coordinate axis Z by connecting the circle centers 3 From the origin O 2 To the coordinate axis Z 3 Determining origin O as drop foot 3 Position, O 2 O 3 The distance is the length l of the connecting rod 2 Coordinate axis X 3 With origin O at zero position 2 、O 3 On a straight line, establishing coordinate axis Y according to the right-hand rule of the space rectangular coordinate system 3 Thus, a coordinate system O is established 3 X 3 Y 3 Z 3 。
Rotating the fourth joint, keeping the rest joints still, taking the optical mark point series position points on at least one navigation positioning component, fitting each series position points to generate a ball, and determining the position of the center of the ball as an origin O 4 Position, O 3 O 4 The distance is the length l of the connecting rod 3 Coordinate system O 3 X 3 Y 3 Z 3 Along the coordinate axis X 3 Offset l 3 Establishing a coordinate system O 4 X 4 Y 4 Z 4 。
The probe with optical mark points is held by hand, the needle tip contacts the position near the implant entrance point of the surgical instrument to generate the series of position points of the optical mark points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 5 The intersection point of the cylinder and the plane is the origin O 5 (p x5 ,p y5 ,p z5 ) Coordinate axis Y 5 Perpendicular to the coordinate axis X 4 And coordinate axis Z 5 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 5 Thus, a coordinate system O is established 5 X 5 Y 5 Z 5 。
Assuming that the rotation angle of the first, second and third joints is theta 1 、θ 2 、θ 3 Establishing a homogeneous transformation matrix of each connecting rod:
Figure BDA0003644433180000051
Figure BDA0003644433180000052
[n x4 ,n y4 ,n z4 ]、[o x4 ,o y4 ,o z4 ]、[a x4 ,a y4 ,a z4 ]respectively represent a coordinate system O 4 X 4 Y 4 Z 4 Relative to the coordinate system O 3 X 3 Y 3 Z 3 The projection components of the three principal axes.
[n x5 ,n y5 ,n z5 ]、[o x5 ,o y5 ,o z5 ]、[a x5 ,a y5 ,a z5 ]Respectively represent a coordinate system O 5 X 5 Y 5 Z 5 Relative to the coordinate system O 4 X 4 Y 4 Z 4 The projection components of the three principal axes.
And calibrating another mechanical arm structure parameter, and establishing a mechanical arm kinematics model. The middle rod piece can be provided with an optical mark point, the optical tracker is fixed in the calibration process, and the mechanical arm base is fixed.
Rotating the first ball joint and making the other ball joint still, taking at least one optical mark point series position point, fitting each series position point to generate a ball, and determining the position of the ball center as an origin O 7 The positions rotate around three coordinate axes of a rectangular space coordinate system respectively, at least one series of position points of the optical mark points are taken, the series of position points are fitted to generate circles, and the connecting lines of the centers of the circles are taken to establish coordinate axes X respectively 7 、Y 7 、Z 7 Thus, a coordinate system O is established 7 X 7 Y 7 Z 7 Base coordinate system O when mechanical arm is at zero position 6 X 6 Y 6 Z 6 And a coordinate system O 7 X 7 Y 7 Z 7 And (4) overlapping.
Rotating the second ball joint, fixing the other ball joint, taking the optical mark point series position points on at least one navigation positioning component, fitting each series position points to generate a ball, and determining the position of the center of the ball as the origin O 8 Position, O 7 O 8 The distance is the length l of the connecting rod 4 Are wound respectively aroundRotating along three coordinate axes of a rectangular spatial coordinate system, taking at least one series of position points of the optical mark points, fitting each series of position points to generate a circle, and taking a connecting line of the centers of each circle to respectively establish a coordinate axis X 8 、Y 8 、Z 8 Thus, a coordinate system O is established 8 X 8 Y 8 Z 8 。
The probe with optical mark points is held by hand, the tip of the probe is contacted with the position near the implant entry point of the surgical instrument to generate a series of position points of the optical mark points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 9 The intersection point of the cylinder and the plane is the origin O 9 (p x9 ,p y9 ,p z9 ) Coordinate axis Y 9 Perpendicular to the coordinate axis X 8 And coordinate axis Z 9 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 9 Thus, a coordinate system O is established 9 X 9 Y 9 Z 9 。
Establishing a homogeneous transformation matrix of each connecting rod:
Figure BDA0003644433180000061
[n x7 ,n y7 ,n z7 ]、[o x7 ,o y7 ,o z7 ]、[a x7 ,a y7 ,a z7 ]respectively represent a coordinate system O 7 X 7 Y 7 Z 7 Relative to the coordinate system O 6 X 6 Y 6 Z 6 The projection components of the three principal axes.
[n x8 ,n y8 ,n z8 ]、[o x8 ,o y8 ,o z8 ]、[a x8 ,a y8 ,a z8 ]Respectively represent a coordinate system O 8 X 8 Y 8 Z 8 Relative to the coordinate system O 7 X 7 Y 7 Z 7 The projection components of the three principal axes.
[n x9 ,n y9 ,n z9 ]、[o x9 ,o y9 ,o z9 ]、[a x9 ,a y9 ,a z9 ]Respectively represent a coordinate system O 9 X 9 Y 9 Z 9 Relative to the coordinate system O 8 X 8 Y 8 Z 8 The projection components of the three principal axes.
Before operation, off-line calculation simulation is carried out.
And determining the pose transformation relation between the surgical planning target and the mechanical arm navigation positioning component according to the positions of the optical mark points on the surgical planning target and the mechanical arm navigation positioning component in the optical tracker coordinate system. In a virtual simulation environment, according to the inverse solution of the mechanical arm kinematics model, the rotation angle of each joint of the mechanical arm is obtained, and the mechanical arm moves to a planning target position. And the simulation system displays the pose deviation of the real mechanical arm navigation positioning component and the planning target in real time.
And manually operating and positioning the mechanical arm according to the simulation result in the operation.
For the four-joint mechanical arm, the first rotary joint, the second rotary joint and the third rotary joint are manually rotated in sequence, so that the rotation angle of the encoder is consistent with the rotation angle of the simulation system, the three joints are locked, the fourth ball joint is manually rotated in three directions, the navigation positioning component is consistent with the operation planning target of the simulation system, and the fourth joint is locked.
And for the other two-joint mechanical arm, manually rotating the first ball joint in three directions to ensure that the rotation angle of the ball joint in the three directions is consistent with the rotation angle of the simulation system, locking the first joint, manually rotating the second ball joint in three directions to ensure that the navigation positioning component is consistent with the operation planning target of the simulation system, and locking the second joint.
The invention provides a passive surgical robot navigation and positioning system, which integrates medical image acquisition, processing, planning, registration navigation and postoperative data analysis, and is simple to operate and intelligent and minimally invasive. The device can be applied to different parts, such as orthopedics, neurosurgery, oral treatment, puncture biopsy, injection drug delivery and other operations, and assists a doctor in navigation and positioning operations. The method has important significance for optimizing operation targets, improving operation positioning accuracy, reducing operation wounds, improving operation quality and the like, and the operation robot system is bound to become a development trend of minimally invasive surgery along with further development and combination of clinical, robot systems, medical imaging and other multiple subjects in the future.
Drawings
FIG. 1 is a flow chart of operation of a navigational positioning system
FIG. 2 is a block diagram of a navigation positioning system
FIG. 3 is a robot arm A
FIG. 4 is a robot arm B
FIG. 5 is an electric bone drill
FIG. 6 is a navigation positioning part of a robot arm
FIG. 7 is a probe
FIG. 8 is a robot arm A link coordinate system
FIG. 9 is a B link coordinate system for a robotic arm
1-Main control System
2-binocular optical tracker
3-mechanical arm
4-tracer
5-guide frame
6-reflecting ball
7-sliding rail frame
8-fastening screw
9-guide cylinder
10-Kirschner wire
11-electromagnetic switch
12-end reflecting ball support
13-ball joint
14-forearm reflecting ball support
15-forearm rotary joint
16-big arm reflecting ball support
17-big arm rotary joint
18-waist seat rotary joint
19-fixed base
20-first ball joint
21-second ball joint
22-bone drill back end
23-bone drill front end
24-graduated scale
25-upper slide block
26-spring
27-lower slide
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1 to 9, the present embodiment provides a passive surgical robot navigation and positioning system, as shown in fig. 2, which comprises a main control system 1, a binocular optical tracker 2, a mechanical arm 3, and a tracer 4. The binocular optical tracker 2 and the mechanical arm 3 are connected with the main control system 1, the main control system 1 is a main operation device and is used for processing space coordinate conversion between medical images and real-time images, acquiring, processing, planning, registering, navigating and analyzing postoperative data of the medical images, and assisting a doctor to complete operation navigation and positioning by means of the mechanical arm 3 so as to complete accurate, safe and quick minimally invasive operations.
As shown in figure 3, a guide frame 5 connected with the tail end of the mechanical arm is arranged on the navigation positioning component, the slide rail frame 7 can slide along the guide frame 5, two V-shaped sliding blocks 25 and 27 and a spring 26 form a clamping device which can clamp the electric bone drill, as shown in figure 6, the clamping device can slide up and down along the slide rail frame 7 to adjust the position, the electric bone drill is fixed by a fastening screw 8 after the adjustment is finished, and the axis of the electric bone drill is consistent with the axis of the Kirschner wire 10 during the operation.
The guide frame 5 is provided with a graduated scale 24, the slide rail frame 7 is provided with a reflective ball 6, and the depth of the Kirschner wire 10 in the human body is estimated according to the distance between the reflective ball 6 when the operation starts and ends.
As shown in fig. 3 and 8, the structural parameters of the mechanical arm a are calibrated, and a kinematic model of the mechanical arm a is established. The large arm and the small arm are provided with reflective ball supports 16 and 14, the binocular optical tracker 2 is fixed in the calibration process, and the mechanical arm A base 19 is fixed.
Rotating the first joint 18 and keeping the rest joints still, taking three series of position points of the reflective sphere, fitting each series of position points to generate a circle, and taking a connecting line of the centers of the circles to establish a coordinate axis Z 1 、X 2 Rotating the second joint 17 and keeping the other joints still, taking three series of position points of the light-reflecting ball, fitting each series of position points to generate a circle, and taking the connection line of the centers of the circles to establish a sitting positionAxis Y 1 、Z 2 And coordinate axis Z 1 、X 2 The point of intersection is the origin O 1 、O 2 Establishing coordinate axis X according to the right-hand rule of the space rectangular coordinate system 1 、Y 2 Thus, two coordinate systems O are established 1 X 1 Y 1 Z 1 、O 2 X 2 Y 2 Z 2 。
Coordinate system O when mechanical arm A is at zero position 1 X 1 Y 1 Z 1 Along a coordinate axis Z 1 Reverse bias l 1 Establishing a base coordinate system O 0 X 0 Y 0 Z 0 。
Rotating the third joint 15, keeping the rest joints still, taking three series of position points of the reflective sphere, fitting the series of position points to generate a circle, and taking the line connecting the centers of the circles to establish a coordinate axis Z 3 From the origin O 2 To the coordinate axis Z 3 Determining origin O as drop foot 3 Position, O 2 O 3 The distance is the length l of the connecting rod 2 Coordinate axis X 3 With origin O at zero position 2 、O 3 On a straight line, establishing coordinate axis Y according to the right-hand rule of the space rectangular coordinate system 3 Thus, a coordinate system O is established 3 X 3 Y 3 Z 3 。
Rotating the fourth joint 13 and keeping the rest joints still, taking four series of position points of the reflecting ball on the reflecting ball support 12 of the navigation positioning component, fitting the position points of each series to generate a ball, and determining the position of the center of the ball as an origin O 4 Position, O 3 O 4 The distance is the length l of the connecting rod 3 Coordinate system O 3 X 3 Y 3 Z 3 Along the coordinate axis X 3 Offset l 3 Generating a coordinate system O 4 X 4 Y 4 Z 4 。
A probe with four reflecting balls is held in hand, as shown in figure 7, the needle point contacts the vicinity of the needle entering point of a guide cylinder 9 to generate reflecting ball series position points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 5 The intersection point of the cylinder and the plane is the origin O 5 (p x5 ,p y5 ,p z5 ) Coordinate axis Y 5 Perpendicular to the axis of the coordinateX 4 And coordinate axis Z 5 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 5 Thus, a coordinate system O is established 5 X 5 Y 5 Z 5 。
Assuming that the rotation angle of the first, second and third joints is theta 1 、θ 2 、θ 3 Establishing a homogeneous transformation matrix of each connecting rod:
Figure BDA0003644433180000111
Figure BDA0003644433180000112
[n x4 ,n y4 ,n z4 ]、[o x4 ,o y4 ,o z4 ]、[a x4 ,a y4 ,a z4 ]respectively represent a coordinate system O 4 X 4 Y 4 Z 4 Relative to the coordinate system O 3 X 3 Y 3 Z 3 The projection components of the three principal axes.
[n x5 ,n y5 ,n z5 ]、[o x5 ,o y5 ,o z5 ]、[a x5 ,a y5 ,a z5 ]Respectively represent a coordinate system O 5 X 5 Y 5 Z 5 Relative to the coordinate system O 4 X 4 Y 4 Z 4 The projection components of the three principal axes.
Referring to fig. 4 and 9, another structure parameter of the mechanical arm B is calibrated, and a kinematics model of the mechanical arm B is established. Three reflective balls are mounted on the middle rod piece, the binocular optical tracker 2 is fixed in the calibration process, and the base of the mechanical arm B is fixed.
Rotating the first ball joint 20 and the second ball joint 21, taking three series of position points of the reflective ball, fitting the series of position points to generate a ball, and determining the position of the center of the ball as an origin O 7 The positions are respectively rotated around three coordinate axes of a space rectangular coordinate system to obtain three reflected lightsFitting the ball series of position points to generate circles, and connecting the circle centers to establish coordinate axis X 7 、Y 7 、Z 7 Thus, a coordinate system O is established 7 X 7 Y 7 Z 7 Base coordinate system O when mechanical arm B is at zero position 6 X 6 Y 6 Z 6 And a coordinate system O 7 X 7 Y 7 Z 7 And (4) overlapping.
Rotating a second ball joint 21 and keeping another ball joint 20 still, taking four series of position points of the reflective ball on the navigation positioning component, fitting the series of position points to generate a ball, and determining the position of the center of the ball as an origin O 8 Position, O 7 O 8 The distance is the length l of the connecting rod 4 Respectively rotating around three coordinate axes of a space rectangular coordinate system, taking three series of position points of the light-reflecting ball, fitting each series of position points to generate a circle, taking a connecting line of the centers of the circles to respectively establish a coordinate axis X 8 、Y 8 、Z 8 Thus, a coordinate system O is established 8 X 8 Y 8 Z 8 。
A probe with four reflecting balls is held in hand, as shown in figure 7, the needle point contacts the vicinity of the needle entering point of a guide cylinder 9 to generate reflecting ball series position points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 9 The intersection point of the cylinder and the plane is the origin O 9 (p x9 ,p y9 ,p z9 ) Coordinate axis Y 9 Perpendicular to the coordinate axis X 8 And coordinate axis Z 9 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 9 Thus, a coordinate system O is established 9 X 9 Y 9 Z 9 。
Establishing a homogeneous transformation matrix of each connecting rod:
Figure BDA0003644433180000131
[n x7 ,n y7 ,n z7 ]、[o x7 ,o y7 ,o z7 ]、[a x7 ,a y7 ,a z7 ]respectively represent a coordinate system O 7 X 7 Y 7 Z 7 Relative to the coordinate system O 6 X 6 Y 6 Z 6 The projection components of the three principal axes.
[n x8 ,n y8 ,n z8 ]、[o x8 ,o y8 ,o z8 ]、[a x8 ,a y8 ,a z8 ]Respectively represent a coordinate system O 8 X 8 Y 8 Z 8 Relative to the coordinate system O 7 X 7 Y 7 Z 7 The projection components of the three principal axes.
[n x9 ,n y9 ,n z9 ]、[o x9 ,o y9 ,o z9 ]、[a x9 ,a y9 ,a z9 ]Respectively represent a coordinate system O 9 X 9 Y 9 Z 9 Relative to the coordinate system O 8 X 8 Y 8 Z 8 The projection components of the three principal axes.
Taking a fracture reduction operation as an example, the following operations are performed:
a) the medical imaging equipment is used for shooting, shooting information is transmitted to the main control system 1, medical image processing is carried out, a doctor carries out operation planning, and the position of a bone screw entering point and the position of a bone screw exiting point are planned.
b) The tracer 4 is fixed at the affected bone part of the patient, and the binocular optical tracker 2 is used for recording the space position information of the tracer 4.
c) The image information is registered by using control software, after the medical image information is subjected to space coordinate conversion, the positions of a planning target and a reflective ball of a navigation positioning component are sent to a main control system 1, the planning target is subjected to mechanical arm kinematics inverse solution, the rotation angle of each joint of the mechanical arm is obtained, one inverse solution is manually selected under the condition that a plurality of inverse solutions exist, the selected inverse solution is sent to a virtual mechanical arm, and the mechanical arm simulates to move to the planning target.
d) And the doctor presses the switch 11 on the mechanical arm, turns off the electromagnetic clutch, and adjusts the integral arm shape of the mechanical arm 3 to the planned operation target pose according to the simulation result and the display value of the encoder.
For the four-joint mechanical arm A, as shown in fig. 3, the first rotary joint 18, the second rotary joint 17 and the third rotary joint 15 are manually rotated in sequence, so that the rotation angle of the encoder is consistent with the rotation angle of the simulation system, the three joints 18, 17 and 15 are locked, the fourth ball joint 13 is manually rotated in three directions, the navigation positioning component is consistent with the operation planning target of the simulation system, and the fourth joint 13 is locked.
For another two-joint mechanical arm B, as shown in fig. 4, the first ball joint 20 is manually rotated in three directions, so that the rotation angles of the ball joint 20 in the three directions are consistent with the rotation angle of the simulation system, the first joint 20 is locked, the second ball joint 21 is manually rotated in three directions, so that the navigation positioning component is consistent with the operation planning target of the simulation system, and the second joint 21 is locked.
If the patient accidentally moves during the surgery, the robotic arm 3 is again adjusted to the updated planning target.
e) The doctor installs the bone drill, as shown in fig. 5, clamps the front end 23 or the rear end 22 of the bone drill, places the kirschner wire 10 into the guide cylinder 9, clamps the kirschner wire 10 by the bone drill, places the kirschner wire 10 at the planned starting position, records the positions of the reflective ball 6 and the graduated scale 24, and places the kirschner wire 10 according to the planned depth.
f) The doctor detaches the bone drill, removes the mechanical arm 3 and puts in the bone nail.
The above examples are only for further illustration of the present invention and should not be construed as limiting the scope of the present invention. It should be noted that, according to the design idea of the present invention, a person skilled in the art can make modifications, substitutions and variations to the above-mentioned embodiments, which all belong to the protection scope of the present invention.

Claims (9)

1. A passive surgical robot navigation positioning system is characterized in that the system comprises an optical tracker, a mechanical arm and a main control system;
the optical tracker is used for tracking optical mark points of the diseased part, the mechanical arm and other parts of the patient in real time in the operation to acquire the position of the mark points;
the mechanical arm comprises a mechanical body, a controller and a navigation positioning component, and can manually and accurately position the position and the posture of the terminal navigation tool;
the system comprises a main control system, a display device and an input/output device, wherein the main control system comprises a computer control center, the display device and the input/output device;
the optical tracker and the mechanical arm are connected with the main control system, and the main control system is main operating equipment and is used for processing space coordinate conversion between the shot images and the real-time images, and performing medical image acquisition processing, planning, registration navigation and postoperative data analysis.
2. The passive surgical robot navigation and positioning system of claim 1, wherein the mechanical arm has four joints, the first three joints of the base, the waist seat, the large arm and the small arm are rotary joints, the encoder is arranged at the joints, and the last joint of the small arm and the navigation and positioning component is a ball joint;
the two ends of the rotary joint are provided with mechanical interfaces and are respectively connected with two rod pieces through a connecting module, when the electromagnetic clutch is disconnected, the two rod pieces rotate coaxially around the axis of the rotary joint according to external force applied to the rotary joint, and the encoder detects the rotating angle of the rotary joint;
the other mechanical arm has two ball joints in total;
when the electromagnetic clutch is disconnected, the rod piece rotates around the spherical center of the ball joint in any direction according to the external force;
each joint of the two mechanical arms is a passive joint, a mechanical limiting device and an electromagnetic clutch are mounted on each joint, and an optical mark point is mounted on the mechanical arm body;
the mechanical limiting device is used for limiting the motion range of each joint;
when the electromagnetic clutch is closed, all joints are locked, and the position and the posture of the navigation positioning component are fixed relative to the mechanical arm base;
and the optical mark points on the mechanical arm body are used for calibrating the structural parameters of the mechanical arm body.
3. The passive surgical robot navigating and positioning system according to claim 1, wherein the navigating and positioning component has at least three optical mark points which are not in a straight line, the relative position and posture between the end of the mechanical arm navigating tool and the optical mark points on the navigating and positioning component are determined to be known, and the navigating and positioning component has an electromagnetic clutch switch for holding and operating by a doctor during surgery.
4. The passive surgical robot navigation and positioning system according to claim 1, wherein a guide frame connected with the tail end of the mechanical arm is mounted on the navigation and positioning component, a slide rail frame can slide along the guide frame, two V-shaped sliders and a spring form a clamping device which can clamp surgical instruments, the clamping device can slide up and down along the slide rail frame to adjust the position, and after the adjustment is finished, the clamping device is fixed by a fastening screw, so that the axis of an implant is consistent with the working axis of the surgical instruments during surgery;
the guiding frame is provided with a graduated scale, the sliding rail frame is provided with optical mark points, and the depth of the implant in the human body is estimated according to the distance between the optical mark points when the operation starts and ends.
5. A passive surgical robotic navigation positioning system according to claim 1, wherein the robotic arm and optical tracker are mounted on a surgical bed or a bedside device, and the robotic arm, optical tracker and main control system are mounted separately or integrated into one device.
6. The passive surgical robotic navigation and positioning system of claim 1, wherein the optical tracker can track the optical markers on the navigation and positioning component in real time during operation, and the system will send out a warning if the optical markers deviate from the planned target.
7. The system of claim 1, wherein the mechanical arm structure parameters are calibrated, the mechanical arm kinematics model is established, optical marker points can be installed on the large arm and the small arm, the optical tracker is fixed during calibration, and the mechanical arm base is fixed;
rotating the first joint and keeping the rest joints still, taking at least two optical mark point series position points, fitting each series position point to generate a circle, taking the connection line of the circle centers to establish a coordinate axis Z 1 、X 2 Rotating the second joint and keeping the rest joints still, taking at least two optical mark point series position points, fitting each series position point to generate a circle, taking the connection line of the circle centers to establish a coordinate axis Y 1 、Z 2 And coordinate axis Z 1 、X 2 The point of intersection is the origin O 1 、O 2 Establishing coordinate axis X according to the right-hand rule of the space rectangular coordinate system 1 、Y 2 Thus, two coordinate systems O are established 1 X 1 Y 1 Z 1 、O 2 X 2 Y 2 Z 2 ；
The coordinate system O when the mechanical arm is at zero position 1 X 1 Y 1 Z 1 Along a coordinate axis Z 1 Reverse bias l 1 Establishing a base coordinate system O 0 X 0 Y 0 Z 0 ；
Rotating the third joint, keeping the rest joints still, taking at least two optical mark point series position points, fitting each series position point to generate a circle, taking the line of the circle centers to establish a coordinate axis Z 3 From the origin O 2 To the coordinate axis Z 3 Determining origin O as drop foot 3 Position, O 2 O 3 The distance is the length l of the connecting rod 2 Coordinate axis X 3 With origin O at zero position 2 、O 3 On a straight line, establishing coordinate axis Y according to the right-hand rule of the space rectangular coordinate system 3 Thus, a coordinate system O is established 3 X 3 Y 3 Z 3 ；
Rotating the fourth joint and making the rest joints still, and taking at least one optical mark point system on the navigation positioning componentThe row of position points are fitted with each series of position points to generate a sphere, and the position of the center of the sphere is determined as an origin O 4 Position, O 3 O 4 The distance is the length l of the connecting rod 3 Said coordinate system O 3 X 3 Y 3 Z 3 Along the coordinate axis X 3 Offset l 3 Establishing a coordinate system O 4 X 4 Y 4 Z 4 ；
The probe with optical mark points is held by hand, the needle tip contacts the position near the implant entrance point of the surgical instrument to generate the series of position points of the optical mark points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 5 The intersection point of the cylinder and the plane is the origin O 5 (p x5 ,p y5 ,p z5 ) Coordinate axis Y 5 Perpendicular to the coordinate axis X 4 And coordinate axis Z 5 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 5 Thus, a coordinate system O is established 5 X 5 Y 5 Z 5 ；
Assuming that the rotation angle of the first, second and third joints is theta 1 、θ 2 、θ 3 Establishing a homogeneous transformation matrix of each connecting rod:
Figure FDA0003644433170000041
Figure FDA0003644433170000042
[n x4 ,n y4 ,n z4 ]、[o x4 ,o y4 ,o z4 ]、[a x4 ,a y4 ,a z4 ]respectively represent a coordinate system O 4 X 4 Y 4 Z 4 Relative to the coordinate system O 3 X 3 Y 3 Z 3 The projection components of the three principal axes of (a);
[n x5 ,n y5 ,n z5 ]、[o x5 ,o y5 ,o z5 ]、[a x5 ,a y5 ,a z5 ]respectively represent a coordinate system O 5 X 5 Y 5 Z 5 Relative to the coordinate system O 4 X 4 Y 4 Z 4 The projection components of the three principal axes of (a);
and calibrating the other mechanical arm structure parameter, and establishing the mechanical arm kinematics model. An optical mark point can be arranged on the middle rod piece, the optical tracker is fixed in the calibration process, and the mechanical arm base is fixed;
rotating the first ball joint and the second ball joint to make them immobile, taking at least one optical mark point series of position points, fitting each series of position points to generate a ball, and determining the position of the center of the ball as the origin O 7 The positions rotate around three coordinate axes of a rectangular space coordinate system respectively, at least one series of position points of the optical mark points are taken, the series of position points are fitted to generate circles, and the connecting lines of the centers of the circles are taken to establish coordinate axes X respectively 7 、Y 7 、Z 7 Thus, a coordinate system O is established 7 X 7 Y 7 Z 7 A base coordinate system O when the mechanical arm is at a zero position 6 X 6 Y 6 Z 6 And the coordinate system O 7 X 7 Y 7 Z 7 Overlapping;
rotating the second ball joint, fixing the other ball joint, taking the optical mark point series position points on at least one navigation positioning component, fitting each series position points to generate a ball, and determining the position of the center of the ball as the origin O 8 Position, O 7 O 8 The distance is the length l of the connecting rod 4 Respectively rotating around three coordinate axes of a space rectangular coordinate system, taking at least one optical mark point series position point, fitting each series position point to generate a circle, taking a line connecting the centers of all the circles to respectively establish a coordinate axis X 8 、Y 8 、Z 8 Thus, a coordinate system O is established 8 X 8 Y 8 Z 8 ；
The probe with optical mark points is held by hand, the needle tip contacts the position near the implant entrance point of the surgical instrument to generate the series of position points of the optical mark points, a cylinder and a plane are generated by fitting, and the axis of the cylinder is a coordinate axis Z 9 The intersection point of the cylinder and the plane is the origin O 9 (p x9 ,p y9 ,p z9 ) Coordinate axis Y 9 Perpendicular to the coordinate axis X 8 And coordinate axis Z 9 Determining the plane, and establishing coordinate axis X according to the right-hand rule of the rectangular spatial coordinate system 9 Thus, a coordinate system O is established 9 X 9 Y 9 Z 9 ；
Establishing a homogeneous transformation matrix of each connecting rod:
Figure FDA0003644433170000051
[n x7 ,n y7 ,n z7 ]、[o x7 ,o y7 ,o z7 ]、[a x7 ,a y7 ,a z7 ]respectively represent a coordinate system O 7 X 7 Y 7 Z 7 Relative to the coordinate system O 6 X 6 Y 6 Z 6 The projection components of the three principal axes of (a);
[n x8 ,n y8 ,n z8 ]、[o x8 ,o y8 ,o z8 ]、[a x8 ,a y8 ,a z8 ]respectively represent a coordinate system O 8 X 8 Y 8 Z 8 Relative to the coordinate system O 7 X 7 Y 7 Z 7 The projection components of the three principal axes of (a);
[n x9 ,n y9 ,n z9 ]、[o x9 ,o y9 ,o z9 ]、[a x9 ,a y9 ,a z9 ]respectively represent a coordinate system O 9 X 9 Y 9 Z 9 Relative to the coordinate system O 8 X 8 Y 8 Z 8 The projection components of the three principal axes.
8. The passive surgical robotic navigation positioning system of claim 1, wherein an off-line computational simulation is performed prior to surgery;
and determining a pose transformation relation between the operation planning target under the optical tracker coordinate system and the optical mark point position on the mechanical arm navigation positioning component, obtaining the rotation angle of each joint of the mechanical arm according to the inverse solution of the mechanical arm kinematics model in a virtual simulation environment, moving the mechanical arm to the planning target position, and displaying the true pose deviation of the mechanical arm navigation positioning component and the planning target in real time by a simulation system.
9. The passive surgical robot navigation and positioning system of claim 1, wherein the robotic arm is positioned manually during surgery according to simulation results;
for the four-joint mechanical arm, manually rotating a first rotary joint, a second rotary joint and a third rotary joint in sequence to enable the rotation angle of the encoder to be consistent with the rotation angle of the simulation system, locking the three joints, manually rotating a fourth ball joint in three directions to enable the navigation positioning component to be consistent with the operation planning target of the simulation system, and locking the fourth joint;
and for the other two joints of the mechanical arm, manually rotating the first ball joint in three directions to ensure that the rotation angle of the ball joint in the three directions is consistent with the rotation angle of the simulation system, locking the first joint, manually rotating the second ball joint in three directions to ensure that the navigation positioning component is consistent with the operation planning target of the simulation system, and locking the second joint.
CN202210526122.9A 2022-05-16 2022-05-16 Passive surgical robot navigation positioning system Pending CN114795496A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210526122.9A CN114795496A (en) 2022-05-16 2022-05-16 Passive surgical robot navigation positioning system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210526122.9A CN114795496A (en) 2022-05-16 2022-05-16 Passive surgical robot navigation positioning system

Publications (1)

Publication Number Publication Date
CN114795496A true CN114795496A (en) 2022-07-29

Family

ID=82515459

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210526122.9A Pending CN114795496A (en) 2022-05-16 2022-05-16 Passive surgical robot navigation positioning system

Country Status (1)

Country Link
CN (1) CN114795496A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116473681A (en) * 2023-03-28 2023-07-25 北京维卓致远医疗科技发展有限责任公司 Control system and method of surgical robot
CN116636930A (en) * 2023-03-28 2023-08-25 北京维卓致远医疗科技发展有限责任公司 surgical robot
CN117204951A (en) * 2023-09-22 2023-12-12 上海睿触科技有限公司 Operation positioning navigation equipment based on X-rays and positioning realization method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116473681A (en) * 2023-03-28 2023-07-25 北京维卓致远医疗科技发展有限责任公司 Control system and method of surgical robot
CN116636930A (en) * 2023-03-28 2023-08-25 北京维卓致远医疗科技发展有限责任公司 surgical robot
CN116636930B (en) * 2023-03-28 2023-12-12 北京维卓致远医疗科技发展有限责任公司 surgical robot
CN116473681B (en) * 2023-03-28 2024-02-20 北京维卓致远医疗科技发展有限责任公司 Control system and method of surgical robot
CN117204951A (en) * 2023-09-22 2023-12-12 上海睿触科技有限公司 Operation positioning navigation equipment based on X-rays and positioning realization method thereof
CN117204951B (en) * 2023-09-22 2024-04-30 上海睿触科技有限公司 Operation positioning navigation equipment based on X-rays and positioning realization method thereof

Similar Documents

Publication Publication Date Title
CN107753105B (en) Surgical robot system for positioning operation and control method thereof
CN107753106B (en) Surgical robot for positioning operation and control method thereof
WO2022126827A9 (en) Navigation and positioning system and method for joint replacement surgery robot
Kwoh et al. A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
CN114795496A (en) Passive surgical robot navigation positioning system
Li et al. The application accuracy of the NeuroMate robot—a quantitative comparison with frameless and frame-based surgical localization systems
US5976156A (en) Stereotaxic apparatus and method for moving an end effector
CN113940755B (en) Surgical planning and navigation method integrating surgical operation and image
Kwartowitz et al. Toward image-guided robotic surgery: determining intrinsic accuracy of the da Vinci robot
CN112043382A (en) Surgical navigation system and use method thereof
JP7082090B2 (en) How to tune virtual implants and related surgical navigation systems
JP7029932B2 (en) Systems and methods for measuring the depth of instruments
JP6979049B2 (en) Robot systems and related methods that provide co-registration using natural standards
CN113729941B (en) VR-based operation auxiliary positioning system and control method thereof
CN114983567A (en) Femoral neck fracture minimally invasive surgery navigation system
KR101895369B1 (en) Surgical robot system for stereotactic surgery
Saeedi-Hosseiny et al. Spatial detection of the shafts of fractured femur for image-guided robotic surgery
JP2020182842A (en) Systems for robotic trajectory guidance for navigated biopsy needle, and related methods and devices
Zequn et al. The robot system for brachytherapy
KR20180100514A (en) Surgical robot system for stereotactic surgery
Bhutani et al. Neuro-registration and navigation unit for surgical manipulation
CN114948223B (en) Robot-assisted fracture reduction navigation system and method
Kong et al. Navigation method for mandible reconstruction surgery robot
Liu et al. A Workflow for Robot Assisted Neurosurgery
Song et al. Dynamic tracking of minimally invasive spine surgery robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination