CN114983567A - Femoral neck fracture minimally invasive surgery navigation system - Google Patents
Femoral neck fracture minimally invasive surgery navigation system Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B2034/2055—Optical tracking systems
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Abstract
The invention relates to an orthopedic minimally invasive surgery navigation system, which relates to the field of surgery path navigation, wherein a three-dimensional CT image is subjected to DRR projection before surgery, an obtained two-dimensional DRR projection image is registered with a two-dimensional X-ray image scanned on an operating table, the pose of a mechanical arm is adjusted according to the registration result so as to perform surgery auxiliary navigation, and X-ray imaging or CT scanning for multiple times is not required in the surgery process.
Description
Technical Field
The invention relates to the field of operation path navigation, in particular to a femoral neck fracture minimally invasive operation navigation system.
Background
The neck of femur needs to undertake the movement and support functions of the human body during most activities, and the treatment effect of the fracture of the neck of femur directly affects the postoperative life quality of the patient. At present, the fracture of the neck of femur accounts for 3.6 percent of the fracture of the whole body, accounts for half of the fracture of the hip, is frequently generated in middle-aged and old people with osteoporosis, the incidence rate of the fracture of the neck of femur gradually increases along with the aging of the society, and the mechanical arm assisted operation of the neck of femur fracture has important significance.
At present, most of femoral neck fracture surgery navigation systems on the market realize high-precision surgery path auxiliary navigation by performing 3D CT imaging registration in surgery, but the cost and radiation injury to patients are too high due to the continuous CT imaging; some surgical navigation systems only perform X-ray plane registration in the operation, so that the imaging cost and radiation damage are low, but the precision of the surgical path assisted navigation cannot be ensured; in the operation process, how to register the actual operation position with the three-dimensional image of the operation position obtained by preoperative scanning at low cost and low radiation to guide the operation is a hot point and a difficult point of research of clinicians and engineering experts at present.
Disclosure of Invention
The invention aims to provide a femoral neck fracture minimally invasive surgery navigation system, which improves the effect of surgery path aided navigation.
In order to achieve the purpose, the invention provides the following scheme:
a femoral neck fracture minimally invasive surgery navigation system, comprising: the system comprises an optical tracer, an optical tracker, a main control device and a mechanical arm; the optical tracker and the mechanical arm are respectively connected with the main control equipment;
the optical tracer comprises a plurality of groups of optical mark points, and each group of optical mark points are coplanar but not collinear; the optical tracer is used for identifying the pose of a specified object in a surgical scene, wherein the specified object comprises a femoral part of a patient, an operating table and the mechanical arm;
the optical tracker is used for tracking the optical tracker in real time and shooting an operation scene;
the main control equipment comprises a projection module, a registration module and a navigation module;
the projection module is used for carrying out DRR projection at different angles on the three-dimensional femur CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femur CT image comprises a three-dimensional operation path;
the registration module is used for determining a two-dimensional DRR projection map with the same position as the femur in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection maps to obtain a plurality of target DRR projection maps, and determining a three-dimensional target surgical path according to a two-dimensional surgical path in each target DRR projection map; the two-dimensional X-ray images comprise X-ray plane images shot for the femoral part at different angles;
the navigation module is used for adjusting the pose of the mechanical arm according to the three-dimensional target operation path and the operation scene image shot by the optical tracker so as to enable the mechanical arm to move according to the three-dimensional target operation path.
Optionally, the two-dimensional X-ray image includes several non-collinear visualization mark points; the spatial relationship of the developed marker points to the optical marker points is known.
Optionally, the femur includes a femoral head and a femoral neck, the master control device further including: a preprocessing module;
the preprocessing module is used for preprocessing the femur image in the three-dimensional femur CT image and the two-dimensional X-ray image; the preprocessing module comprises: the femoral head fitting unit, the femoral characteristic circle generating unit, the femoral coordinate system establishing unit and the femoral characteristic point selecting unit are arranged in the femoral head fitting unit;
the femoral head fitting unit is used for fitting the femoral head into a circle to obtain a femoral head fitting circle;
the femur characteristic circle generating unit is used for generating a femur characteristic circle by using the center of the femoral head fitting circle and the radius of the femoral head fitting circle of a preset multiple; the femur characteristic circle and the femoral neck contour line are intersected at two initial femur characteristic points;
the femur coordinate system establishing unit is used for establishing a femur coordinate system by taking a connecting line between the midpoint of the connecting line of the two initial femur characteristic points and the center of the femur characteristic circle as a coordinate axis of the femur coordinate system;
and the femur characteristic point selecting unit is used for generating a plurality of line segments parallel to a connecting line of the two initial femur characteristic points, and taking the intersection point of each line segment and the contour line of the femoral neck as the femur characteristic point.
Optionally, the registration module comprises: the femur coordinate system coincidence unit and the femur characteristic point comparison unit;
the femur coordinate system coincidence unit is used for making the two-dimensional DRR projection drawing coincide with the femur coordinate system of the two-dimensional X-ray image;
the femur characteristic point registration unit is used for matching the two-dimensional DRR projection drawing with the femur characteristic point positions of the two-dimensional X-ray image one by one.
Optionally, the master device further includes: a simulation module;
the simulation module is used for performing collision detection simulation between the mechanical arm and the patient as well as between the mechanical arm and the operating table according to a bounding box detection algorithm.
Optionally, the minimally invasive femoral neck fracture surgical navigation system further comprises: a medical image acquisition device; the medical image acquisition equipment is connected with the main control equipment;
the medical image acquisition equipment is used for acquiring the three-dimensional femur CT image and the two-dimensional X-ray image.
Optionally, a gyroscope is mounted on the medical image acquisition device;
the gyroscope is used for measuring the rotation angle of the medical image acquisition equipment.
Optionally, an image correction module is installed on the medical image acquisition device;
the image correction module is used for carrying out distortion correction on the two-dimensional X-ray image.
Optionally, the robotic arm comprises: and the tail end navigation positioning component is provided with the optical tracer on all surfaces of the tail end navigation positioning component so as to track the tail end navigation positioning component in the optical tracer at a full angle.
Optionally, the robotic arm comprises: the optical tracker comprises a tail end guide cylinder, wherein an optical identification probe is inserted into the tail end guide cylinder, and the optical identification probe is provided with an optical tracer so as to track the tail end guide cylinder in the optical tracer at all angles.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a femoral neck fracture minimally invasive surgery navigation system, which comprises: the system comprises an optical tracer, an optical tracker, a main control device and a mechanical arm; the optical tracker and the mechanical arm are respectively connected with the main control equipment; the optical tracer comprises a plurality of groups of optical mark points, and each group of optical mark points are coplanar but not collinear; the optical tracer is used for identifying the pose of an appointed object in an operation scene, wherein the appointed object comprises a femur part of a patient, an operation table and a mechanical arm; the optical tracker is used for tracking the optical tracer in real time and shooting an operation scene; the main control equipment comprises a projection module, a registration module and a navigation module; the projection module is used for carrying out DRR projection at different angles on the three-dimensional femur CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femur CT image comprises a three-dimensional operation path; the registration module is used for determining a two-dimensional DRR projection image with the same position as the femur in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection images to obtain a plurality of target DRR projection images and determining a three-dimensional target operation path according to the two-dimensional operation path in each target DRR projection image; the two-dimensional X-ray images comprise X-ray plane images shot for the femoral part at different angles; and the navigation module is used for adjusting the position and the posture of the mechanical arm according to the three-dimensional target operation path and the operation scene image shot by the optical tracker so as to enable the mechanical arm to move according to the three-dimensional target operation path. According to the invention, the DRR projection is carried out on the three-dimensional CT image before the operation is carried out, the obtained two-dimensional DRR projection image is registered with the two-dimensional X-ray image, the pose of the mechanical arm is adjusted according to the registration result so as to carry out the operation-assisted navigation, and the X-ray imaging or CT scanning for many times is not required in the operation process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a structural block diagram of a minimally invasive femoral neck fracture surgery navigation system provided by the invention;
FIG. 2 is a schematic structural diagram of a preprocessing module in the surgical navigation system provided by the present invention;
FIG. 3 is a schematic structural diagram of a registration module in the surgical navigation system provided by the present invention;
FIG. 4 is a schematic view of a femoral neck fracture minimally invasive surgery navigation system provided by the present invention;
FIG. 5 is a schematic structural diagram of a positioning and navigating component at the end of a mechanical arm in the surgical navigation system provided by the present invention;
FIG. 6 is a schematic structural diagram of a guiding cylinder at the end of a mechanical arm in a surgical navigation system according to the present invention;
FIG. 7 is a schematic structural diagram of an end guide cylinder of a mechanical arm in a surgical navigation system according to another embodiment of the present invention;
FIG. 8 is a schematic illustration of image pre-processing performed during operation of the surgical navigation system provided by the present invention;
FIG. 9 is a schematic structural diagram of an image positioner in a surgical navigation system according to the present invention;
FIG. 10 is a schematic structural diagram of a medical imaging apparatus in a surgical navigation system according to the present invention;
FIG. 11 is a schematic view of a simulation performed during operation of the surgical navigation system of the present invention;
fig. 12 is a schematic diagram of postoperative three-dimensional surgery precision evaluation of the surgical navigation system provided by the invention.
In the figure 1: a mechanical arm; 2: a master control device; 3: an optical tracker; 4: a medical imaging device; 5: an image locator; 6-10: an optical marker point; 11: an optical identification ring; 12: a dedicated probe; 13-18: an optical marker point; 19: a C-shaped arm; 20: a gyroscope; 21: a probe; 22: an operating table; 23: a semi-cylinder; 24: a cuboid; 25: a cylinder; 26-28: and developing the mark points.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a femoral neck fracture minimally invasive surgery navigation system, which improves the effect of surgery path aided navigation.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a femoral neck fracture minimally invasive surgery navigation system, wherein a femur comprises a femoral head and a femoral neck, as shown in figure 1, the femoral neck fracture minimally invasive surgery navigation system comprises: the system comprises an optical tracer, a main control device, an optical tracker and a mechanical arm; the optical tracker and the mechanical arm are respectively connected with the main control equipment;
the optical tracer comprises a plurality of groups of optical mark points, and each group of optical mark points are coplanar but not collinear; the optical tracer is used for identifying the pose of an appointed object in an operation scene, wherein the appointed object comprises a femur part of a patient, an operation table and a mechanical arm;
the optical tracker is used for tracking the optical tracer in real time and shooting an operation scene;
the main control equipment comprises a projection module, a registration module and a navigation module;
the projection module is used for carrying out DRR projection at different angles on the three-dimensional femur CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femur CT image comprises a three-dimensional operation path;
the registration module is used for determining a two-dimensional DRR projection image with the same position as the femur in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection images to obtain a plurality of target DRR projection images and determining a three-dimensional target operation path according to the two-dimensional operation path in each target DRR projection image; the two-dimensional X-ray images comprise X-ray plane images shot for the femoral part at different angles;
and the navigation module is used for adjusting the pose of the mechanical arm according to the three-dimensional target operation path and the operation scene image shot by the optical tracker so as to enable the mechanical arm to move according to the three-dimensional target operation path and assist a doctor in performing minimally invasive femoral neck fracture surgery.
In order to facilitate the conversion of a three-dimensional target surgical path obtained according to a two-dimensional X-ray image into a surgical path under a surgical scene shot by a ray tracker, the two-dimensional X-ray image comprises a plurality of non-collinear developing mark points; the surgical scene shot by the optical tracker comprises a plurality of optical mark points, and the spatial position relationship between the developing mark points and the optical mark points is known, so that the spatial position relationship between the three-dimensional target surgical path and the optical mark points can be obtained.
In some embodiments, the master device further comprises: a preprocessing module;
the preprocessing module is used for preprocessing a femur image in the three-dimensional femur CT image and the two-dimensional X-ray image; as shown in fig. 2, the preprocessing module includes: the femoral head fitting unit, the femoral characteristic circle generating unit, the femoral coordinate system establishing unit and the femoral characteristic point selecting unit;
the femoral head fitting unit is used for fitting the femoral head into a circle to obtain a femoral head fitting circle;
the femur characteristic circle generating unit is used for generating a femur characteristic circle by using the center of the femoral head fitting circle and the radius of the femoral head fitting circle with preset multiples; the femur characteristic circle and the femur neck contour line are intersected at two initial femur characteristic points; the preset multiple is usually 2-4 times.
The femur coordinate system establishing unit is used for establishing a femur coordinate system by taking a connecting line between the midpoint of the connecting line of the two initial femur characteristic points and the center of the femur characteristic circle as a coordinate axis of the femur coordinate system;
and the femur characteristic point selecting unit is used for generating a plurality of line segments parallel to the connection line of the two initial femur characteristic points, and taking the intersection point of each line segment and the contour line of the femoral neck as the femur characteristic point.
In some embodiments, as shown in fig. 3, the registration module comprises: the femur coordinate system coincidence unit and the femur characteristic point comparison unit;
the femur coordinate system coincidence unit is used for coinciding the two-dimensional DRR projection drawing with the femur coordinate system of the two-dimensional X-ray image;
and the femur characteristic point registration unit is used for matching the positions of the femur characteristic points of the two-dimensional DRR projection drawing and the two-dimensional X-ray image one by one.
In some embodiments, the master device further comprises: a simulation module;
the simulation module is used for performing collision detection simulation between the mechanical arm and the patient as well as between the mechanical arm and the operating table according to a bounding box detection algorithm. Such as acquiring spatial positions of the operating table, the patient and the robotic arm; fitting the operating bed into a cuboid; fitting the patient into a semi-cylinder; and fitting the mechanical arms into a plurality of cylinders, and controlling the mechanical arms to perform collision detection simulation on the patient and the operating table according to the operation path.
In some embodiments, the minimally invasive surgical navigation system for femoral neck fracture further comprises: a medical image acquisition device; the medical image acquisition equipment is connected with the main control equipment;
the medical image acquisition equipment is used for acquiring a three-dimensional femoral CT image and a two-dimensional X-ray image and transmitting the acquired images to the main control equipment.
In order to ensure accurate control of the medical image acquisition device, in some embodiments, a gyroscope is mounted on the medical image acquisition device;
the gyroscope is used for measuring the rotation angle of the medical image acquisition equipment.
In order to ensure that the acquired medical image has no deformity or serious deformation, in some embodiments, an image correction module is installed on the medical image acquisition equipment;
the image correction module is used for carrying out distortion correction on the two-dimensional X-ray image.
To ensure accuracy in tracking the robotic arm, in some embodiments, the robotic arm comprises: and the tail end navigation positioning component is provided with optical tracers on all surfaces so as to track the tail end navigation positioning component in a full-angle mode in the optical tracers.
In some embodiments, a robotic arm comprises: the optical identification probe is inserted into the tail end guide cylinder, and the optical identification probe is provided with an optical tracer so as to trace the tail end guide cylinder in the optical tracer at a full angle.
In some embodiments, a robotic arm comprises: the optical tracking device comprises a tail end guide cylinder, wherein an optical identification sleeve is sleeved on the outer surface of the tail end guide cylinder so as to track the optical identification sleeve in an optical tracker in a full-angle mode, and the tail end guide cylinder is registered with a standard circular ring sleeve so as to accurately identify the position and the posture of the tail end guide cylinder.
Referring to fig. 4, the minimally invasive femoral neck fracture surgery navigation system provided by the present invention is described below with reference to a specific example, and in this example, the minimally invasive femoral neck fracture surgery navigation system includes a mechanical arm 1, a main control device 2, an optical tracker 3, a medical imaging device 4 (which may be a C-arm with CT scanning and X-ray imaging), an image positioner 5, an optical tracker, and a matching surgical tool. The main control equipment 2 is used for planning navigation, and the mechanical arm 1 is used for assisting a doctor to complete operation positioning navigation so as to complete accurate, safe and quick minimally invasive operations.
The medical imaging device 4, the optical tracker 3 and the mechanical arm 1 are connected with the main control device 2, and the main control device 2 is a main operation device and is used for processing space coordinate conversion between a three-dimensional CT image and a two-dimensional X-ray image and an operation scene image shot by the optical tracker 3, and performing medical image acquisition processing, preoperative planning, intraoperative navigation and postoperative data analysis.
As shown in fig. 5, the tail end positioning navigation part of the mechanical arm 1 is a conical polyhedron structure, the conical polyhedron is composed of a plurality of triangular surfaces, each triangular surface is provided with three reflective balls, two balls near the tail end of the mechanical arm 1 are positioned at the joint of the two triangular surfaces, the two surfaces share one reflective ball, and the optical tracker 3 can track the optical mark points 6-10 on the tail end positioning navigation part of the mechanical arm 1 in a full-angle manner.
After the tail end of the mechanical arm 1 is positioned and navigated in place, as shown in fig. 6, an optical identification ring 11 made of a reflective light material is mounted on a guide cylinder at the tail end of the mechanical arm 1, and the optical tracker 3 can track the optical identification ring 11 at a full angle and recognize the position and posture of the guide cylinder at the tail end of the mechanical arm 1 by registering with a standard ring. Alternatively, as shown in fig. 7, a special probe 12 is inserted into the guide cylinder, the tip of the probe 12 is fitted closely to the end guide cylinder of the robot arm 1, and the optical tracker 3 determines the position and posture of the end guide cylinder of the robot arm 1 by recognizing the position and posture of the special probe 12.
In this example, taking a femoral neck fracture operation as an example, the following operations are performed:
step one, three-dimensional CT image acquisition and operation path planning:
1.1) CT scanning is carried out by using a medical image device 4, scanning information is transmitted to a main control device 2, three-dimensional image reconstruction is carried out, a three-dimensional CT image of the femoral part of a patient is obtained, and a doctor carries out operation path planning in the three-dimensional CT image, such as virtual assembly of bone nails, nail plates, planning of needle inserting points, needle outputting points and the like.
1.2) carrying out two-dimensional DRR projection of a plurality of angles according to the three-dimensional CT image for realizing subsequent registration operation.
1.3) as shown in fig. 8, preprocessing each two-dimensional DRR projection image, fitting the femoral head into a sphere, automatically generating a femoral head outer contour line, establishing a bone affected projection coordinate system OXY, automatically generating two intersection points N9 and N10 of a characteristic circle and the femoral head outer contour, establishing a coordinate axis OX by connecting the center of the femoral head sphere and the midpoint of a line segment N9N10, and automatically generating a series of straight lines parallel to the line segment N9N10, wherein the series of straight lines and the femoral head outer contour line are intersected at points N1, N2, N3, N4, N5, N6, N7 and N8, and the intersection points are used as femoral head characteristic points for registration. The subsequent two-dimensional X-ray image also obtains the femur characteristic point by a similar method, and all information can be stored after the operation is finished.
Secondly, 3D-2D image registration and operation path navigation:
2.1) opening the software of the main control device 2 and leading the planned operation path into the main control device 2.
2.2) fixing an optical tracer on the femoral part of a patient, simultaneously selecting an image positioner 5 with a proper size and structure, as shown in fig. 9, installing developing mark points 26-28 on the image positioner 5, installing six optical mark points 13-18, and recording the spatial position information of the image positioner 5 and the tracer by using an optical tracker 3.
2.3) collecting two-dimensional X-ray images of the femoral part of a patient; an image correction module is attached to the image intensifier end of the medical imaging device 4, and as shown in fig. 10, the rotation angle at which the C-arm 19 takes a two-dimensional X-ray image is determined by the display angle of the gyroscope 20, and image correction is performed according to the rotation angle.
The rotation angle of the C-shaped arm 19 when the C-shaped arm 19 shoots the two-dimensional X-ray image is calculated by an equivalent axial angle coordinate formula, wherein the rotation angle theta of the C-shaped arm 19 is assumed, and the equivalent axial angle coordinate formula is as follows:
where v θ is 1-cos θ, c θ is cos θ, s θ is sin θ, [ k ═ x ,k y ,k z ]Is the unit direction vector of the rotation axis K of the C-arm 19.
The rotation matrix from the initial position according to the rotation angle actually displayed by the gyroscope 20 when the C-arm 19 rotates is:
[r 11 ,r 21 ,r 31 ]、[r 12 ,r 22 ,r 32 ]、[r 13 ,r 23 ,r 33 ]respectively representing the projection components of the three principal axis unit vectors of the coordinate system after rotation with respect to the three principal axes of the original coordinate system.
The rotation angle θ of the C-arm 19 is:
2.4) the main control equipment 2 carries out three-dimensional and two-dimensional image information registration and carries out automatic registration on each two-dimensional DRR projection image and the two-dimensional X-ray image; and superposing the two-dimensional DRR projection images with the femur coordinate system of the two-dimensional X-ray images, comparing the similarity of the characteristic points N1, N2, N3, N4, N5, N6, N7, N8, N9 and N10, and if the two images are successfully matched in an error range, acquiring the two-dimensional surgical path of the two-dimensional DRR projection images to obtain two-dimensional surgical paths corresponding to the two-dimensional X-ray images.
And 2.5) determining a three-dimensional surgical path according to a biplane method, and performing space coordinate transformation by combining the pose relationship between the developing marker points and the optical marker points to obtain an actual surgical path.
2.6) as shown in fig. 11, the space positions of the operating table 22 and the patient are calibrated by the probe 21, a safe space is established by the enveloping method of the semi-cylinder 23 and the cuboid 24, a simplified model of each joint of the robot arm 1 is established by the enveloping method of a plurality of cylinders 25, and the robot arm 1 performs collision detection simulation with the operating table 22 and the patient by a bounding box detection algorithm along the actual operation path.
2.7) controlling the mechanical arm 1 with the six serially connected rotary joints to execute navigation positioning operation according to an actual operation path so as to assist a doctor in performing minimally invasive femoral neck fracture surgery.
Thirdly, post-operation information processing:
3.1) detecting precision parameters such as the needle inserting point distance, the parallelism and the like of the three Kirschner wires by using a probe 21 as shown in fig. 12, and establishing three-dimensional operation precision and parallelism evaluation indexes:
wherein B1E1, B2E2 and B3E3 are spatial positions of three k-wires exposed outside the patient, B1, B2 and B3 respectively represent the starting positions of the three k-wires, and E1, E2 and E3 respectively represent the terminal positions of the three k-wires; theta.theta. 1 、θ 2 And theta 3 Respectively representing the included angle between every two kirschner wires.
The CT or X-ray of the patient is shot to display the position of the bone screw, the preoperative planned operation path and the postoperative position of the bone screw are compared and analyzed, and the comparison of patient data information and the like can be further included.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A femoral neck fracture minimally invasive surgery navigation system is characterized by comprising: the system comprises an optical tracer, an optical tracker, a main control device and a mechanical arm; the optical tracker and the mechanical arm are respectively connected with the main control equipment;
the optical tracer comprises a plurality of groups of optical mark points, and each group of optical mark points are coplanar but not collinear; the optical tracer is used for identifying the pose of a specified object in a surgical scene, wherein the specified object comprises a femoral part of a patient, an operating table and the mechanical arm;
the optical tracker is used for tracking the optical tracker in real time and shooting an operation scene;
the main control equipment comprises a projection module, a registration module and a navigation module;
the projection module is used for carrying out DRR projection at different angles on the three-dimensional femur CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femur CT image comprises a three-dimensional operation path;
the registration module is used for determining a two-dimensional DRR projection map with the same position as the femur in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection maps to obtain a plurality of target DRR projection maps, and determining a three-dimensional target surgical path according to a two-dimensional surgical path in each target DRR projection map; the two-dimensional X-ray images comprise X-ray plane images which are shot for the femoral part at different angles;
the navigation module is used for adjusting the pose of the mechanical arm according to the three-dimensional target operation path and the operation scene image shot by the optical tracker so as to enable the mechanical arm to move according to the three-dimensional target operation path.
2. The minimally invasive femoral neck fracture surgical navigation system according to claim 1, wherein the two-dimensional X-ray image includes a plurality of non-collinear visualization marker points; the spatial relationship of the developed marker points to the optical marker points is known.
3. The minimally invasive surgical navigation system of femoral neck fracture according to claim 1, the femur comprising a femoral head and a femoral neck, wherein the master control device further comprises: a preprocessing module;
the preprocessing module is used for preprocessing the femur image in the three-dimensional femur CT image and the two-dimensional X-ray image; the preprocessing module comprises: the femoral head fitting unit, the femoral characteristic circle generating unit, the femoral coordinate system establishing unit and the femoral characteristic point selecting unit;
the femoral head fitting unit is used for fitting the femoral head into a circle to obtain a femoral head fitting circle;
the femur characteristic circle generating unit is used for generating a femur characteristic circle by using the center of the femoral head fitting circle and the radius of the femoral head fitting circle of a preset multiple; the femur characteristic circle and the femoral neck contour line are intersected at two initial femur characteristic points;
the femur coordinate system establishing unit is used for establishing a femur coordinate system by taking a connecting line of a midpoint of a connecting line of the two initial femur characteristic points and the center of the femur characteristic circle as one coordinate axis of the femur coordinate system;
and the femur characteristic point selecting unit is used for generating a plurality of line segments parallel to a connecting line of the two initial femur characteristic points, and taking the intersection point of each line segment and the contour line of the femoral neck as the femur characteristic point.
4. The minimally invasive surgical navigation system for femoral neck fractures according to claim 3, wherein said registration module includes: the femur coordinate system coincidence unit and the femur characteristic point comparison unit;
the femur coordinate system coincidence unit is used for making the two-dimensional DRR projection drawing coincide with the femur coordinate system of the two-dimensional X-ray image;
the femur characteristic point registration unit is used for matching the two-dimensional DRR projection drawing with the femur characteristic point positions of the two-dimensional X-ray image one by one.
5. The minimally invasive surgical navigation system of femoral neck fractures according to claim 1, characterized in that the master device further comprises: a simulation module;
the simulation module is used for performing collision detection simulation among the mechanical arm, the patient and the operating table according to a bounding box detection algorithm.
6. The minimally invasive surgical navigation system of femoral neck fractures according to claim 1, further comprising: a medical image acquisition device; the medical image acquisition equipment is connected with the main control equipment;
the medical image acquisition equipment is used for acquiring the three-dimensional femur CT image and the two-dimensional X-ray image.
7. The minimally invasive surgery navigation system for femoral neck fracture according to claim 6, characterized in that a gyroscope is mounted on the medical image acquisition device;
the gyroscope is used for measuring the rotation angle of the medical image acquisition equipment.
8. The minimally invasive surgery navigation system for femoral neck fracture according to claim 6, characterized in that an image correction module is installed on the medical image acquisition device;
the image correction module is used for carrying out distortion correction on the two-dimensional X-ray image.
9. The minimally invasive surgical navigation system of femoral neck fractures according to claim 1, characterized in that the robotic arm comprises: and the tail end navigation positioning component is provided with the optical tracer on all surfaces of the tail end navigation positioning component so as to track the tail end navigation positioning component in the optical tracer at a full angle.
10. The minimally invasive surgical navigation system of femoral neck fractures according to claim 1, characterized in that the robotic arm comprises: the optical tracker comprises a tail end guide cylinder, wherein an optical identification probe is inserted into the tail end guide cylinder, and the optical identification probe is provided with an optical tracer so as to track the tail end guide cylinder in the optical tracer at all angles.
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| CN202210438390.5A CN114983567A (en) | 2022-04-21 | 2022-04-21 | Femoral neck fracture minimally invasive surgery navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116849809A (en) * | 2023-08-11 | 2023-10-10 | 北京维卓致远医疗科技发展有限责任公司 | Navigation suite for fracture navigation system |
| CN117137626A (en) * | 2023-10-30 | 2023-12-01 | 北京三博脑科医院有限公司 | Noninvasive registration method for neurosurgery robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116849809A (en) * | 2023-08-11 | 2023-10-10 | 北京维卓致远医疗科技发展有限责任公司 | Navigation suite for fracture navigation system |
| CN116849809B (en) * | 2023-08-11 | 2024-03-08 | 北京维卓致远医疗科技发展有限责任公司 | Navigation suite for fracture navigation system |
| CN117137626A (en) * | 2023-10-30 | 2023-12-01 | 北京三博脑科医院有限公司 | Noninvasive registration method for neurosurgery robot |
| CN117137626B (en) * | 2023-10-30 | 2024-04-12 | 北京三博脑科医院有限公司 | Noninvasive registration method for neurosurgery robot |
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