CN115624385A - Preoperative spatial registration method and device, computer equipment and storage medium - Google Patents
Preoperative spatial registration method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN115624385A CN115624385A CN202211327047.XA CN202211327047A CN115624385A CN 115624385 A CN115624385 A CN 115624385A CN 202211327047 A CN202211327047 A CN 202211327047A CN 115624385 A CN115624385 A CN 115624385A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- positioning tool
- transformation matrix
- calculating
- mechanical arm
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 80
- 238000003860 storage Methods 0.000 title claims description 7
- 230000003287 optical effect Effects 0.000 claims abstract description 170
- 239000011159 matrix material Substances 0.000 claims abstract description 139
- 230000009466 transformation Effects 0.000 claims abstract description 128
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 53
- 210000003423 ankle Anatomy 0.000 claims abstract description 37
- 238000001356 surgical procedure Methods 0.000 claims abstract description 34
- 210000002683 foot Anatomy 0.000 claims description 116
- 210000002303 tibia Anatomy 0.000 claims description 55
- 238000002591 computed tomography Methods 0.000 claims description 33
- 230000003902 lesion Effects 0.000 claims description 33
- 230000008569 process Effects 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 239000007769 metal material Substances 0.000 claims description 6
- 229910052755 nonmetal Inorganic materials 0.000 claims description 6
- 230000004807 localization Effects 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 229910052751 metal Inorganic materials 0.000 claims description 5
- 208000006735 Periostitis Diseases 0.000 description 38
- 210000003460 periosteum Anatomy 0.000 description 24
- 238000005520 cutting process Methods 0.000 description 17
- 210000004233 talus Anatomy 0.000 description 17
- 210000000988 bone and bone Anatomy 0.000 description 13
- 238000000605 extraction Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 11
- 230000004044 response Effects 0.000 description 11
- 238000002054 transplantation Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000002513 implantation Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 238000012502 risk assessment Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 241000425571 Trepanes Species 0.000 description 2
- 230000000735 allogeneic effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 210000001185 bone marrow Anatomy 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003062 neural network model Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 206010007710 Cartilage injury Diseases 0.000 description 1
- 208000000860 Compassion Fatigue Diseases 0.000 description 1
- 201000009859 Osteochondrosis Diseases 0.000 description 1
- 206010061363 Skeletal injury Diseases 0.000 description 1
- 208000013201 Stress fracture Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000845 cartilage Anatomy 0.000 description 1
- 210000001612 chondrocyte Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000000366 juvenile effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011859 microparticle Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 239000004626 polylactic acid Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/142—Surgical saws ; Accessories therefor with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1682—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the foot or ankle
-
- 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
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention provides a preoperative space registration method of an ankle joint surgical robot system, relates to surgical robot image registration, and specifically comprises the following steps: the optical positioning system is used as a space registration core, and the transformation matrix between the base coordinate system of the mechanical arm and the three-dimensional image coordinate system is calculated by calculating the transformation matrix between the base coordinate system of the mechanical arm and the optical positioning system coordinate system, between the optical positioning system coordinate system and the focus coordinate system and between the focus coordinate system and the three-dimensional image coordinate system. The space registration method based on the optical positioning system maps the space position of the focus to a base coordinate system of the mechanical arm, lays a foundation for accurately positioning the focus by a tool at the tail end of the mechanical arm, and simultaneously realizes the registration of the three-dimensional image and the ankle space posture in a real scene, so that a surgeon can use the three-dimensional medical image to make an ankle surgery scheme and reasonably plan a surgery path.
Description
Priority application
The priority of the Chinese patent application [ 2022111369349 ] filed on 9/19 of 2022 as the present application, and the priority of the Chinese patent application [ 2022111362405 ] "[ an ankle joint surgery robot system ] filed on 9/19 of 2022 as the present application, are incorporated by reference in their entirety.
Technical Field
The invention relates to an orthopedic surgery robot, in particular to a preoperative space registration method and device applied to an ankle joint surgery robot system, preoperative space registration computer equipment and a storage medium.
Background
Ankle joint talus osteochondrosis and bone injury are common diseases in sports medicine, and common surgical treatment schemes comprise arthroscopic bone marrow stimulation, autologous chondrocyte implantation, autologous periosteum and bone complex transplantation, allogeneic osteochondral transplantation or allogeneic juvenile cartilage microparticle transplantation and the like. The arthroscopic bone marrow stimulation technology (particularly microfracture) is suitable for smaller focuses, and autologous periosteum and bone complex transplantation is commonly used for talus cartilage injury patients with large cystic lesions.
The medical operation planning system aims at the problems that the function of the existing medical operation planning system is single, the accuracy of a model for segmenting and reconstructing complex anatomical structures such as joints and the like and the accuracy of focus identification are low, the planning of an operation process seriously depends on the experience of a doctor, the automatic processing capability is not strong, and the autonomous analysis and evaluation cannot be carried out on an operation scheme. Therefore, there is a need for a new method that can improve accuracy, safety and repeatability for introduction into ankle surgery. With the improvement of computer performance and artificial intelligence technology and the development of medical imaging technology, the technology based on optical graph navigation is widely applied to the treatment of various diseases; the robot has the advantages of high precision, accurate positioning, good stability, good repeatability and the like, and is widely applied to medical procedures. At present, no surgical robot system specially used for ankle joint repair exists domestically, and a preoperative space registration method specially aiming at the ankle joint surgical robot system is not provided.
Disclosure of Invention
The invention aims to provide a preoperative space registration method and device of an ankle joint surgical robot system, which partially solve or relieve the defects in the prior art, can quickly perform space registration and shorten the time consumed by the whole operation.
In order to solve the above mentioned technical problems, the present invention specifically adopts the following technical solutions:
in a first aspect of the present invention, there is provided an ankle surgery robot system comprising:
a robotic arm for performing an ankle surgery protocol with a surgical instrument mounted at an end of the robotic arm;
the optical positioning system is used for carrying out image registration between the mechanical arm and the three-dimensional image of the foot of the patient and positioning between the mechanical arm and the focus; the three-dimensional image is constructed on the basis of CT data by performing CT scanning on tibia of a ankle of a patient in advance before operation, a first positioning tool E1 is installed at a focus of the ankle of the patient through a Kirschner wire before CT scanning, and the first positioning tool E1 is required to be scanned together during CT scanning;
the operating bed is used for fixing the pose of the ankle of the patient and ensuring that the pose of the ankle is fixed in the operation; the operating table comprises an operating table body and a foot positioning mechanism for keeping the feet of the patient in the same foot posture and the same position in the operating process, wherein the foot positioning mechanism is detachably arranged on the operating table body;
the workstation is used for planning a preoperative surgical scheme and performing surgical navigation according to the three-dimensional image and controlling the mechanical arm to execute the surgical scheme;
wherein the surgical instrument at the end of the robotic arm comprises:
a first surgical instrument for cutting the tibia to fully expose a lesion located at the distal end of the talus;
a second surgical instrument for removing a lesion and forming a cavity at the lesion site;
a third surgical instrument for extracting a periosteum-bone complex in the tibia of the patient, comprising a periosteum segmentation instrument, a periosteum underlying bone extraction instrument;
a fourth surgical instrument for placing a periosteum-bone complex into the hole and replacing the graft instrument;
a fifth surgical instrument for driving into the distal end of the tibia to form a reduction hole.
In some embodiments, the foot positioning mechanism includes an L-shaped foot positioning plate and a connecting member for detachably connecting the foot positioning plate to the operating table body. The foot positioning plate adopting the L shape is a special structure for following the ankle joint, so that the ankle joint of a patient can be kept at a position which has a certain comfort level, the mechanical arm is favorable for tibial cutting, the angle of subsequent operation is increased, and balance is also obtained between the comfort level and the operation convenience.
In some embodiments, the workstation comprises:
the data communication module is used for carrying out data communication with the CT scanning equipment so as to acquire the three-dimensional image;
the surgical plan planning module is used for identifying the focus based on the three-dimensional image and matching the focus with a corresponding surgical plan;
and the operation scheme execution module is used for controlling the mechanical arm to execute the operation scheme.
In some embodiments, the surgical plan execution module specifically includes:
the cutting module is used for controlling the mechanical arm to cut the tibia by using the first surgical instrument so as to accurately and completely expose a focus on the talus when the mechanical arm is replaced by the first surgical instrument;
the focus cleaning module is used for controlling the mechanical arm to clean the focus by using the second surgical instrument when the second surgical instrument is replaced by the mechanical arm, and forming a hole at the focus position;
and the transplant extraction module is used for controlling the mechanical arm to extract a healthy periosteum-bone complex on the tibia of the patient by using the third surgical tool when the third surgical tool is replaced by the mechanical arm.
In a second aspect of the present invention, there is provided a control method for an ankle surgery robot system, which is based on the above ankle surgery robot system, and accordingly, the control method specifically includes the steps of:
in response to a first operation of a user, controlling a CT scanning device to perform CT scanning on the ankle of a patient and a first optical positioning tool E1 pre-installed at the ankle focus, and reconstructing a three-dimensional image of the ankle based on CT data obtained by scanning;
responding to a second operation of a user, controlling an optical positioning system to perform preoperative spatial registration, wherein the preoperative spatial registration comprises the positioning of a mechanical arm and a focus and the registration of the mechanical arm and the three-dimensional image; in the spatial registration process, the ankle of the patient keeps a fixed ankle pose on an operating bed through a foot positioning mechanism;
in response to a third operation of the user, invoking a surgical planning system to match a corresponding ankle surgery plan based on the three-dimensional image;
in response to a fourth operation by the user, the robotic arm in the surgical robotic system is controlled to perform the surgical plan.
In some embodiments, the step of controlling a robot arm in the surgical robotic system to execute the surgical plan specifically includes:
controlling the mechanical arm to punch two reset holes on the tibia of the patient through a punching tool which is pre-installed at the end of the mechanical arm;
controlling the mechanical arm to cut the tibia through a first surgical tool replaced at the tail end of the mechanical arm in advance so as to accurately and completely expose a focus located on the talus;
controlling the mechanical arm to remove the talus focus through a second surgical tool replaced at the tail end of the mechanical arm in advance and forming a hole;
and controlling the mechanical arm to divide the periosteum with the specified size at the tibia through a third surgical tool replaced at the tail end of the mechanical arm in advance, and extracting the bone below the periosteum at the position of the divided periosteum to complete periosteum-bone graft extraction.
In some embodiments, the step of controlling a robotic arm in the surgical robotic system to perform the surgical plan further comprises: controlling the mechanical arm to fill the periosteal-bone graft into the hole at the focus on the talus bone through a fourth surgical instrument replaced at the tail end of the mechanical arm in advance.
In some embodiments, the step of controlling a robotic arm in the surgical robotic system to perform the surgical plan further comprises: and controlling the mechanical arm to cut open the tibia through a fifth surgical instrument which is replaced at the tail end of the mechanical arm in advance so as to reset the tibia through two reset holes by using screws.
In a third aspect of the present invention, there is provided a preoperative space registration method for an ankle joint surgical robot system, wherein the ankle joint robot system employs the above ankle joint robot system, and accordingly, the preoperative space registration method includes the steps of:
respectively obtaining a coordinate system { O } of the optical position indicator, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a difference between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot armTransformation matrix T BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint procedure, and the euler angle between the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, with the integer N ranging from [ -3,3] to a value of N]；
Calculating a transformation matrix T between the coordinate system { O } of the optical positioning tool and the coordinate system { E } of the second positioning tool E2 EO And based on transformation matrixes TBE and T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the mechanical arm and the coordinate system { O } of the optical positioning instrument respectively EO Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the robot arm and a coordinate system { P } of the first positioning tool E1, respectively BO 、T OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
obtaining a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system of the robotic arm BV ＝T BE T EO T OP T PV (ii) a The three-dimensional image is a three-dimensional image reconstructed on the basis of CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advance.
In some embodiments, the support of the first positioning tool E1 is a non-metallic material.
In some embodiments, the support of the second positioning tool E2 is a metal support or a non-metal support.
In some embodiments, a transformation matrix T between a coordinate system { P } of first positioning tool E1 and a coordinate system { O } of the optical positioning tool is calculated OP Before the step (2), further comprising the steps of: keeping the relative positions of the focus of the patient, the mechanical arm and the optical locator fixed until the operation is finished.
A fourth aspect of the present invention provides a preoperative space registration device of an ankle joint surgery robot system, including:
the data acquisition module is used for respectively acquiring a coordinate system { O } of the optical position indicator, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
a first calculation module for calculating a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the range of the integer N is [ -3,3 []；
A second calculation module for calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO And calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
A third calculation module for calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP ；
A lesion localization module based on a transformation matrix T between a coordinate system { O } of the optical locator and the base coordinate system { B } of the robotic arm BO A change matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP Thereby realizing the focus positioning; wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of a foot where a lesion of a patient is located;
an image registration module for computing a transformation matrix T between the coordinate system { P } of the first localization tool E1 for localizing a real space lesion and the virtual coordinate system { V } of the first localization tool E1 in a three-dimensional image of a patient's foot PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system { B } of the robotic arm BV ＝T BE T EO T OP T PV Thereby realizing image registration; the three-dimensional image is a three-dimensional image reconstructed based on CT data after the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 are subjected to CT scanning in advance.
In some embodiments, the third computing module calculates a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robotic arm BP In the process, the relative positions of the focus of the patient, the mechanical arm and the optical locator are fixed until the operation is finished.
A fifth aspect of the present invention provides a computer device for performing pre-operative spatial registration of an ankle joint, comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform a pre-operative spatial registration method, the method comprising:
respectively obtaining a coordinate system { O } of the optical position indicator, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a variation between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot armChange matrix T BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the range of the integer N is [ -3,3 []；
Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO (ii) a And based on a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE A transformation matrix T between the coordinate system { O } of the optical locating apparatus and the coordinate system { E } of the second locating means E2 EO Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO A change matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of a foot where a lesion of a patient is located;
calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image of the patient's foot PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system of the robotic arm BV ＝T BE T EO T OP T PV (ii) a Wherein the three-dimensional image is a three-dimensional image reconstructed based on CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advanceLike this.
A sixth aspect of the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform a method of preoperative spatial registration, the method comprising:
respectively acquiring a coordinate system { O } of the optical position indicator, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the value range of the integer N is [ -3,3 [ -5363]；
Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO And based on a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE A transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO Calculating a transformation matrix T of the coordinate system { O } of the optical position finder and the base coordinate system { B } of the mechanical arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the mechanical arm BO A change matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein, the firstA positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of a foot where a focus of a patient is positioned;
calculating a transformation matrix T between a coordinate system { P } of the first positioning tool E1 in real space and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system of the robotic arm BV ＝T BE T EO T OP T PV (ii) a The three-dimensional image is a three-dimensional image reconstructed based on CT data after the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 are subjected to CT scanning in advance.
The invention has the beneficial effects that:
according to the preoperative spatial registration method, the Euler angle of the coordinate system of the second positioning tool E2 installed at the tail end of the mechanical arm and the mechanical arm base coordinate system is set to be Nx 90 degrees, so that after the second positioning tool E2 is installed, the transformation matrix between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system can be rapidly calculated, the spatial registration is rapidly performed, the time consumed by the whole operation is shortened, particularly in the whole operation, the ankle joint of a patient needs to keep a fixed foot posture, the operation time is shortened, the time for fixing the posture of the foot of the patient is shortened, the pressure of the patient is greatly reduced, and the comfort level and the user experience are improved. Compared with the prior art that the mechanical arm and the second positioning tool are moved in various ways before each operation, and an equation set is constructed according to various movement tracks to solve and obtain a transformation matrix between the coordinate system and the mechanical arm, the whole operation time consumption is increased, the requirement on the system calculation performance is high, and correspondingly, the manufacturing cost and the operation cost are increased correspondingly.
The space registration method and the device of the invention are based on the optical positioning system, calculate the transformation matrix of the mechanical arm and the focus and the transformation matrix of the three-dimensional image and the focus in the real space (or the real scene), establish the space registration of the base coordinate system and the three-dimensional image coordinate system of the mechanical arm, and lay the foundation for the surgeon or the operation planning system to make/match the operation scheme based on the three-dimensional image and the accurate operation scheme executed by the mechanical arm.
The method is used for carrying out three-dimensional reconstruction based on preoperative focus medical images, carrying out operation scheme planning, simulation, operation risk assessment and the like on the ankle joint three-dimensional model, and solving the problems of accuracy, reliability and the like in the joint operation process; the mechanical arm with high stability, repeatability and precision is adopted to execute the operation steps, so that the secondary trauma to the patient is reduced, and the success rate of the operation is improved.
In the traditional ankle joint operation, a tibia is generally cut by a corresponding operator to expose a focus on the talus, however, on one hand, the operator cannot intuitively observe the internal structure of the ankle joint and cannot intuitively and accurately find the focus position; on the other hand, because different operators have different experiences, the accuracy of cutting is difficult to guarantee, that is, the cutting is completely dependent on the experiences of the operators, so that the focus cannot be completely exposed due to manual cutting, or the cutting position deviates, and other people are required to press or rotate the foot of the patient in an auxiliary manner during subsequent focus removal, so that the complete focus is exposed. The invention uses the optical positioning mark to position the focus position in advance, and registers the focus and the mechanical arm through the optical positioning system, thereby controlling the mechanical arm to accurately position the focus and accurately cut the tibia, so as to accurately and completely expose the focus.
According to the invention, the foot positioning mechanism is arranged, so that a patient can keep the same foot posture at the same position in the whole operation process, CT scanning is not required in real time in the operation process, and the operation path of the mechanical arm is corrected or changed in real time according to the CT scanning result, so that the operation cost is greatly reduced, and the foot positioning mechanism is more suitable for popularization and application of the whole operation system. Although carrying out real-time CT scanning in the operation process can guarantee the accurate nature in the operation process, carry out real-time scanning and change the mode in arm operation route in real time, must can greatly increased the cost of operation at every turn, greatly increased patient's burden, also hinder the popularization and the application of whole operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive exercise.
FIG. 1 is a frame diagram of an ankle surgical robotic system according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic structural view of an ankle surgical robotic system according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic view of a surgical bed and foot positioning mechanism in an ankle surgical robotic system according to an exemplary embodiment of the present invention;
FIG. 4 is a functional block diagram of an ankle surgical robotic system according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic view of an ankle surgery robot system according to an exemplary embodiment of the present invention applied to a specific ankle surgery;
fig. 6a is a schematic diagram of a preoperative registration method of an ankle surgery robotic system in accordance with an exemplary embodiment of the present invention;
fig. 6b is a flowchart of a preoperative registration method of the ankle surgical robotic system in accordance with an exemplary embodiment of the present invention;
fig. 7 is a functional block diagram of a preoperative registration device of an ankle surgical robotic system in accordance with an exemplary embodiment of the present invention;
fig. 8 is a schematic structural diagram of a support of an optical positioning tool according to an exemplary embodiment of the present invention.
The mark in the figure is: the device comprises a mechanical arm (or a surgical robot) 1, a surgical instrument 2, an operating table body 3, a foot positioning plate 4, an optical positioner 5 and a connecting part 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all 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.
Herein, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the description of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As used herein, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such that the terms "connected," or "connected," as used herein, may be fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Herein "and/or" includes any and all combinations of one or more of the associated listed items.
By "plurality" herein is meant two or more, i.e. it includes two, three, four, five, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The "foot posture" herein refers to the posture of the foot when the ankle joint performs dorsiflexion, plantarflexion, inversion, eversion and the like when the centers of the knee joint and the ankle joint of the patient are on a straight line. Accordingly, the "foot posture is unchanged" means that the ankle joint does not perform any one of dorsiflexion, plantarflexion, inversion and eversion to cause a change in the posture of the foot when the knee joint and the center of the ankle joint of the patient are on a straight line.
Example 1: as shown in fig. 1 and 2, the present invention includes a robot arm 1, an optical positioning system, an operating table, and a control system (or workstation).
The mechanical arm 1 is used for executing a preset matched ankle joint operation scheme through a surgical instrument arranged at the tail end under the control of a workstation; in this embodiment, the preferred 7-axis arm that embeds there is moment feedback module of arm 1, the terminal surgical instruments of installing of arm 1, for example electric drill for multi-functional operation etc. the kind of specific surgical instruments is selected and is selected for use according to actual demand. Because autologous periosteum and bone complex transplantation are required to be realized, the ankle joint operation process needs to be used in the operation process according to the characteristics of the ankle joint operation:
first surgical instruments used to cut the tibia to accurately and completely expose a lesion located on the talus, such as an oscillating saw;
a second surgical instrument, such as a milling cutter, for removing the lesion and forming a hole in the lesion;
a third surgical instrument for extracting a healthy periosteal-bone complex in the patient's tibia; the third surgical instrument comprises a periosteum segmentation instrument such as a round mouth trepan, a periosteum lower layer bone extraction instrument such as a sawtooth trepan;
a fourth surgical instrument for reducing the tibia cut by the first instrument;
a fifth surgical instrument, such as a positioning pin, for driving into the distal end of the tibia to form a reduction hole;
a sixth surgical instrument, such as a k-wire, pre-configured with a focal optical marking for driving into the patient's tibia.
In other embodiments, the surgical device further comprises a grafting device, such as a push rod, for placing the periosteum-bone complex into a hole at the lesion site.
The 7-axis mechanical arm is high in mobility, can perform various fine actions and is suitable for the requirement of an ankle joint operation, and meanwhile, the moment feedback module is used for feeding back the moment of each joint, so that the force is convenient to control.
The optical positioning system is used for carrying out image registration between the mechanical arm and the three-dimensional image according to the three-dimensional image (or the three-dimensional model comprising the three-dimensional model of the first positioning tool E1) of the foot of the patient so as to ensure that the mechanical arm accurately positions the focus at the ankle joint of the patient. Wherein a foot of a patient may be scanned by a CT scanner to acquire CT data of the foot to reconstruct a three-dimensional image based on the CT data.
Specifically, the optical positioning system includes: the device comprises a first optical positioning tool E1 fixed on a Kirschner wire driven into the foot of a patient before operation, a second optical positioning tool E2 fixed at the tail end of a mechanical arm before operation and an optical positioning instrument 5. The optical positioner 5 maps a spatial position of a focus (for example, a coordinate system of a first optical positioning tool E1 for positioning the position of the focus in a real space) to a base coordinate system of a mechanical arm in the real space, so as to lay a foundation for accurately positioning the focus for a surgical instrument at the tail end of the mechanical arm, and meanwhile, CT data is acquired from a CT scanner to reconstruct a three-dimensional image of a foot, and registration of the three-dimensional image with a spatial posture of a lower ankle joint in the real space, that is, image registration is realized.
The CT scanner is used for scanning the feet of a patient to obtain CT data of the feet, and then a medical three-dimensional image is reconstructed based on the CT data, so that focus measurement, operation scheme making, simulation, risk assessment and the like can be conveniently carried out based on the three-dimensional foot model. In some embodiments, the surgical planning may be automatically matched in a surgical planning library according to a specific lesion position and condition (for example, training through a neural network model in advance enables the neural network model to be automatically matched to a corresponding surgical planning scheme according to the lesion position and condition), or may be input on site by a doctor.
For the mechanical arm 1 to perform the ankle joint operation, the focal position in the real space must be mapped to the mechanical arm base coordinate system, and the mechanical arm 1 can perform the corresponding operation according to the planned operation scheme. Therefore, in order to realize accurate positioning of the focus at the tail end of the mechanical arm, an optical positioning mark (namely a first optical positioning tool E1) is arranged on a Kirschner wire driven into the foot of a patient, an optical positioning mark (namely a second optical positioning tool E2) is arranged at the tail end of the mechanical arm, and then matrix transformation is carried out between a base coordinate system of the mechanical arm and a coordinate system of the optical positioning instrument, between the coordinate system of the optical positioning instrument and the coordinate system of the optical positioning mark representing the position of the focus in real space so as to realize accurate positioning of the focus. The optical positioning mark for positioning the focus, the optical positioning mark at the tail end of the mechanical arm 1 and the optical positioning instrument are known in a coordinate system of a real space, and a base coordinate system of the mechanical arm in the real space is also known, so that a conversion matrix between the coordinate system of the optical positioning mark for positioning the focus in the real space and the base coordinate system of the mechanical arm can be calculated, and the position of the focus is converted into the coordinate system of the mechanical arm 1. The specific registration method may adopt a registration algorithm commonly used in the art, and may also adopt a spatial registration algorithm proposed by the present invention for an ankle joint surgical robot control system.
Since the focus is generally located at the distal end of the talus of the ankle joint and is blocked by the tibia, in order to remove the focus, the tibia needs to be cut first to expose the focus, and therefore, a positioning kirschner wire needs to be driven into the tibia, and then an optical positioning mark (i.e., a first optical positioning tool E1, see fig. 4) needs to be mounted on the kirschner wire. In this embodiment, the focal optical locating markers are four passive reflective spheres affixed to the k-wire driven into the patient's foot, specifically, the passive reflective spheres are affixed to the k-wire using a non-metallic bracket (as shown in fig. 8). Non-metallic stents are chosen because of their avoidance of interference in CT scanning.
The mechanical arm optical positioning mark (i.e. the first optical positioning tool E1, see fig. 4) is a passive reflective sphere fixed at the end of the mechanical arm, and in particular, the passive reflective sphere is also fixed at the end of the mechanical arm by a support. The bracket can be made of metal or nonmetal.
The operating bed is used for placing a patient and fixing the foot of the patient needing operation; specifically including operation table body 3 and be used for carrying out the foot positioning mechanism who fixes a position to patient's foot, foot positioning mechanism detachably installs on operation table body 3. The foot positioning mechanism comprises an L-shaped foot positioning plate 4 and a connecting component 6 used for detachably connecting the foot positioning plate 4 to the operating bed body 3.
The L-shaped foot positioning plate 4 is used for maintaining the posture of the foot of the patient, so that the posture of the foot is not changed until the operation is finished by CT scanning, the foot positioning plate conforms to the structure of the foot of the patient, and sufficient operation space is provided for the follow-up tibia cutting while the comfort degree of the patient is ensured. When the foot positioning plate is used, the feet and the lower legs of a patient are placed on the foot positioning plate 4 and then are fastened in a binding mode through a binding belt and the like so as not to be changed.
After CT scanning is performed, the foot positioning plate 4 is fixed to the operating bed body 3 by the connecting member 6. The connecting component 6 can be in various forms, such as a snap type, a bolt type or any other form, as long as the relative position of the foot positioning plate 4 and the operating table body 3 is unchanged and can be detached. The foot positioning plate 4 has the function of ensuring that the posture of the foot does not change, and the foot positioning plate is fixed on the operating bed body 1 to ensure that the position of the foot does not change after calibration. Further, the connecting member 6 may also be in the form of a guide rail, and correspondingly, a corresponding clamping-type slider is arranged on the L-shaped foot positioning plate, so that the foot positioning plate can slide on the guide rail and can be locked (for example, the clamping-type slider can be tightly clamped on the guide rail through a screw) when the foot positioning plate slides to the position registered by the control system, thereby being suitable for patients with different leg lengths; on the other hand, the leg of the patient can be properly moved in the operation process, so that the discomfort caused by keeping one posture for a long time is relieved; meanwhile, scales are arranged on the guide rail, so that the foot movement of a patient can be recorded into the workstation, the workstation recalibrates the position between the three-dimensional foot model and the mechanical arm according to the movement of the foot movement, and corrects an operation path in an operation scheme. Of course, in other embodiments, a corresponding displacement sensor may be disposed on the slider or the guide rail, so that the displacement sensor detects the displacement of the foot of the patient during the operation, feeds the displacement back to the workstation, and then the workstation performs calibration according to the displacement.
Then the optical locator 5 is started to scan the focus optical locating mark and the mechanical arm optical locating mark, and the operation can be started after the calibration is finished.
In addition, in this embodiment, the optical position finder is preferably a near-infrared optical position finder.
The control system (or the workstation) is used for acquiring CT data of the feet of the patient from the CT scanner, reconstructing a three-dimensional image of the feet based on the CT data and controlling the optical positioning system and the mechanical arm to work, and particularly comprises a data communication module, a data acquisition module and a data processing module, wherein the data communication module is used for carrying out data communication with CT scanning equipment to acquire the CT data and reconstruct the three-dimensional image; and data communication with the optical positioning system and the robotic arm; a surgical plan planning module, configured to perform lesion identification based on the three-dimensional image, and match the lesion identification with a corresponding surgical plan (specifically, the surgical plan in the database may be automatically matched, or the surgical plan planned on site by a doctor may be matched); and the operation execution module is used for controlling the mechanical arm to execute the operation scheme.
Specifically, the operation execution module for controlling the mechanical arm comprises:
the cutting module is used for controlling the mechanical arm to cut the tibia by using the first surgical tool so as to accurately and completely expose a focus on the talus when the mechanical arm is replaced with the first surgical tool;
the focus cleaning module is used for controlling the mechanical arm to clean the focus by using the second surgical instrument when the mechanical arm is replaced with the second surgical instrument, and a hole is formed at the focus position;
and the transplant extraction module is used for controlling the mechanical arm to extract a healthy periosteum-bone complex on the tibia of the patient by using the third surgical instrument when the third surgical instrument is replaced by the mechanical arm.
In some embodiments, the surgical instrument may be replaced manually, or with a dedicated robotic arm, and the position of the surgical instrument is manually calibrated after replacement; of course, after the replacement, the robot arm will send a corresponding feedback signal to the control system (or workstation) to notify it that the corresponding surgical instrument is replaced, and then the control system controls the robot arm to continue to execute the surgical plan.
In other embodiments, the surgical execution module further comprises: the surgical instrument replacing system comprises a first instrument replacing module, a second instrument replacing module, a third instrument replacing module and a fourth instrument replacing module, wherein the first instrument replacing module is used for controlling the mechanical arm to replace a first surgical instrument, the second instrument replacing module is used for controlling the mechanical arm to replace a second surgical instrument, the third instrument replacing module is used for controlling the mechanical arm to replace a third surgical instrument, and the fourth instrument replacing module is used for controlling the mechanical arm to replace a fourth surgical instrument. Specifically, when the mechanical arm performs a link (for example, cutting a tibia), the link is fed back to the control system, and the control system sends a control signal to the mechanical arm through the corresponding instrument replacement module to control the mechanical arm to be switched from the surgical station to an instrument replacement station to prepare for replacing the surgical instrument; when the control system receives a feedback signal of the replaced surgical instrument, a control signal is sent to the mechanical arm through the corresponding instrument replacing module to control the mechanical arm to return to a surgical station from the instrument replacing station, and the mechanical arm is switched to the corresponding station and has a feedback signal to be fed back to the control system, so that the control system can accurately master the position, the state and the like of the mechanical arm.
The control system can construct a three-dimensional foot model according to CT data scanned by the CT scanner and automatically identify the focus by means of AI and the like. The three-dimensional model can be used for lesion measurement, operation scheme formulation, simulation, risk assessment and the like. Meanwhile, the control system is also used as a controller to control the optical positioning system to calibrate and control the mechanical arm to execute the operation.
Referring to fig. 4 and 5, the above-described ankle joint robot system of the present embodiment operates as follows:
before operation, a first optical positioning tool E1 (namely an optical positioning mark) for positioning a focus is arranged on the tibia of a patient, and a second optical positioning tool E2 (namely an optical positioning mark) is arranged at the tail end of a mechanical arm; specifically, a kirschner wire for positioning is driven into a foot talus bone of a patient needing operation by an operator, and a focus optical positioning mark (i.e. a first positioning tool E1) is installed on the kirschner wire; of course, there are also operators or other assistance personnel who mount the second positioning tool E2 at the end of the arm;
fixing the feet of the patient on the L-shaped foot positioning plate 4 and then carrying out CT scanning;
constructing a three-dimensional foot model according to CT data of CT scanning (the three-dimensional foot model comprises a three-dimensional model of the optical positioning mark (namely the first optical positioning tool E1) on the Kirschner wire);
the foot positioning plate 4 and the feet of the patient are fixed on the operating bed body 3 (namely, a special operating bed) so as to keep the fixed foot posture in the operation;
scanning a focus optical positioning mark (namely a first optical positioning tool E1) and an optical positioning mark at the tail end of a mechanical arm (namely the first optical positioning tool E1) by using an optical positioning instrument to obtain respective coordinate systems of the focus optical positioning mark and the optical positioning mark in an optical positioning system, and acquiring a coordinate system conversion relation between the mechanical arm and a first optical positioning tool E1 fixed at a focus position based on the conversion relation between the coordinate system of the optical positioning instrument in the optical positioning system and the coordinate systems of two positioning marks and the conversion relation between a base coordinate system of the mechanical arm and a second optical positioning tool E2, namely the coordinate system transmission, so as to map the focus position of a real space under the base coordinate system of the mechanical arm, and then combine the coordinate system of the first optical positioning tool E1 at the focus position and the conversion relation between a virtual coordinate system of the first optical positioning tool E1 in a three-dimensional model, thereby realizing image registration, namely carrying out image registration on the mechanical arm, the first optical positioning tool E1, the second optical positioning tool E2 and the foot three-dimensional model;
making an operation scheme by an operation planning system according to the three-dimensional foot image; specifically, the surgical plan (i.e., the process file) includes data such as a lesion position and a surgical path plan;
the control system acquires the surgical plan from the surgical planning system and controls the mechanical arm 1 to execute the surgical plan, and specifically, the method comprises the following steps:
controlling the mechanical arm to punch a positioning needle twice at the tail end of the tibia according to the operation scheme to generate two reset holes;
when the surgical instrument at the tail end of the mechanical arm is replaced by: after the saw is swung, controlling the mechanical arm to cut the tibia so as to expose a focus located on the talus; in some embodiments, the robot arm can be replaced manually, and the robot arm specially used for replacing the tool can be controlled to automatically replace the tool at the tail end of the surgical robot arm;
when the surgical instrument at the tail end of the mechanical arm is replaced by: after milling, controlling the mechanical arm to remove the talus focus;
after the focus is removed, the mechanical arm is controlled to take the autologous periosteum-bone graft.
In some embodiments, after each surgical instrument replacement, the alignment of the robotic arm tip and the surgical instrument may be performed manually by the respective staff member so that the surgical instrument is mounted in place.
In some embodiments, the robotic arm feeds back a corresponding feedback signal to the control system each time a procedure is performed according to the surgical plan.
Of course, after the mechanical arm completes the operation process, an operator places the periosteum-bone graft into a focus position, manually resets the cut tibia, and resets the tibia through screws on the two reset holes.
In other embodiments, the periosteal-bone graft can also be placed into the lesion site by a control robot; in particular, since the implantation process is complicated, the robotic arm can accomplish the implantation with the assistance of the operator.
In some embodiments, the step of controlling the mechanical arm to take the autologous periosteum-bone graft specifically includes the steps of:
when the manual shin bone that cuts of cutting that resets of operation operator, through the screw shin bone that resets on two reset holes, and the terminal surgical instruments of arm is changed into: after the round-mouth trephine is used, a mechanical arm is controlled to cut the periosteum with the designated size on the tibia;
when the surgical instrument at the tail end of the mechanical arm is replaced by: after the saw tooth trephine is drilled, the mechanical arm is controlled to extract the bone on the lower layer of the periosteum at the same position of the periosteum extraction, and the periosteum-bone graft integrated extraction is completed.
In some embodiments, the method for controlling the robotic arm to execute the surgical plan by the control system specifically includes the steps of:
(1) In response to a first operation of a user, the CT scanning device is controlled to carry out CT scanning on the ankle of the patient and a first optical positioning tool E1 which is arranged at the ankle focus position in advance, and a three-dimensional image of the ankle is reconstructed based on CT data obtained by scanning.
In some embodiments, the first operation refers to that the staff member triggers a corresponding function option on a user interface of the workstation, so that the workstation sends a control instruction to the CT scanning device to control the CT scanning device to perform scanning.
(2) In response to a second operation of the user, controlling the optical positioning system to perform preoperative spatial registration, including robotic-to-lesion registration (i.e. mapping a lesion position in real space (e.g. the coordinate system of the first positioning tool E1) under the base coordinate system of the robotic arm), medical image registration (i.e. mapping its virtual coordinate system under the base coordinate system of the robotic arm through the transfer of the first positioning tool E1 in the coordinate system of real space and its virtual coordinate system between the virtual coordinate systems of the three-dimensional models); wherein, in the process of spatial registration, the ankle of the patient keeps a fixed ankle pose on the operating bed.
In some embodiments, the second operation refers to the staff triggering corresponding function options (e.g., spatial registration, and surgical plan planning) on the user interface of the workstation, so that the workstation sends a control command to the optical positioning system to perform preoperative spatial registration.
(3) And responding to a third operation of the user, calling a surgical planning system to formulate an ankle joint surgical scheme, and then simulating the surgical scheme.
In some embodiments, the third operation refers to the staff triggering the corresponding function option (e.g., surgical plan planning) on the user interface of the workstation, so that the workstation sends a control command to the surgical plan planning system to trigger the surgical plan planning and simulation.
(4) And responding to a fourth operation of the user, and controlling a mechanical arm in the surgical robot system to execute the surgical scheme.
In some embodiments, the fourth operation refers to the staff triggering a corresponding function option (for example, executing a surgical plan) on the user interface of the workstation, so that the workstation sends a corresponding control command to the mechanical arm according to the surgical plan to control the mechanical arm to operate according to the surgical plan.
Specifically, the step of controlling a mechanical arm in the surgical robot system to execute a surgical plan includes:
(41) Generating a control instruction for driving the positioning needle into the tibia according to the operation scheme so as to control the mechanical arm to drive the positioning needle at the tail end of the tibia of the patient twice and generate two reset holes.
In some embodiments, the mechanical arm is pre-loaded with a positioning needle, specifically, the positioning needle can be manually installed by a worker or automatically installed by replacing other mechanical arms of the instrument, and since registration is performed in advance, the position of the mechanical arm is ensured not to be moved as much as possible during the process of installing the positioning needle or replacing the instrument at a later stage, and the instrument and the lesion position need to be registered after replacing the instrument; accordingly, the surgical instrument can be replaced manually or automatically in the subsequent process.
(42) And triggering a first instrument replacing module to control the mechanical arm to be replaced by the first surgical instrument in response to a feedback signal of finishing the positioning needle punching fed back by the mechanical arm.
In some embodiments, the first surgical instrument is a pendulum.
(43) And responding to a feedback signal fed back by the mechanical arm and finishing replacement, generating a control instruction for cutting the tibia according to the surgical scheme, and sending the control instruction to the mechanical arm to control the mechanical arm to cut the tibia so as to accurately and completely expose the focus located in the talus.
In some embodiments, the control instruction for cutting the tibia is generated when a feedback signal for completing the registration fed back by the optical positioning instrument needs to be received after the feedback signal for completing the replacement is received.
(44) And triggering a second instrument replacement module to control the mechanical arm to be replaced with a second surgical instrument in response to a feedback signal of cutting completion fed back by the mechanical arm.
In some embodiments, the second surgical instrument is a milling cutter.
(45) And responding to a replaced feedback signal fed back by the mechanical arm, generating a control instruction for clearing the focus according to the surgical scheme, and sending the control instruction to the mechanical arm so as to control the mechanical arm to clear the talus focus and form a hole.
In some embodiments, after receiving the feedback signal of completing the replacement, the control command for removing the lesion is generated by receiving a registered feedback signal fed back by the optical positioner.
(46) And triggering a third replacing tool module to control the mechanical arm to be replaced by a periosteum cutting tool in a third surgical tool in response to a feedback signal fed back by the mechanical arm and used for completing the focus cleaning.
In some embodiments, the periosteum elevator is a round trephine with a blade at its leading end, such that a round periosteum of a certain size (still connected to the bone tissue) is cut through the blade.
(47) And responding to a feedback signal of replacement completion fed back by the mechanical arm, generating and sending a control instruction for extracting the periosteum to the mechanical arm according to the surgical scheme so as to control the mechanical arm to cut the periosteum with the specified size on the tibia.
In some embodiments, after receiving the feedback signal of the replacement, the control command for extracting the periosteum needs to be generated by receiving a feedback signal of the registration fed back by the optical positioner.
(48) And triggering a third replacement tool module to control the mechanical arm to replace the periosteum lower bone extraction tool in the third surgical tool in response to a feedback signal of periosteum cutting completion fed back by the mechanical arm.
In some embodiments, the bone extraction tool is a saw-toothed trephine with an inner diameter equal to that of the round trephine, so that the bone tissue under the periosteum can be extracted from the cut formed by cutting the round trephine, and the periosteum-bone tissue integrated graft can be extracted integrally.
(49) And responding to a feedback signal of replacement completion fed back by the mechanical arm, generating and sending a control instruction for extracting the graft to the mechanical arm according to the surgical plan so as to control the mechanical arm to extract the bone on the lower layer of the periosteum at the position of the segmented periosteum to complete periosteum-bone graft integrated extraction.
In other embodiments, the control method further comprises the steps of:
(410) And triggering a fourth replacement instrument module to control the mechanical arm to replace the transplantation instrument in the third surgical instrument in response to a feedback signal of the completion of the transplantation extraction fed back by the mechanical arm. In some embodiments, the grafting instrument is a push rod for pushing extracted periosteal bone tissue into a cavity at a lesion site.
(411) And responding to a feedback signal of replacement completion fed back by the mechanical arm, generating and sending a transplanting control command to the mechanical arm according to the surgical plan so as to control the mechanical arm to fill the periosteum-bone graft into the hole formed at the focus on the talus in the step S5. Specifically, the trephine with the periosteum-bone graft extracted is aligned to the transplantation position, then the push rod is used for extending into the trephine to push the removed graft into the transplantation position, and finally the drill cylinder and the push rod are withdrawn, so that the operation is completed.
In other embodiments, the control method further comprises the steps of:
(412) And triggering the fifth replacing tool module to control the mechanical arm to replace the fourth surgical tool in response to a feedback signal of the completion of the transplantation, which is fed back by the mechanical arm.
(413) And responding to a feedback signal fed back by the mechanical arm and completing the replacement, generating and sending a reset control instruction to the mechanical arm according to the surgical scheme so as to control the mechanical arm to open the tibia, and resetting the tibia through two reset holes by using screws.
Finally, the doctor manually sews tissues such as joint skin and joint flesh to complete the whole ankle joint operation.
Based on the ankle joint surgical robot system, the invention also provides a preoperative space registration method and a preoperative space registration device applied to the ankle joint surgical robot system. The preoperative spatial registration method and device are described in detail below with reference to specific embodiments and accompanying drawings.
Example 3: before preoperative spatial registration, a Kirschner wire is drilled on the tibia of a foot where a focus of a patient is located in advance, a first positioning tool E1 is installed on the Kirschner wire, the first positioning tool E1 is composed of a bracket (the bracket is shown in fig. 8) and 4 passive light-reflecting small balls, and the bracket of the first bracket E1 is made of polylactic acid (PLA); then, CT scanning is performed on the foot where the focus of the patient is located, the first positioning tool E1 needs to be scanned during CT scanning, and a three-dimensional medical image is reconstructed based on CT data to obtain a three-dimensional model of the foot where the focus of the patient is located and a corresponding coordinate system thereof, including: a three-dimensional model of the ankle joint of the foot where the focus of the patient is located and a coordinate system thereof, and a three-dimensional model of four passive reflective beads of the first positioning tool E1 for positioning the position of the focus and a coordinate system thereof { V }.
Due to the particularity of the ankle joint operation, in order to ensure the comfort of a patient, a sufficient operation space is provided for the operation (for example, a sufficient space is provided for the mechanical arm to cut the tibia so as to completely expose the focus), the foot of the patient is kept in a fixed posture by the foot fixing mechanism, however, if the fixed posture is kept for too long time, the pressure and the uncomfortable feeling are inevitably caused to the patient, and the smooth proceeding of the whole operation is influenced. Based on this, in order to avoid keeping a fixed posture for a long time, when a second positioning tool E2 (the bracket of which is made of iron, and of course, can be made of non-metal material) is installed at the tail end of the mechanical arm, the euler angle of the coordinate system of the second positioning tool E2 relative to the mechanical arm base coordinate system is N × 90 °, and the value range of the integer N is [ -3,3], so that the coordinate system relationship between the second positioning tool E2 and the mechanical arm can be quickly determined by calculating the transformation matrix TBE between the coordinate system { E } of the second positioning tool E2 and the mechanical arm base coordinate system { B }, thereby accelerating the speed of preoperative spatial registration, so as to reduce the overall time consumption of the ankle joint surgery, reduce the duration of keeping the fixed or same posture of a patient, improve the comfort and experience of the foot of the user, and reduce the pressure and anxiety of the surgery.
The relative positions of the focus of the patient, the mechanical arm and the optical locator are kept fixed in the spatial registration process.
Referring to fig. 6a and 6b, a preoperative spatial registration method of an ankle surgery robot system, which is an exemplary embodiment of the present invention, includes the steps of:
s101, respectively obtaining a coordinate system { O } of the optical position finder, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a coordinate system { B } of the mechanical arm base.
In some embodiments, the coordinate system of the optical position finder { O }, the coordinate systems of the first and second positioning tools E1, E2 { P }, and { E } may be obtained through the optical positioning system secondary development interface.
S11, calculating a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the coordinate system { B } of the mechanical arm base BE 。
In some embodiments, the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the integer N ranges from [ -3,3]. By setting the euler angle of the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system to N × 90 °, after the second positioning tool E2 is installed (the coordinate system of the second positioning tool E2 is known and provided by the optical positioning system), the transformation matrix between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system can be rapidly calculated (i.e. the transformation relation of the coordinate system between the second positioning tool and the mechanical arm is determined), and further, the transformation matrix between the coordinate system and the mechanical arm can be obtained by solving according to the equation set corresponding to various motions without various motions before each operation, so that the consumed time of the whole operation is greatly shortened, and the requirement on the system calculation performance is also reduced.
In some embodiments, the support of the second positioning tool E2 is a metal support or a non-metal support.
S12, calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO 。
In some embodiments, the coordinate system of the second positioning means is provided by an optical positioning system. Specifically, the second positioning tool and the optical positioning apparatus of the optical positioning system are stored in the database in advance (for example, stored at the time of factory setting).
S13, based on the transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the coordinate system { B } of the robot arm base calculated in the step S11 BE And a transformation matrix T between the coordinate system { O } of the optical positioning instrument calculated in the step S12 and the coordinate system { E } of the second positioning tool E2 EO Calculating a transformation matrix T of the coordinate system { O } of the optical position finder and the coordinate system { B } of the mechanical arm base BO ＝T BE T EO 。
S14, respectively obtaining a coordinate system { P } of the first positioning tool E1 and a coordinate system { O } of the optical positioning instrument, and calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument OP 。
In some embodiments, before or after performing step S14, the relative positions of the patient' S lesion, the robotic arm, and the optical positioning instrument need to be kept fixed, and the procedure is completed.
Of course, in other embodiments, the relative position may not be fixed, and accordingly, the step S14 may need to be performed again once the lesion of the patient is changed.
S15, based on the transformation matrix T of the coordinate system { O } of the optical position finder and the coordinate system { B } of the mechanical arm base obtained by the calculation in the step S13 BO And the variation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument calculated in the step S14 OP Calculating a transformation matrix T of the coordinate system { P } of the first positioning tool E1 and the coordinate system { B } of the robot base BP ＝T BE T EO T OP 。
In some embodiments, the first positioning tool E1 is pre-operatively mounted on a k-wire previously applied to the tibia of the foot of the patient where the lesion is located.
And S16, calculating a transformation matrix TPV for positioning the lesion in the real space, wherein the transformation matrix TPV is formed by the E1 coordinate system { P } of the first positioning tool and the E1 coordinate system { V } of the first positioning tool in the three-dimensional image of the foot of the patient, and calculating the transformation matrix TBV = TBETEOTOPTPV between the three-dimensional image and the mechanical arm base coordinate system.
In some embodiments, the three-dimensional image is acquired before the step S16 is performed, and specifically, the giant three-dimensional image is a three-dimensional image reconstructed based on CT data after CT scanning is performed on the foot where the patient' S lesion is driven into the kirschner wire and the first positioning tool E1 in advance.
In some embodiments, the support of the first positioning tool E1 is a non-metallic material.
Example 4: referring to fig. 7, a preoperative spatial registration device of an ankle surgery robot system, which is an exemplary embodiment of the present invention, includes:
the data acquisition module is used for acquiring a coordinate system { O } of the optical position finder, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a mechanical arm base coordinate system { B }; specifically, the data acquisition module can directly acquire a coordinate system { O } of the optical positioning instrument, a coordinate system { P } of the first positioning tool E1, and a coordinate system { E } of the second positioning tool E2 from a database of the optical positioning system; the method can directly acquire a mechanical arm base coordinate system { B } from a control system or a database of the mechanical arm;
a first calculation module for calculating a transformation matrix TBE of the second positioning tool E2 coordinate system { E } and the robot arm base coordinate system { B }; the second positioning tool E2 is pre-installed at the tail end of a mechanical arm for executing the ankle joint operation, the Euler angle between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system is Nx90 degrees, and the value range of an integer N is [ -3,3];
a second calculation module for calculating a transformation matrix TEO between the optical position finder coordinate system { O } and the second positioning tool E2 coordinate system { E } and for calculating a transformation matrix TBO = TBETEO between the optical position finder coordinate system { O } and the robot arm base coordinate system { B };
a third calculation module, configured to calculate a transformation matrix TOP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning apparatus;
a focus positioning module, configured to calculate a transformation matrix TBP = tbeteeop between a coordinate system { P } of the first positioning tool E1 and a coordinate system { B } of the robot arm base based on a transformation matrix TBO between the coordinate system { O } of the robot arm base and the coordinate system { B } of the optical positioning instrument calculated by the first calculation module, and a transformation matrix TOP between a coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the robot arm base calculated by the second calculation module; wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
the image registration module is used for acquiring a transformation matrix TPV of the E1 coordinate system { V } of the first positioning tool in the three-dimensional image of the foot of the patient, calculating a transformation matrix TPV of the E1 coordinate system { P } of the first positioning tool for positioning a real space focus and the E1 coordinate system { V } of the patient in the three-dimensional image of the foot, and calculating a transformation matrix TBV = TBETEOTOPTPV between the three-dimensional image and the mechanical arm base coordinate system; the three-dimensional image is a three-dimensional image reconstructed based on CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advance.
In some embodiments, the holder of the first positioning tool E1 is a non-metallic material, while the holder of the second positioning tool E2 is a metallic or non-metallic holder.
In some embodiments, the third computing module calculates the transformation matrix TBP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { B } of the robot arm base, wherein the relative positions of the patient's lesion, the robot arm, and the optical position finder are fixed until the end of the surgery.
In other embodiments, the apparatus further comprises:
and the database is used for storing a coordinate system { O } of the optical positioning instrument in the optical positioning system, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a mechanical arm base coordinate system { B }.
Example 5: the invention also provides a computer device for pre-surgical spatial registration of an ankle joint, comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the computer program, when executed by the processor, causes the processor to perform a pre-surgical spatial registration method comprising:
respectively obtaining a coordinate system { O } of an optical locator, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a coordinate system { B } of a mechanical arm base;
calculating a transformation matrix TBE between the coordinate system { E } of the second positioning tool E2 and the coordinate system { B } of the mechanical arm base; the second positioning tool E2 is pre-installed at the tail end of a mechanical arm for executing the ankle joint operation, the Euler angle between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system is Nx90 degrees, and the value range of an integer N is [ -3,3];
calculating a transformation matrix TEO between an optical position finder coordinate system { O } and the second positioning tool E2 coordinate system { E }; and calculating a transformation matrix TBO = TBETEO for said optical position finder coordinate system { O } and said arm-based coordinate system { B } based on a transformation matrix TBE between said second positioning tool E2 coordinate system { E } and said arm-based coordinate system { B }, and a transformation matrix TEO between said optical position finder coordinate system { O } and said second positioning tool E2 coordinate system { E };
calculating a transformation matrix TOP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder; calculating a transformation matrix TBP = TBETEOTOP between the E1 coordinate system { P } and the robot arm base coordinate system { B } based on the transformation matrix TBO = TBETEO between the O coordinate system and the O coordinate system, and the transformation matrix TOP between the E1 coordinate system { P } and the O coordinate system; wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
calculating a transformation matrix TPV of the first positioning tool E1 coordinate system { P } used for positioning a real space lesion and the first positioning tool E1 coordinate system { V } in a three-dimensional image of a patient foot, and calculating a transformation matrix TBV = TBETEOTOPTPV between the three-dimensional image and the mechanical arm base coordinate system; the three-dimensional image is a three-dimensional image reconstructed on the basis of CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advance.
Example 6: the invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to perform a method of preoperative spatial registration, the method comprising:
respectively obtaining a coordinate system { O } of an optical locator, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a coordinate system { B } of a mechanical arm base;
calculating a transformation matrix TBE between the coordinate system { E } of the second positioning tool E2 and the coordinate system { B } of the robot base; the second positioning tool E2 is pre-installed at the tail end of a mechanical arm for executing the ankle joint surgery, the Euler angle of the coordinate system of the second positioning tool E2 and the Euler angle of the mechanical arm base coordinate system are N multiplied by 90 degrees, and the value range of an integer N is [ -3,3];
calculating a transformation matrix TEO between an optical position finder coordinate system { O } and the second positioning tool E2 coordinate system { E }, and calculating a transformation matrix TBO = TBETEO between the optical position finder coordinate system { O } and the robot arm base coordinate system { B } based on a transformation matrix TBE between the second positioning tool E2 coordinate system { E } and the robot arm base coordinate system { B }, and a transformation matrix TEO between the optical position finder coordinate system { O } and the second positioning tool E2 coordinate system { E };
calculating a transformation matrix TOP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder; calculating a transformation matrix TBP = TBETEOTOP between the E1 coordinate system { P } and the robot arm base coordinate system { B } based on the transformation matrix TBO = TBETEO between the O coordinate system and the O coordinate system, and the transformation matrix TOP between the E1 coordinate system { P } and the O coordinate system; wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
calculating a transformation matrix TPV of the first positioning tool E1 coordinate system { P } used for positioning a real space lesion and the first positioning tool E1 coordinate system { V } in a three-dimensional image of a patient foot, and calculating a transformation matrix TBV = TBETEOTOPTPV between the three-dimensional image and the mechanical arm base coordinate system; the three-dimensional image is a three-dimensional image reconstructed based on CT data after the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 are subjected to CT scanning in advance.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a computer terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A preoperative spatial registration method of an ankle surgery robot system, characterized by comprising the steps of: respectively obtaining a coordinate system { O } of an optical position finder, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle between the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the integer N value range is [ -3,3 []；
Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO And based on the coordinate system { E } of the second positioning tool E2 and the coordinate system { E } of the second positioning tool E2Transformation matrix T between base coordinate system { B } of mechanical arm and coordinate system { O } of optical position finder BE 、T EO Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the robot arm and a coordinate system { P } of the first positioning tool E1, respectively BO 、T OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
obtaining a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system of the robotic arm BV ＝T BE T EO T OP T PV (ii) a The three-dimensional image is a three-dimensional image reconstructed on the basis of CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advance.
2. Method according to claim 1, characterized in that the holder of the first positioning tool E1 is of a non-metallic material.
3. Method according to claim 1, characterized in that the holder of the second positioning tool E2 is a metal holder or a non-metal holder.
4. According to the claimsThe method according to claim 1, characterized in that a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder is calculated OP Before the step (2), further comprising the steps of:
keeping the relative positions of the focus of the patient, the mechanical arm and the optical locator fixed until the operation is finished.
5. A preoperative spatial registration device of an ankle surgery robotic system, comprising:
the data acquisition module is used for respectively acquiring a coordinate system { O } of the optical position indicator, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
a first calculation module for calculating a transformation matrix T between a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the robotic arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the range of the integer N is [ -3,3 []；
A second calculation module for calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO And calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
A third calculation module for calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP ；
A focus positioning module based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the mechanical arm BO A change matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP Calculating the coordinate system { P } of the first positioning tool E1 and the base of the robot armTransformation matrix T between the systems { B } BP ＝T BE T EO T OP Thereby realizing the focus positioning; wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located;
an image registration module for computing a transformation matrix T between the coordinate system { P } of the first localization tool E1 for localizing a real space lesion and the virtual coordinate system { V } of the first localization tool E1 in a three-dimensional image of a patient's foot PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system { B } of the robotic arm BV ＝T BE T EO T OP T PV Thereby realizing image registration; the three-dimensional image is a three-dimensional image reconstructed based on CT data after the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 are subjected to CT scanning in advance.
6. The device according to claim 5, characterized in that the support of the first positioning means E1 is of non-metallic material.
7. The device according to claim 5, characterized in that the support of the second positioning means E2 is a metal support or a non-metal support.
8. The apparatus of claim 5, wherein the third computing module calculates a transformation matrix T between a coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP In the process, the relative positions of the focus of the patient, the mechanical arm and the optical locator are fixed until the operation is finished.
9. A computer device for pre-operative spatial registration of an ankle joint, comprising a memory and a processor, the memory having stored therein a computer program, wherein the computer program, when executed by the processor, causes the processor to perform a pre-operative spatial registration method, the method comprising:
respectively obtaining a coordinate system { O } of the optical position indicator, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a transformation matrix T between a coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robotic arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the value range of the integer N is [ -3,3 [ -5363]；
Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO (ii) a And based on a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE A transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the robotic arm BO A change matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical position finder OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of the foot of the patient where the focus is located; calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image of the patient's foot PV And calculating the virtual coordinate system { V } and the position of the mechanical armTransformation matrix T between said base coordinate systems BV ＝T BE T EO T OP T PV (ii) a The three-dimensional image is a three-dimensional image reconstructed on the basis of CT data after CT scanning is performed on the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 in advance.
10. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to perform a method of preoperative spatial registration, the method comprising:
respectively acquiring a coordinate system { O } of the optical position indicator, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a base coordinate system { B } of the mechanical arm;
calculating a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE (ii) a Wherein the second positioning tool E2 is pre-installed at the end of the robotic arm performing the ankle joint surgery, and the euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the robotic arm is N × 90 °, and the range of the integer N is [ -3,3 []；
Calculating a transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO And based on a transformation matrix T between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm BE A transformation matrix T between the coordinate system { O } of the optical position finder and the coordinate system { E } of the second positioning tool E2 EO Calculating a transformation matrix T of the coordinate system { O } of the optical position finder and the base coordinate system { B } of the mechanical arm BO ＝T BE T EO ；
Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool OP (ii) a And based on a transformation matrix T between a coordinate system { O } of the optical position finder and the base coordinate system { B } of the mechanical arm BO The above-mentionedVariation matrix T between coordinate system { P } of first positioning tool E1 and coordinate system { O } of the optical position finder OP Calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm BP ＝T BE T EO T OP (ii) a Wherein the first positioning tool E1 is installed on a Kirschner wire which is pre-punched on the tibia of a foot where a lesion of a patient is located; calculating a transformation matrix T between the coordinate system { P } of the first positioning tool E1 in real space and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image of the patient's foot PV And calculating a transformation matrix T between the virtual coordinate system { V } and the base coordinate system of the robotic arm BV ＝T BE T EO T OP T PV (ii) a The three-dimensional image is a three-dimensional image reconstructed based on CT data after the foot where the focus of the patient is shot into the Kirschner wire and the first positioning tool E1 are subjected to CT scanning in advance.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211136240 | 2022-09-19 | ||
| CN2022111362405 | 2022-09-19 | ||
| CN202211136934 | 2022-09-19 | ||
| CN2022111369349 | 2022-09-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115624385A true CN115624385A (en) | 2023-01-20 |
| CN115624385B CN115624385B (en) | 2024-05-10 |
Family
ID=84768478
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211327047.XA Active CN115624385B (en) | 2022-09-19 | 2022-10-26 | Preoperative space registration method and device, computer equipment and storage medium |
| CN202211319512.5A Active CN115553923B (en) | 2022-09-19 | 2022-10-26 | Ankle joint operation robot system and control method thereof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211319512.5A Active CN115553923B (en) | 2022-09-19 | 2022-10-26 | Ankle joint operation robot system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN115624385B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116363184A (en) * | 2023-05-26 | 2023-06-30 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
| CN116585033A (en) * | 2023-05-19 | 2023-08-15 | 苏州铸正机器人有限公司 | 3D operation navigation scale and navigation registration method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116919590B (en) * | 2023-07-18 | 2024-05-31 | 赛博派(无锡)科技有限责任公司 | Surgical robot control method, device and medium for hallux valgus minimally invasive surgery |
| CN117323002A (en) * | 2023-11-30 | 2024-01-02 | 北京万特福医疗器械有限公司 | Neural endoscopic surgery visualization system based on mixed reality technology |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170273595A1 (en) * | 2014-09-19 | 2017-09-28 | Koh Young Technology Inc. | Optical tracking system and coordinate registration method for optical tracking system |
| CN112641512A (en) * | 2020-12-08 | 2021-04-13 | 北京信息科技大学 | Spatial registration method applied to surgical robot front planning |
| CN112826590A (en) * | 2021-02-02 | 2021-05-25 | 复旦大学 | Knee joint replacement spatial registration system based on multi-modal fusion and point cloud registration |
| CN112991409A (en) * | 2021-04-27 | 2021-06-18 | 杭州素问九州医疗科技有限公司 | Skeleton registration method and system and storage medium |
| CN113100939A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Orthopedic surgery navigation method, device, computer equipment, system and storage medium |
| CN113768527A (en) * | 2021-08-25 | 2021-12-10 | 中山大学 | Real-time three-dimensional reconstruction method, device and medium based on CT and ultrasonic image fusion |
| CN113940755A (en) * | 2021-09-30 | 2022-01-18 | 南开大学 | Surgical operation planning and navigation method integrating operation and image |
| CN114041875A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Integrated operation positioning navigation system |
| CN114283188A (en) * | 2021-11-12 | 2022-04-05 | 重庆生物智能制造研究院 | Positioning and registering method for orthopedic surgery robot |
| WO2022068341A1 (en) * | 2020-09-29 | 2022-04-07 | 苏州微创畅行机器人有限公司 | Readable storage medium, bone modeling registration system and orthopedic surgical system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101069964A (en) * | 2006-05-10 | 2007-11-14 | 北京博达高科技有限公司 | Surgical operation robot system guided under navigation system |
| CN204931731U (en) * | 2015-08-06 | 2016-01-06 | 中国人民解放军第三军医大学第一附属医院 | A kind of supporting apparatus for extracting periosteum and osseous tissue |
| US11684489B2 (en) * | 2018-10-29 | 2023-06-27 | Mako Surgical Corp. | Robotic system for ankle arthroplasty |
| CN112370163B (en) * | 2020-11-11 | 2022-05-31 | 上海交通大学医学院附属第九人民医院 | Fibula transplantation surgical robot for mandible reconstruction |
| CN112641510B (en) * | 2020-12-18 | 2021-08-17 | 北京长木谷医疗科技有限公司 | Joint replacement surgical robot navigation positioning system and method |
| CN114767265A (en) * | 2022-03-14 | 2022-07-22 | 珠海横乐医学科技有限公司 | Surgical path planning method, system, electronic device and storage medium |
-
2022
- 2022-10-26 CN CN202211327047.XA patent/CN115624385B/en active Active
- 2022-10-26 CN CN202211319512.5A patent/CN115553923B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170273595A1 (en) * | 2014-09-19 | 2017-09-28 | Koh Young Technology Inc. | Optical tracking system and coordinate registration method for optical tracking system |
| WO2022068341A1 (en) * | 2020-09-29 | 2022-04-07 | 苏州微创畅行机器人有限公司 | Readable storage medium, bone modeling registration system and orthopedic surgical system |
| CN112641512A (en) * | 2020-12-08 | 2021-04-13 | 北京信息科技大学 | Spatial registration method applied to surgical robot front planning |
| CN112826590A (en) * | 2021-02-02 | 2021-05-25 | 复旦大学 | Knee joint replacement spatial registration system based on multi-modal fusion and point cloud registration |
| CN113100939A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Orthopedic surgery navigation method, device, computer equipment, system and storage medium |
| CN112991409A (en) * | 2021-04-27 | 2021-06-18 | 杭州素问九州医疗科技有限公司 | Skeleton registration method and system and storage medium |
| CN113768527A (en) * | 2021-08-25 | 2021-12-10 | 中山大学 | Real-time three-dimensional reconstruction method, device and medium based on CT and ultrasonic image fusion |
| CN113940755A (en) * | 2021-09-30 | 2022-01-18 | 南开大学 | Surgical operation planning and navigation method integrating operation and image |
| CN114283188A (en) * | 2021-11-12 | 2022-04-05 | 重庆生物智能制造研究院 | Positioning and registering method for orthopedic surgery robot |
| CN114041875A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Integrated operation positioning navigation system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116585033A (en) * | 2023-05-19 | 2023-08-15 | 苏州铸正机器人有限公司 | 3D operation navigation scale and navigation registration method |
| CN116363184A (en) * | 2023-05-26 | 2023-06-30 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
| CN116363184B (en) * | 2023-05-26 | 2023-10-03 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115553923B (en) | 2024-07-16 |
| CN115624385B (en) | 2024-05-10 |
| CN115553923A (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112641510B (en) | Joint replacement surgical robot navigation positioning system and method | |
| WO2022126828A1 (en) | Navigation system and method for joint replacement surgery | |
| US11311339B2 (en) | Computer-assisted hip replacement surgery | |
| US10806517B2 (en) | Implant based planning, digitizing, and registration for total joint arthroplasty | |
| CN113303907B (en) | System for robot-assisted correction procedure | |
| US10194990B2 (en) | Method for augmenting a surgical field with virtual guidance content | |
| US20200038112A1 (en) | Method for augmenting a surgical field with virtual guidance content | |
| CN115553923B (en) | Ankle joint operation robot system and control method thereof | |
| US20190388104A1 (en) | Computer-assisted surgery tools and system | |
| US20160278868A1 (en) | Method and system for planning and performing arthroplasty procedures using motion-capture data | |
| JP2022524752A (en) | Systems and methods for surgical alignment | |
| CN111345896B (en) | Osteotomy execution system, positioning, control and simulation execution method and electronic equipment | |
| US20070066917A1 (en) | Method for simulating prosthetic implant selection and placement | |
| JP2022546381A (en) | Robotic Surgical System for Augmented Hip Arthroplasty Procedures | |
| US10932866B1 (en) | Implant based planning, digitizing, and registration for total joint arthroplasty | |
| CN113017834A (en) | Joint replacement surgery navigation device and method | |
| US20230013210A1 (en) | Robotic revision knee arthroplasty virtual reconstruction system | |
| CN117338420A (en) | Intraoperative navigation method, device, equipment and storage medium of orthopedic 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |