CN116236278A - Bone tunnel establishment system - Google Patents

Bone tunnel establishment system Download PDF

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Publication number
CN116236278A
CN116236278A CN202310505671.2A CN202310505671A CN116236278A CN 116236278 A CN116236278 A CN 116236278A CN 202310505671 A CN202310505671 A CN 202310505671A CN 116236278 A CN116236278 A CN 116236278A
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target
bone tunnel
marker
target ball
tracker
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CN116236278B (en
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王瑞
陈哲峰
韩笑
刘锋
殷国勇
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Jiangsu Province Hospital First Affiliated Hospital Of Nanjing Medical University
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Jiangsu Province Hospital First Affiliated Hospital Of Nanjing Medical University
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Abstract

The invention discloses a bone tunnel establishment system, comprising: the tracker is placed on the affected part of the patient; a marker mounted in a fixed position relative to the tracker; a target placed at a target location of an affected part of a patient; the mechanical arm equipment is provided with a tail end tracker; an optical tracking device that identifies the patient's affliction and a tracker on the robotic arm device; the upper computer acquires a three-dimensional image of the affected part of the patient, recognizes the position information of the target and the marker in the three-dimensional image, and performs bone tunnel planning according to the position information of the target; the upper computer obtains the transformation relation between the marker and the tracker, and the tracker which is combined with the optical tracking equipment to identify the affected part of the patient calculates the position information of the planned bone tunnel under the optical tracking equipment, so that the mechanical arm equipment is subjected to motion planning and performs in-place bone tunnel establishment. The invention can accurately establish the bone tunnel and avoid influencing the postoperative rehabilitation effect due to the deviation of the starting and stopping points of the bone tunnel.

Description

Bone tunnel establishment system
Technical Field
The invention relates to the technical field of image processing, in particular to a bone tunnel establishment system.
Background
Anterior cruciate ligament (anterior cruciate ligament, ACL) rupture is a common and serious exercise injury, and improper treatment will cause instability of knee joint, cause a series of sequelae to change, seriously affect the knee joint movement function, so clinical research and treatment thereof have been an important subject in the fields of orthopedics and exercise trauma, and are valued by vast experts and scholars. For the treatment of ACL rupture, ligament reconstruction methods are often used. Knee ligament reconstruction typically involves diagnostic arthroscopy, preparation of ligament grafts by resection, creation of bone tunnels with access to the anatomic attachment points of the ligament, implantation and fixation of the graft, wherein the creation of bone tunnels for fixation of the reconstructed ligament is an important and difficult point of surgery.
Taking the most common anterior cruciate ligament reconstruction operation as an example, theoretically, a straight line can be determined according to two attachment points of the anterior cruciate ligament on the femur and the tibia, so that the determination of the position of the ligament attachment point of the femur and the tibia is very important, and plays a vital role in postoperative effect of the operation.
In the traditional operation at present, in the scene of needing to carry out bone tunnel establishment, especially in anterior cruciate ligament reconstruction operation, the ligament attachment points of tibia and femur are determined by combining the use of an arthroscope, and then the tunnel is established through a traditional tunnel positioning tool, so that the method is difficult for inexperienced operators, and the situation of inaccurate positions often exists, so that the position of the tunnel is not ideal, and the subsequent operation effect is influenced.
Disclosure of Invention
The invention aims to: in order to overcome the defects, the invention provides the bone tunnel establishment system, which is characterized in that targets are intuitively placed at positions for planning bone tunnels, and registration is further carried out through the marker, so that the identification is more accurate, the starting and stopping points of the bone tunnels can be accurately identified, and the bone tunnels can be accurately established.
The technical scheme is as follows: a bone tunnel creation system, comprising:
the tracker is placed on the affected part of the patient and used for representing the position of the affected part;
a marker mounted in a fixed position relative to the tracker;
a target placed on the affected part of the patient at a position for establishing a bone tunnel;
the mechanical arm equipment is provided with a tail end tracker;
an optical tracking device for identifying a tracker of the patient's lesion and an end tracker on the robotic arm device;
the upper computer is used for acquiring a three-dimensional image of the affected part of the patient and the marker, identifying and obtaining the position information of the target and the marker in the three-dimensional image, and planning a bone tunnel according to the position information of the target;
the upper computer obtains the transformation relation between the marker and the tracker according to the position parameters between the marker and the tracker, and combines the tracker of the patient affected part identified by the optical tracking equipment to obtain the transformation relation between the coordinate system corresponding to the optical tracking equipment and the image coordinate system, so as to calculate and obtain the position information of the planned bone tunnel under the coordinate system corresponding to the optical tracking equipment, and accordingly, the mechanical arm equipment is subjected to motion planning and executed in-place bone tunnel establishment.
The marker is a target ball which is mounted on a bracket with a material density higher than that of bone tissue.
The number of target balls is at least 3.
The upper computer identifies and obtains the position information of the target ball in the three-dimensional image, specifically:
(1) Recognizing a bracket of a marker in the three-dimensional image, performing binary morphological opening operation to obtain connected domains in the bracket, and respectively calculating the physical volume and the spatial mass center position corresponding to each connected domain;
(2) Calculating a communication domain of which the physical volume is smaller than the design parameter of the marker and meets the set condition as a target ball group region, and replacing the voxel value of a bracket region in the target ball group region with the voxel value of a material with the density smaller than that of the bracket;
(3) Taking the cross section of the three-dimensional image as a reference plane, taking the horizontal direction as a reference direction, respectively selecting planes which are at different angles with the reference direction, pass through the center of the reference plane and are perpendicular to the reference plane as a projection plane, selecting the other plane which is perpendicular to the reference plane and the projection plane at the same time as another projection plane, further obtaining a plurality of groups of orthogonal projection planes, and calculating to obtain projection images of the target ball group area projected onto the corresponding orthogonal projection planes;
(4) Recognizing and obtaining connected domains with radiuses meeting set conditions in orthogonal projection images of a plurality of groups of target ball group areas as candidate areas, and respectively calculating and obtaining center coordinates of each candidate area, namely, center coordinates of projection areas of each candidate target ball on each group of orthogonal projection images;
(5) According to the step (4) and the normal vector of the corresponding projection image, two corresponding sets of space linear equations are obtained, and the space intersection point of the two sets of space linear equations is calculated to be the space sphere center of the corresponding candidate target sphere, so that the space sphere centers of the candidate target spheres corresponding to a plurality of sets of orthogonal projection planes are obtained;
(6) Judging whether the space sphere centers corresponding to the groups obtained in the step (5) are consistent with the number of target spheres in the designed marker, and if so, taking the space sphere center data corresponding to the step (5) as candidate data; otherwise, selecting space sphere center data which can be extracted from all groups of orthogonal projection surfaces as candidate data;
(7) Judging and extracting according to the candidate data obtained in the step (6)The number of the space sphere centers of the obtained target sphereMAnd the number of target balls in the designed target ball groupNWhether or not the two are consistent;
if yes, marking each target ball in the three-dimensional image according to the topological structure among the target balls obtained by the design parameters of the marking piece, and obtaining the position information of each target ball according to the space sphere center of each target ball;
if not, the candidate data are arranged and combined
Figure SMS_1
And screening according to the topological structure among the target balls according to the arrangement and combination result, carrying out least square method calculation error between the combination obtained by screening and the actual target ball group, selecting a group with the smallest error as a final target ball combination, and obtaining the position information of each target ball according to the space ball center of each target ball.
The error is specifically:
and (3) carrying out a least square method on the transformation relation between the actual coordinate system corresponding to the combination obtained by screening and the theoretical coordinate system corresponding to the actual marker, calculating the space distance between the paired target ball point pairs after any transformation and the other paired target ball point pairs, and taking the root mean square of each paired target ball point pair as an error.
The marking element is located at the edge of the acquired three-dimensional image, and the calculating of the communication domain of which the physical volume is compared with the design parameter of the marking element and meets the set condition in the step (2) is specifically performed as the target ball group region: firstly, selecting a connected domain with a physical volume meeting a set condition compared with a design parameter of a marker as a candidate connected domain, and then selecting a target ball group region with the closest space mass center position in the candidate connected domain to the edge of the three-dimensional image.
And (3) expanding the target ball group region obtained in the step (2) to set distances in the directions of three coordinate axes of an image coordinate system to obtain a final target ball group region.
And in the expansion process, if the target ball group area exceeds the image space range, taking the maximum intersection of the target ball group area and the image space as a final target ball group area.
The calculatorThe communicating domain with the physical volume meeting the set condition compared with the design parameter of the marker is taken as a target ball group region, and specifically comprises the following steps: calculating according to design parameters of the marker to obtain the volume V occupied by the marker, and calculating to obtain the physical volume of the marker to satisfy [ k ] 1 V，k 2 V]Is used as a target sphere group region.
k 1 =0.8，k 2 =1.2。
The different angles are respectively 0 degrees, 30 degrees and 60 degrees.
The identification method for obtaining the connected domain with the radius meeting the set condition in the orthogonal projection image of the multiple groups of target ball group areas as the candidate area specifically comprises the following steps:
respectively carrying out self-adaptive threshold segmentation processing on the orthogonal projection image of the target sphere group area to obtain each connected domain, and searching each connected domain through a Hough circle finding algorithm to obtain the graph with the radius meeting [ k ] 3 R，k 4 R]As a candidate region; wherein R is the design radius of the target ball.
k 3 =0.8，k 4 =1.2。
The affected part of the patient is a patient affected limb, and the targets are respectively placed at ligament attachment points of tibia and femur after the arthroscope is inserted into the cruciate ligament of the patient affected limb.
The beneficial effects are that: the scheme provided by the invention provides a more visual and more accurate method for establishing the tunnel of the femur and the tibia in the scene of needing to establish the bone tunnel, in particular to the anterior cruciate ligament reconstruction operation. Through audio-visual target department of placing in the position department that is used for planning the bone tunnel, and then register through the marker, the start and stop point of discernment bone tunnel that can be accurate, accurate establishment bone tunnel avoids influencing postoperative rehabilitation effect because bone tunnel start and stop point position deviation. When the marker is aligned, the rough calculation is performed to obtain the approximate position of the tracer in the image, and then the fine calculation is performed to obtain the accurate position of the marker in the image, so that repeated iteration is avoided, and the marker in the image is found faster and more accurately. The tracer is small in size, and the tracer is prevented from being out of the imaging range of the imaging device.
Drawings
FIG. 1 is a block diagram of a navigation system of the present invention;
fig. 2 is a schematic diagram of constructing an orthogonal projection plane on a cross-section of a three-dimensional image.
In the figure, 1 a perspective device, 2 an optical tracking device, 3 a mechanical arm device, 4 a tibia, 5 a femur, 6 a tibia tracker, 7 a femur tracker, 8 a target, 9 a tracking ball, 10 a tracer tool, 11 a target ball and 12 a sleeve.
Description of the embodiments
The invention is further elucidated below in connection with the drawings and the specific embodiments.
Referring to fig. 1, a bone tunnel creation system according to an embodiment of the present invention includes an operation table, a fluoroscopy device 1, an optical tracking device 2, a mechanical arm device 3, an upper computer, a tibia tracker 6 and a femur tracker 7 respectively installed on a tibia 4 and a femur 5 of a patient's affected limb, and a target 8 respectively placed on ligament attachment points of the tibia 4 and the femur 5; wherein, the affected limb of the patient is fixed on the operating table; the perspective device 1 is used for scanning the knee joint of the affected limb of the patient to obtain a perspective image; in the invention, the perspective device 1 is a CT device; the mechanical arm device 3 is provided with an end tracker, the end of the mechanical arm device 3 is provided with a sleeve 12, and the sleeve 12 is used for penetrating a Kirschner wire or a drill bit for bone tunnel perforation; the optical tracking device 2 is placed on the position information capable of identifying the tibia tracker 6 and the femur tracker 7 and is used for identifying the tibia tracker 6 and the femur tracker 7 on the tibia 4 and the femur 5, and meanwhile, the optical tracking device 2 is used for identifying and obtaining the position information of the tail end tracker on the mechanical arm device 3; the target 8 can be respectively placed at ligament attachment points of the tibia 4 and the femur 5 after the arthroscope is inserted into the cruciate ligament of the patient; the target 8 is made of a material which has good imaging effect and no artifact under the perspective of the perspective equipment 1, and is particularly suitable for being made of a material which has good imaging effect and is easy to be placed on the surface of bones.
The tibia tracker 6 and the femur tracker 7 both comprise a plurality of coplanar non-collinear tracking balls 9, and a tracer tool 10 is installed on each of the tibia tracker 6 and the femur tracker 7 as a marker, specifically, the tracer tool 10 comprises a bracket and a plurality of target balls 11 installed on the bracket, the target balls 11 need to have good imaging effect under CT, no artifact and have a density greater than that of bone tissue, ceramic balls are preferably selected as materials, and the density of the target balls is far lower than that of the bracket in order to facilitate differentiation in images; whereas the material density of the bracket needs to be higher than that of the bone tissue, the metallic material is preferred in the present invention.
In the present invention, the target balls 11 are at least 3 and preferably 3 in number and are mounted on a metal bracket which is in turn mounted on the tibial tracker 6 or the femoral tracker 7.
In the invention, when the perspective equipment 1 scans the knee joint of a patient, the tracer tool 10 installed on the tibia tracker 6 and the femur tracker 7 needs to be covered, and the tracer tool 10 needs to be ensured to be positioned in the range of the three-dimensional image obtained by three-dimensional reconstruction of the perspective image obtained by scanning, and the tracer tool is generally positioned at the edge of the three-dimensional image due to the limitation of the imaging range. Further, in the three-dimensional image obtained by three-dimensional reconstruction, the bone tissue of the patient is located in the central area of the visual field, and the tracer tool 10 is located at the edge of the three-dimensional image. In the invention, the source of the three-dimensional image is not only obtained by adopting the perspective equipment 1 to scan and then reconstructing the three-dimensional image, but also can be obtained by adopting other modes.
The upper computer acquires an image of the knee joint of the patient suffering limb obtained by scanning the perspective equipment 1, performs three-dimensional reconstruction on the image, recognizes and obtains the position information of the target 8 and the target ball 11, namely, obtains the position information of the target 8 and the target ball 11 under an image space coordinate system, then obtains the position information of the target ball 11 under a tool coordinate system corresponding to the tracer tool 10 according to design parameters of the tracer tool 10, then calculates and obtains a transformation relation between the tool coordinate system and the corresponding tracker coordinate system according to installation parameters between the tracer tool 10 and the tibia tracker 6 or the femur tracker 7, and obtains the position relation between the target ball 11 and the optical tracking coordinate system corresponding to the femur tracker 7 by combining the recognition of the optical tracking equipment 2, and further calculates and obtains the transformation relation between the optical tracking coordinate system and the image space coordinate system, so that the position information of the target ball 11 obtained by recognition in the image can be directly obtained through the optical tracking equipment 2;
the upper computer recognizes the position information of the target 8 in the three-dimensional image, and extracts and recognizes the position of the back projection calculation space after recognizing the circle center in the 2D image of orthogonal projection;
the position information of the target ball 11 in the three-dimensional image is specifically obtained by the upper computer in a recognition manner as follows:
(1) Positioning a target ball group area;
in the invention, the target ball 11 is fixed by the metal bracket, the density of the metal bracket is higher than that of the bone tissue, and the density of the material of the target ball 11 is far lower than that of the metal bracket, so that the target ball group can be easily distinguished and positioned in the three-dimensional image, and the method comprises the following steps:
(11) Loading the three-dimensional image, and performing threshold segmentation and identification on the three-dimensional image to obtain a metal bracket in the tracer tool 10, wherein the threshold segmentation methods include, but are not limited to, OTSU (Otsu method, maximum inter-class variance method), threshold iteration and the like; in the present invention, a value of 2000HU is preferably used as the threshold value;
(12) In view of the adhesion between the metal bracket of the tracer tool 10 and the target ball 11 or the metal artifact, the three-dimensional image processed in the step (11) is processed by binary morphological open operation to remove the metal artifact or other noise;
(13) Searching connected domains of the binarized image processed in the step (12), and respectively calculating the physical volume and the spatial centroid position corresponding to each connected domain;
(14) Screening a target connected domain;
calculating according to design parameters of the tracer tool 10 to obtain the volume V occupied by the tracer tool 10, and calculating according to the physical volume corresponding to each connected domain obtained in the step (13) to obtain the physical volume meeting [ k ] 1 V，k 2 V]The connected domain of the three-dimensional image is used as a candidate connected domain, and then the connected domain of which the space centroid position is closest to the edge of the three-dimensional image is selected as a target connected domain;
in the present invention, k 1 =0.8，k 2 =1.2；
(15) Boundary expansion;
expanding the target communication domain obtained in the step (14) to three coordinate axis directions of an image space coordinate system by set distances to obtain a target ball group region, wherein the specific set distances are determined according to the design dimensions of the metal bracket of the tracer tool 10 and the target ball 11;
and replacing the voxel value of the image area corresponding to the metal bracket in the target ball group area with the voxel value of the minimum density in the effective image area (namely replacing the voxel value corresponding to the metal bracket with the voxel value of the material with the minimum density, such as the voxel value of air), so as to obtain the corresponding image as the subsequent used image. In the present invention, it is only necessary to actually replace the voxel values of the image areas corresponding to the metal brackets in the target sphere group area with the voxel values of the material having a density smaller than that of the metal, and in order to achieve better effects, the present invention selects the voxel values of the image areas corresponding to the metal brackets in the target sphere group area to be replaced with the voxel values of the material having the minimum density.
If the expansion process is beyond the image space range, the maximum intersection of the expansion process and the image space is used as a target ball group area.
(2) Extracting a target ball;
(21) Acquiring an orthogonal projection image of a target ball group area;
taking the cross section of the three-dimensional image as a reference plane, taking the horizontal direction as the reference direction, respectively selecting planes which are at different angles with the reference direction, pass through the center of the reference plane and are perpendicular to the reference plane as a projection plane, selecting the other plane which is perpendicular to the reference plane and the projection plane at the same time as another projection plane, further taking the two projection planes as orthogonal projection planes to obtain a plurality of groups of orthogonal projection planes, and calculating to obtain a projection image of the target ball group area projected onto the corresponding orthogonal projection plane; as shown in fig. 2, the present invention selects three angles between the reference direction and 0 °, 30 °, 60 °, respectively.
(22) Performing adaptive threshold segmentation processing on the orthogonal projection image of the target sphere group area obtained in the step (21) to obtain each connected domain, and searching each connected domain through a Hough circle finding algorithm to obtain the graph with the radius meeting [ k ] 3 R，k 4 R]The connected domain of the target ball is used as a candidate region, namely, a projection region of each candidate target ball on a corresponding orthogonal projection image is obtained, and the center coordinates of each candidate region are calculated respectively;wherein R is the design radius of the target ball 11;
in the present invention, k 3 =0.8，k 4 =1.2；
(23) Calculating the space sphere centers of the candidate target spheres corresponding to the multiple groups of orthogonal projection surfaces;
according to the step (22), calculating the center coordinates of the projection areas of the candidate target balls on the orthogonal projection images of each group and the normal vector of the corresponding projection images to obtain two corresponding groups of space straight-line equations, and calculating the space intersection points of the two groups of space straight-line equations to obtain the space sphere centers of the corresponding candidate target balls;
the method comprises the following steps:
taking a group of orthogonal projection images as an example, for example, a projection plane which is selected at 30 degrees from the reference direction and the other side which is perpendicular to the reference plane and the projection plane are taken as another projection plane to obtain an orthogonal projection image on the orthogonal projection plane, calculating the center coordinates of a candidate area on one projection image and the normal value of the projection image to obtain a corresponding space linear equation, calculating the center coordinates of the candidate area on the other projection image and the normal value of the other projection image to obtain another corresponding space linear equation, and calculating the space intersection point of the two space linear equations to obtain the space spherical center of the candidate target sphere; further, due to errors in image processing and calculation, an intersection point of two space straight lines may not exist, and then a straight line perpendicular to and intersecting with the two space straight lines is searched for as an auxiliary straight line, and an average of the intersection points between the auxiliary straight line and the two space straight lines is calculated as a space sphere center of the candidate target sphere; further, the distances between the spatial centers of the candidate target balls and the intersections between the auxiliary straight lines and the two spatial straight lines, which are calculated respectively, are greater than a set threshold (e.g. 1×10 -5 mm), eliminating the space sphere center of the candidate target sphere, and returning to the step (22);
then respectively using orthogonal projection planes constructed at different angles with the reference direction to calculate and extract the space sphere center of the candidate target sphere corresponding to each group of orthogonal projection planes;
(24) Selecting a space sphere center;
theoretically, the space sphere centers obtained by calculation in the step (23) are consistent with the number of target spheres in the designed target sphere group, at this time, the space sphere center data of any group obtained by calculation in the step (23) are taken as candidate data, and the step (25) is shifted to more specifically, the average of the space sphere center data of each candidate target sphere corresponding to a plurality of groups of orthogonal projection planes obtained by calculation in the step (23) is taken as candidate data; however, in view of the fact that there is unknown interference in the image and an erroneous center occurs, there is a case that the calculated spatial center is not identical to the number of target balls in the designed target ball group, and then an average of spatial center data that can be extracted in all sets of orthogonal projection planes is selected as candidate data, and the spatial center that can be extracted in all sets of orthogonal projection planes, that is, the spatial center of a certain candidate target ball, can be extracted in all sets of orthogonal projection planes;
(25) Extracting target balls, and obtaining the position information of each target ball according to the space sphere center of the target ball;
judging the number of the space sphere centers of the extracted target spheres according to the candidate data obtained in the step (24)MAnd the number of target balls in the designed target ball groupNWhether or not the two are consistent;
if yes, marking each target ball in the three-dimensional image according to the topological structure among the target balls obtained by the design parameters of the tracer tool 10, and obtaining the position information of each target ball according to the space sphere center of each target ball; the topological structure between the target balls generally adopts the connecting line length of two target balls or the included angle of three target balls;
if not, the candidate data are arranged and combined
Figure SMS_2
Screening according to the topological structure among the target balls according to the arrangement and combination result, performing least square calculation on the combination obtained by screening and the actual tracer tool 10, selecting a group with the smallest error as a final target ball combination, and obtaining the position information of each target ball according to the space sphere center of each target ball; specifically, a least square method calculation is performed between an actual tool coordinate system corresponding to the combination obtained by the screening and a theoretical tool coordinate system corresponding to the actual tracer tool 10And calculating the space distance between one pair of the transformed target ball point pairs and the other pair of the transformed target ball point pairs, taking the root mean square of each pair of the paired target ball point pairs as an error, and selecting each combination with the smallest error as a final target ball combination.
The upper computer performs bone tunnel planning according to the position information of the target 8 in the image, and obtains the transformation relation between the target 8 and the target ball 11 according to the position of the target ball 11 in the image, and further obtains the position information of the target 8 identified in the image by combining the optical tracking equipment 2 directly, and further can track the planned bone tunnel directly by the optical tracking equipment 2;
the mechanical arm device 3 performs motion planning according to the planned bone tunnel directly tracked by the optical tracking device 2 and the position information of the tail end tracker on the mechanical arm device 3, which is obtained through the identification of the optical tracking device 2, and performs in-place operation, and then the mechanical arm device 3 completes the bone tunnel punching operation.
The invention takes knee joint replacement as an example, namely the affected part of the patient is a patient affected limb, then the starting point of a bone tunnel is the starting point and the ending point of ligament reconstruction operation, and then the target is arranged on ligament attachment points of femur and tibia, but the invention is not limited to the above, and the invention is applicable to any other scene in which bone tunnel planning operation is required in bone tissues, and in other scenes, the target is arranged on the affected part of the patient at the position for establishing the bone tunnel.
In the scene of needing to establish a bone tunnel, particularly in the anterior cruciate ligament reconstruction operation, a target is placed at ligament attachment points of tibia and femur, a tracer and a target ball are arranged on the tibia and femur, and the target is obtained by identification in a three-dimensional image obtained by scanning through perspective equipment, so that tunnel planning can be performed on the three-dimensional image; then the position relation between the target and the target ball is obtained through the target ball obtained through identification in the three-dimensional image, then the tracer is identified through the optical tracking equipment, the position of the target can be directly obtained through the direct identification of the optical tracking equipment by combining the position relation between the tracer and the target ball, and then the planned bone tunnel can be obtained through the direct identification of the optical tracking equipment, and then the movement of the mechanical arm equipment can be directly controlled through the optical tracking equipment and the tracer on the mechanical arm equipment, so that the bone tunnel punching operation is completed. The bone tunnel is fixed and tracked by the optical tracking system, so that not only is the ligament attachment point determined before operation, but also the accuracy of the ligament attachment point is ensured, the accuracy of the position of the bone tunnel in operation is ensured, and the operation effect is ensured.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.

Claims (14)

1. A bone tunnel creation system, comprising:
the tracker is placed on the affected part of the patient and used for representing the position of the affected part;
a marker mounted in a fixed position relative to the tracker;
a target placed on the affected part of the patient at a position for establishing a bone tunnel;
the mechanical arm equipment is provided with a tail end tracker;
an optical tracking device for identifying a tracker of the patient's lesion and an end tracker on the robotic arm device;
the upper computer is used for acquiring a three-dimensional image of the affected part of the patient and the marker, identifying and obtaining the position information of the target and the marker in the three-dimensional image, and planning a bone tunnel according to the position information of the target;
the upper computer obtains the transformation relation between the marker and the tracker according to the position parameters between the marker and the tracker, and combines the tracker of the patient affected part identified by the optical tracking equipment to obtain the transformation relation between the coordinate system corresponding to the optical tracking equipment and the image coordinate system, so as to calculate and obtain the position information of the planned bone tunnel under the coordinate system corresponding to the optical tracking equipment, and accordingly, the mechanical arm equipment is subjected to motion planning and executed in-place bone tunnel establishment.
2. The bone tunnel creation system of claim 1 wherein the marker is a target ball mounted on a bracket having a higher material density than bone tissue.
3. The bone tunnel creation system of claim 2 wherein the number of target balls is at least 3.
4. The bone tunnel building system according to claim 2, wherein the upper computer recognizes and obtains the position information of the target ball in the three-dimensional image, specifically:
(1) Recognizing a bracket of a marker in the three-dimensional image, performing binary morphological opening operation to obtain connected domains in the bracket, and respectively calculating the physical volume and the spatial mass center position corresponding to each connected domain;
(2) Calculating a communication domain of which the physical volume is smaller than the design parameter of the marker and meets the set condition as a target ball group region, and replacing the voxel value of a bracket region in the target ball group region with the voxel value of a material with the density smaller than that of the bracket;
(3) Taking the cross section of the three-dimensional image as a reference plane, taking the horizontal direction as a reference direction, respectively selecting planes which are at different angles with the reference direction, pass through the center of the reference plane and are perpendicular to the reference plane as a projection plane, selecting the other plane which is perpendicular to the reference plane and the projection plane at the same time as another projection plane, further obtaining a plurality of groups of orthogonal projection planes, and calculating to obtain projection images of the target ball group area projected onto the corresponding orthogonal projection planes;
(4) Recognizing and obtaining connected domains with radiuses meeting set conditions in orthogonal projection images of a plurality of groups of target ball group areas as candidate areas, and respectively calculating and obtaining center coordinates of each candidate area, namely, center coordinates of projection areas of each candidate target ball on each group of orthogonal projection images;
(5) According to the step (4) and the normal vector of the corresponding projection image, two corresponding sets of space linear equations are obtained, and the space intersection point of the two sets of space linear equations is calculated to be the space sphere center of the corresponding candidate target sphere, so that the space sphere centers of the candidate target spheres corresponding to a plurality of sets of orthogonal projection planes are obtained;
(6) Judging whether the space sphere centers corresponding to the groups obtained in the step (5) are consistent with the number of target spheres in the designed marker, and if so, taking the space sphere center data corresponding to the step (5) as candidate data; otherwise, selecting space sphere center data which can be extracted from all groups of orthogonal projection surfaces as candidate data;
(7) Judging the number of the space sphere centers of the extracted target spheres according to the candidate data obtained in the step (6)MAnd the number of target balls in the designed target ball groupNWhether or not the two are consistent;
if yes, marking each target ball in the three-dimensional image according to the topological structure among the target balls obtained by the design parameters of the marking piece, and obtaining the position information of each target ball according to the space sphere center of each target ball;
if not, the candidate data are arranged and combined
Figure QLYQS_1
And screening according to the topological structure among the target balls according to the arrangement and combination result, carrying out least square method calculation error between the combination obtained by screening and the actual target ball group, selecting a group with the smallest error as a final target ball combination, and obtaining the position information of each target ball according to the space ball center of each target ball.
5. The bone tunnel creation system of claim 4 wherein the error is specifically:
and (3) carrying out a least square method on the transformation relation between the actual coordinate system corresponding to the combination obtained by screening and the theoretical coordinate system corresponding to the actual marker, calculating the space distance between the paired target ball point pairs after any transformation and the other paired target ball point pairs, and taking the root mean square of each paired target ball point pair as an error.
6. The bone tunnel building system according to claim 4, wherein the marker is located at the edge of the acquired three-dimensional image, and the calculating in the step (2) the connected domain whose physical volume satisfies the set condition compared to the design parameter of the marker is specifically: firstly, selecting a connected domain with a physical volume meeting a set condition compared with a design parameter of a marker as a candidate connected domain, and then selecting a target ball group region with the closest space mass center position in the candidate connected domain to the edge of the three-dimensional image.
7. The bone tunnel building system according to claim 4, wherein the target ball group region obtained in the step (2) is expanded by a set distance in three coordinate axis directions of the image coordinate system to obtain a final target ball group region.
8. The bone tunnel creation system of claim 7 wherein the target sphere group area is defined as the final target sphere group area during expansion if it exists outside of the image space.
9. The bone tunnel creation system according to claim 4, wherein the calculation of the connected domain whose physical volume versus marker design parameter satisfies a set condition as the target ball group region is specifically: calculating according to design parameters of the marker to obtain the volume V occupied by the marker, and calculating to obtain the physical volume of the marker to satisfy [ k ] 1 V，k 2 V]Is used as a target sphere group region.
10. The bone tunnel creation system of claim 9 wherein k 1 =0.8，k 2 =1.2。
11. The bone tunnel creation system of claim 4 wherein the different angles are 0 °, 30 °, 60 °, respectively.
12. The bone tunnel building system according to claim 4, wherein the identifying the connected domain having a radius satisfying the set condition in the orthogonal projection image of the plurality of target ball group regions as the candidate region specifically comprises:
respectively carrying out self-adaptive threshold segmentation processing on the orthogonal projection image of the target sphere group area to obtain each connected domain, and searching each connected domain through a Hough circle finding algorithm to obtain the graph with the radius meeting [ k ] 3 R，k 4 R]As a candidate region; wherein R is the design radius of the target ball.
13. The bone tunnel creation system of claim 12 wherein k 3 =0.8，k 4 =1.2。
14. The bone tunnel creation system of claim 1 wherein the patient's affected area is a patient's affected limb and the targets are placed by the instrument at ligament attachment points of the tibia and femur, respectively, after arthroscopic penetration into the patient's affected limb's cruciate ligament.
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