CN215778615U - Registration system in integrated operation robot operation based on self-defined scale - Google Patents
Registration system in integrated operation robot operation based on self-defined scale Download PDFInfo
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- CN215778615U CN215778615U CN202122207582.9U CN202122207582U CN215778615U CN 215778615 U CN215778615 U CN 215778615U CN 202122207582 U CN202122207582 U CN 202122207582U CN 215778615 U CN215778615 U CN 215778615U
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Abstract
The application discloses an intraoperative registration system of an integrated surgical robot based on a custom scale, which comprises image scanning equipment, surgical instrument guiding equipment, a registration updating module and the custom scale; the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device; the self-defined scale is fixedly connected with the surgical instrument guide equipment; the surgical instrument guide device and the custom scale are both located in a scanning field of the image scanning device; the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the self-defined ruler is used for providing reference coordinates for image registration; the registration updating module is used for registering the coordinate position and updating the operation planning data; the surgical instrument guidance device is for performing a surgical procedure in accordance with the surgical planning data. The medical instrument guiding device can automatically correct operation planning data, adjust the spatial position and the posture of the medical instrument and enable the surgical instrument guiding device to always keep high positioning execution precision.
Description
Technical Field
The application belongs to the technical field of calibration of surgical robots, and particularly relates to an intraoperative registration system of an integrated surgical robot based on a user-defined scale.
Background
The incidence of global orthopedic diseases is gradually improved in recent years, and accurate treatment becomes the future development direction of orthopedic surgery. With the progress of medical imaging and instrument technology, the surgical robot based on the mechanical arm technology is increasingly combined with medical imaging data and participates in the surgical process of an auxiliary doctor, so that the operation of the doctor is greatly facilitated, and meanwhile, the surgical precision is improved. Because the traditional surgical robot auxiliary system and the medical imaging equipment are respectively a set of complete system, a ruler needs to be placed near the diseased part of a patient for intraoperative three-dimensional scanning, and the coordinate registration of the traditional surgical robot auxiliary system and the medical imaging equipment is convenient to realize a planned surgical navigation scheme. The scheme can effectively integrate medical images and the surgical robot, assists doctors to complete orthopedic surgery safely and accurately, such as screw internal fixation, reduces physical consumption of surgery, and achieves high-difficulty surgery safety, complex surgery simplification and routine surgery minimally invasive surgery.
Under the current system solution, the operation of the surgical robot on a patient in the operation needs to be performed under the control of a doctor, once the operation position is displaced, or the actual intervention angle and position of a surgical instrument have errors with the actual situation, the operation accuracy is greatly influenced, and higher requirements are provided for the doctor to operate the surgical robot. In addition, in the conventional surgical navigation system, an infrared tracer is required to be installed on the patient, and in order to ensure the stability of the relative displacement, the infrared tracer is generally fixed on the bone structure (such as vertebra) of the patient in an invasive manner, which causes additional injury to the patient.
How to correct the intervention angle and position of a surgical instrument in real time in the process of performing an operation and ensure the accuracy of the operation is a research focus in the field of medical instruments.
SUMMERY OF THE UTILITY MODEL
The utility model provides a registration system in integration surgical robot art based on self-defined scale need not additionally to install tracer, but through carrying out multi-angle two-dimensional perspective scanning to patient at the operation in-process, combines the three-dimensional medical image before the operation again, formulates the operation compensation scheme of medical instrument among the operation process, revises operation data in real time to promote the execution precision of medical instrument in the art.
In order to achieve the above purpose, the present application provides the following solutions:
the registration system in the integrated operation robot operation based on the self-defined scale comprises image scanning equipment, operation instrument guiding equipment, a registration updating module and the self-defined scale;
the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device;
the self-defined scale is fixedly connected with the surgical instrument guide equipment;
the surgical instrument guide device and the custom scale are both located in a scanning field of view of the image scanning device;
the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the two-dimensional perspective image comprises the image information of the self-defined ruler;
the self-defined scale is used for providing reference coordinates for image registration;
the registration updating module is used for carrying out coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updating preset operation planning data;
the surgical instrument guidance device is configured to perform a surgical operation in accordance with the surgical planning data.
Preferably, the image scanning device is a C-arm scanning device;
the C-shaped arm scanning device comprises a C-shaped supporting arm (12), a detector (11) and a bulb (13);
one end of the C-shaped supporting arm (12) is fixedly connected with the detector (11), and the other end of the C-shaped supporting arm (12) is fixedly connected with the bulb tube (13).
The bulb (13) is used for generating scanning rays;
the detector (11) is used for receiving the scanning ray and generating the two-dimensional perspective image.
Preferably, the surgical instrument guide apparatus comprises a base portion, a rigid connection arm (31) and a surgical instrument (32);
one end of the rigid connecting arm (31) is fixedly connected with the base part, and the other end of the rigid connecting arm (31) is movably connected with the surgical instrument (32);
the base portion is for adjusting an angle of the surgical instrument guide apparatus, and the surgical instrument (32) is for performing the surgical procedure.
Preferably, the custom ruler is fixedly connected with the rigid connecting arm (31).
Preferably, the custom ruler is a tetrahedral structure;
each vertex of the self-defined scale is provided with a marker.
Preferably, the marker is made of rigid metal;
the markers are connected through connecting edges made of non-metal materials, and the lengths of the connecting edges are different.
Preferably, the self-defining ruler is fixedly connected with the rigid connecting arm (31) through a connecting non-metal connecting bracket (22).
Preferably, the registration updating module comprises a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit and a surgery planning unit which are connected in sequence;
the two-dimensional perspective drawing unit is also connected with the registration calculation unit;
the two-dimensional perspective drawing unit is also connected with the image scanning device;
the surgical planning module is further connected with the surgical instrument (32) guidance device;
the two-dimensional perspective unit is used for receiving the two-dimensional perspective image acquired by the image scanning device;
the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
the registration calculation unit is used for carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, and when the result of the similarity comparison processing meets the standard, the registration is successful;
the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm (31) to the image scanning equipment according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after the registration is successful;
and the operation planning unit is used for updating the preset operation planning data according to the conversion matrix.
The beneficial effect of this application does:
the application discloses registration system in integration surgical robot art based on self-defined scale makes C type arm scanning equipment and surgical instruments guide equipment integrated design, under the coordinate location cooperation of self-defined scale, uses two-dimensional perspective image and the two-dimensional projection image after the simulation projection to register, revises operation planning data to adjust medical instrument's spatial position and gesture, make surgical instruments guide equipment can keep higher location execution accuracy all the time. According to the technical scheme, an infrared tracer is not required to be additionally arranged on a patient, no additional injury is caused, error correction in the operation execution process is realized in a non-invasive mode, the operation precision is improved, infrared camera equipment is omitted, the space occupation of the operation equipment is further saved, and a good environment is provided for a doctor to perform an operation; the technical scheme of the application can not only correct the error of a single surgical planning point, but also correct the error of the whole system, thereby achieving the effects of once correction and multiple use, and saving the step of correcting the position of the surgical robot in the operation.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is an intraoperative registration system of an integrated surgical robot based on a custom ruler according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a C-arm scanning apparatus used in an embodiment of the present application;
FIG. 3 is a schematic structural view of a surgical instrument guide apparatus according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a custom scale structure of a tetrahedral structure in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a registration update module in the embodiment of the present application.
11. A detector; 12. a C-shaped support arm; 13. a bulb tube; 21. a tetrahedral scale; 22. a non-metallic connecting bracket; 31. a rigid connecting arm; 32. a surgical instrument.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Human bones and surgical instruments (such as Kirschner wires, bone nails and the like) belong to rigid structures, and the CT tomographic image scanning result in different states does not deform. In consideration of factors such as displacement of an operation site in an operation, operation errors and the like, the operation plan needs to be updated and compensated in the operation.
As shown in fig. 1, the registration system in an integrated surgical robot based on a custom scale in the embodiment of the present application includes an image scanning device, a surgical instrument guiding device, a registration updating module, and a custom scale;
specifically, the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device; the self-defined scale is fixedly connected with the surgical instrument guide equipment; the surgical instrument guide device and the custom scale are both located in a scanning field of the image scanning device;
in this embodiment, the image scanning device is configured to obtain a two-dimensional fluoroscopic image of a patient, where the two-dimensional fluoroscopic image includes image information of a custom scale; the self-defining scale is used for providing reference coordinates for image registration; the registration updating module performs coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updates preset operation planning data; the surgical instrument guidance device is for performing a surgical procedure in accordance with the surgical planning data.
In the present embodiment, a C-arm scanning apparatus is used as an image scanning apparatus to perform CT tomography scanning on the bones and metal surgical instruments (such as kirschner wires and bone nails) of a patient, which are rigid structures and do not deform during CT tomography scanning.
As shown in fig. 2, the schematic structural diagram of the C-arm scanning apparatus used in this embodiment includes a C-arm 12, a detector 11, and a ball tube, wherein the detector 11 is located at the upper end of the C-arm 12, and the ball tube is located at the lower end of the C-arm 12; the C-shaped supporting arm 12 is used for fixing the positions of the detector 11 and the bulb; the bulb tube is used for generating scanning rays; the detector 11 is used for receiving the scanning ray and generating a two-dimensional perspective image.
In this embodiment, as shown in fig. 3, the surgical instrument guide apparatus comprises a base portion, a rigid connection arm 31 and a surgical instrument 32; the rigid connecting arm 31 is fixedly connected with the base part and movably connected with the surgical instrument 32. The base portion is used to adjust the angle of the surgical instrument guide apparatus and the surgical instrument 32 is used to perform a surgical procedure.
In this embodiment, a custom scale is fixedly mounted on the rigid connecting arm 31 for providing reference coordinates for image registration. Specifically, as shown in fig. 4, in this embodiment, the custom scale is a tetrahedron structure, and is marked as a tetrahedron scale 21, and each of four vertexes A, B, C, D thereof is provided with a marker made of a rigid metal material, in this embodiment, a metal ball is used as the marker, and a connecting edge between the four vertexes is used as an edge of a tetrahedron, and a non-metal material is used, further, a non-metal connecting support is additionally installed on one surface of the tetrahedron scale 21, so that the tetrahedron scale 21 is fixedly connected with the rigid connecting arm 31, and plays a role in stable installation without affecting rigid structure information in an image, and thus when the tetrahedron scale 21 is scanned in a CT tomographic image, positions of A, B, C, D four metal ball vertexes are not affected by deformation, and thus a reference coordinate point can be provided. In addition, in order to ensure the validity of the reference coordinate point provided by the tetrahedral scale 21, four surfaces of the scale are not regular triangles, that is, six edges of the scale are not equal in length, so that when the CT tomography image is scanned, four vertexes do not generate an equilibrium coordinate point, but the position of the surgical instrument 32 is verified from multiple angles through asymmetric coordinate point positions.
In this embodiment, as shown in fig. 5, the registration updating module includes a two-dimensional perspective view unit, an analog projection unit, a registration calculation unit, a transformation matrix unit, and a surgery planning unit, which are connected in sequence, and further, the two-dimensional perspective view unit is also connected to the registration calculation unit and the image scanning device; the surgical planning module is also connected with a surgical instrument guidance device.
In the embodiment, the two-dimensional perspective unit is used for receiving a two-dimensional perspective image acquired by the image scanning device; the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image; the registration calculation unit is used for comparing the similarity of the two-dimensional perspective image and the two-dimensional projection image, and when the structure subjected to similarity comparison reaches a standard, for example, the similarity reaches 95%, the registration can be considered to be successful; the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm 31 to the image scanning equipment according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after the registration is successful; and the operation planning unit is used for updating preset operation planning data according to the conversion matrix, and the operation planning data is used for controlling operation.
By adopting the registration system in the integrated operation robot operation based on the self-defined scale, the two-dimensional perspective with the scale information is generated by scanning in the operation process, and the registration is carried out on the two-dimensional perspective with the three-dimensional image planned before the operation, so that the operation planning data is updated, and the operation precision is improved.
The integral intraoperative registration compensation method of the registration system based on the custom scale based on the integrated surgical robot comprises the following steps:
s1, when the surgical instrument guiding device is in place, two-dimensional perspective images of a patient at multiple angles are obtained through the C-shaped arm scanning device, and the tetrahedral ruler 21 is also in the scanning range of the C-shaped arm scanning device, so that the two-dimensional perspective images contain vertex image information of the tetrahedral ruler 21.
S2, the simulation projection unit marks rigid structures such as bones, scale steel balls and the like on the two-dimensional perspective image, and then the information (such as a projection angle alpha) which can be attached from the two-dimensional perspective image is used1，α2，……αnSystem magnification, distance from the source to the detector 11, SOD, etc.), a simulated projection is performed on the preoperative planned three-dimensional image to generate a two-dimensional projection image.
And S3, registering the two-dimensional perspective image and the two-dimensional projection graph by a registration calculation unit, namely extracting key structures (such as bones and the like), and evaluating the similarity of the two images, wherein if the similarity meets the requirement, for example, the similarity reaches 95%, the registration is considered to be successful. And if the similarity of the registration result does not reach the standard, finely adjusting the simulation projection angle, reacquiring the two-dimensional perspective image, re-registering, and acquiring the accurate imaging angle, position and other information of the perspective two-dimensional image.
S4, after the two-dimensional perspective images are registered to the three-dimensional image, the matrix conversion unit can calculate the actual coordinates of each vertex steel ball of the tetrahedral scale 21 in the three-dimensional image coordinate system, and a new conversion relation matrix from the surgical instrument (namely the scale) to the C-shaped arm can be obtained by combining the coordinates of each steel ball in the surgical instrument coordinate system
Wherein, R is an Euler angle rotation matrix obtained by respectively rotating around each coordinate axis, and t is a translation parameter from the starting coordinate system to the target coordinate system. The transformation relation matrix is prior art and will not be described herein.
S5, according to key point positions marked on the preoperative planning three-dimensional image, including an interest point PInterestNail feeding point PEntryAnd a determined nailing direction VEntryWherein the nailing direction VEntryFrom the point of interest PInterestNail feeding point PEntryThe link decision of (2) is shown in equation (1):
VEntry＝PInterest-PEntry (1)
the surgical planning unit utilizes the new transformation relation matrix TBaseRecalculating the point of interest PInterestNail feeding point PEntryPosition P in the coordinate system of the device guided by the surgical instrument 23Interest machine、PEntry machineComparison of PInterest machine、PEntry machineIf there is a difference from the actual position, then according to the latest PInterest machine、PEntry machineTo update and execute the surgical planning data and to convert the relationship matrix TBaseAnd storing the operation data to be used as the basis for executing other planning points of the operation.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. The registration system in the integrated operation robot operation based on the self-defined scale is characterized by comprising image scanning equipment, operation instrument guiding equipment, a registration updating module and the self-defined scale;
the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device;
the self-defined scale is fixedly connected with the surgical instrument guide equipment;
the surgical instrument guide device and the custom scale are both located in a scanning field of view of the image scanning device;
the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the two-dimensional perspective image comprises the image information of the self-defined ruler;
the self-defined scale is used for providing reference coordinates for image registration;
the registration updating module is used for carrying out coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updating preset operation planning data;
the surgical instrument guidance device is configured to perform a surgical operation in accordance with the surgical planning data.
2. The integrated custom scale-based surgical robotic intra-operative registration system of claim 1, wherein the image scanning device is a C-arm scanning device;
the C-shaped arm scanning device comprises a C-shaped supporting arm (12), a detector (11) and a bulb (13);
one end of the C-shaped supporting arm (12) is fixedly connected with the detector (11), and the other end of the C-shaped supporting arm (12) is fixedly connected with the bulb tube (13).
The bulb (13) is used for generating scanning rays;
the detector (11) is used for receiving the scanning ray and generating the two-dimensional perspective image.
3. The integrated custom scale-based surgical robotic intra-operative registration system of claim 1, wherein the surgical instrument guide apparatus comprises a base portion, a rigid connection arm (31), and a surgical instrument (32);
one end of the rigid connecting arm (31) is fixedly connected with the base part, and the other end of the rigid connecting arm (31) is movably connected with the surgical instrument (32);
the base portion is for adjusting an angle of the surgical instrument guide apparatus, and the surgical instrument (32) is for performing the surgical procedure.
4. The integrated custom ruler-based surgical robotic intra-operative registration system of claim 3, wherein the custom ruler is fixedly connected with the rigid connection arm (31).
5. The integrated custom scale-based surgical robotic intra-operative registration system of claim 4, wherein the custom scale is a tetrahedral structure;
each vertex of the self-defined scale is provided with a marker.
6. The integrated custom ruler-based surgical robotic intra-operative registration system of claim 5, wherein said marker is a rigid metal material;
the markers are connected through connecting edges made of non-metal materials, and the lengths of the connecting edges are different.
7. The integrated surgical robotic intra-operative registration system based on a custom scale according to claim 6, wherein the custom scale is fixedly connected with the rigid connection arm (31) by connecting non-metallic connection brackets (22).
8. The integrated surgical robotic intra-operative registration system based on a custom scale according to claim 7, wherein the registration update module comprises a two-dimensional perspective view unit, an analog projection unit, a registration calculation unit, a transformation matrix unit and a surgical planning unit which are connected in sequence;
the two-dimensional perspective drawing unit is also connected with the registration calculation unit;
the two-dimensional perspective drawing unit is also connected with the image scanning device;
the surgical planning module is further connected with the surgical instrument (32) guidance device;
the two-dimensional perspective unit is used for receiving the two-dimensional perspective image acquired by the image scanning device;
the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
the registration calculation unit is used for carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, and when the result of the similarity comparison processing meets the standard, the registration is successful;
the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm (31) to the image scanning equipment according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after the registration is successful;
and the operation planning unit is used for updating the preset operation planning data according to the conversion matrix.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115281829A (en) * | 2022-08-16 | 2022-11-04 | 上海阅行医疗科技有限公司 | Operation planning method, system, device and medium based on two-dimensional image |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115281829A (en) * | 2022-08-16 | 2022-11-04 | 上海阅行医疗科技有限公司 | Operation planning method, system, device and medium based on two-dimensional image |
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