WO2022068341A1 - 可读存储介质、骨建模配准***及骨科手术*** - Google Patents
可读存储介质、骨建模配准***及骨科手术*** Download PDFInfo
- Publication number
- WO2022068341A1 WO2022068341A1 PCT/CN2021/108603 CN2021108603W WO2022068341A1 WO 2022068341 A1 WO2022068341 A1 WO 2022068341A1 CN 2021108603 W CN2021108603 W CN 2021108603W WO 2022068341 A1 WO2022068341 A1 WO 2022068341A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bone
- scanning device
- bone model
- cartilage
- virtual
- Prior art date
Links
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 155
- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 17
- 238000001356 surgical procedure Methods 0.000 claims abstract description 23
- 210000000845 cartilage Anatomy 0.000 claims description 100
- 238000004422 calculation algorithm Methods 0.000 claims description 37
- 230000009466 transformation Effects 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000002591 computed tomography Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- 238000002595 magnetic resonance imaging Methods 0.000 claims description 7
- 238000012549 training Methods 0.000 claims description 6
- 210000002569 neuron Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 28
- 230000008569 process Effects 0.000 abstract description 14
- 238000011109 contamination Methods 0.000 abstract description 4
- 208000000860 Compassion Fatigue Diseases 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract 2
- 238000005406 washing Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 20
- 238000012829 orthopaedic surgery Methods 0.000 description 20
- 238000009434 installation Methods 0.000 description 11
- 210000000629 knee joint Anatomy 0.000 description 10
- 238000003801 milling Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 6
- 210000002303 tibia Anatomy 0.000 description 5
- 210000004872 soft tissue Anatomy 0.000 description 4
- 102100031974 CMP-N-acetylneuraminate-beta-galactosamide-alpha-2,3-sialyltransferase 4 Human genes 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000012274 Preoperative evaluation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000013150 knee replacement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 241000567769 Isurus oxyrinchus Species 0.000 description 1
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229940074731 ophthalmologic surgical aids Drugs 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
-
- 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
- A61B34/10—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
- A61B34/30—Surgical robots
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- 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
- A61B2034/2051—Electromagnetic 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
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- 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
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided 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
- A61B34/25—User interfaces for surgical systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10088—Magnetic resonance imaging [MRI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20084—Artificial neural networks [ANN]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/56—Particle system, point based geometry or rendering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2004—Aligning objects, relative positioning of parts
Definitions
- the invention relates to the field of robot-assisted surgery systems, in particular to a readable storage medium, a bone modeling registration system and an orthopedic surgery system.
- the purpose of the present invention is to provide a readable storage medium, a bone modeling and registration system, and an orthopedic surgery system, so as to solve the problems existing in the existing bone registration and registration.
- a readable storage medium is provided, and a program is stored on the readable storage medium, and the program is executed to realize:
- the bone surface image information comes from a stereo vision scanning device
- the coordinates of the predetermined object in the navigation image coordinate system are obtained.
- the bone surface image information includes at least two image data from different viewing angles.
- the step of performing three-dimensional reconstruction according to the bone surface image information of the at least two different viewing angles to obtain the first virtual bone model includes:
- Three-dimensional reconstruction is performed based on the bone contour point cloud data to obtain the first virtual bone model.
- the step of obtaining the coordinates of the predetermined object in the navigation image coordinate system includes:
- coordinate transformation is performed on the first virtual bone model to obtain the predetermined object in the navigation image coordinate system coordinate of.
- the preset second virtual bone model is established according to the MRI scan of the bone surface of the predetermined object.
- the preset second virtual bone model is established according to the CT scan of the bone surface of the predetermined object, and the first virtual bone model is registered with the preset second virtual bone model of the predetermined object. Steps include:
- the first virtual bone model is corrected based on the cartilage compensation data, and the corrected first virtual bone model is used for registration with the second virtual bone model.
- the cartilage compensation algorithm includes: using the Canny operator to obtain the edge of the cartilage removal area of the predetermined object, calculating the gradient change of the edge, and calculating the edge according to the selected object.
- the gradient change fits the depth change of the non-cleared area adjacent to the cartilage clearing area, and iteratively covers the entire cartilage area to obtain the cartilage compensation data.
- the cartilage compensation algorithm includes: using a Canny operator to obtain edges of multiple cartilage removal areas of the predetermined object, and calculating gradients of multiple edges.
- the removal depth is obtained by expanding and fitting from each cartilage removal area to the surrounding area; the removal range is gradually expanded until the entire cartilage area is covered, and the cartilage compensation data is obtained.
- the removal depth at the junction is obtained by fitting according to the gradient change of the center point of the cartilage removal area closest to the junction.
- the cartilage compensation algorithm includes: calculating the first virtual bone model by using a neuron network trained on a training set to obtain the cartilage compensation algorithm. data.
- the step of registering the first virtual bone model with the preset second virtual bone model includes:
- the icp algorithm is used to iterate until the preset convergence conditions are met, and the registration matrix is fitted.
- the program on the readable storage medium when executed, it is also implemented to acquire real-time bone surface image information of a predetermined object, and the real-time bone surface image information comes from a stereo vision scanning device with a fixed posture;
- 3D reconstruction is performed according to the real-time bone surface image information to obtain a real-time first virtual bone model
- Real-time registration is performed between the first virtual bone model and the preset second virtual bone model of the predetermined object; the real-time coordinates of the predetermined object in the navigation image coordinate system are obtained.
- a bone modeling registration system which includes: a processor and a stereo vision scanning device; the stereo vision scanning device is used to obtain the bone surface image information, and feeding back the bone surface image information to the processor;
- the processor is connected in communication with the stereo vision scanning device; the processor is configured to obtain the pose information of the stereo vision scanning device, and obtain the bone surface of the predetermined object obtained by the stereo vision scanning device image information; three-dimensional reconstruction is performed according to the bone surface image information to obtain a first virtual bone model; the first virtual bone model is registered with a preset second virtual bone model, based on the stereo vision scanning device
- the pose information is used to obtain the coordinates of the predetermined object in the navigation image coordinate system.
- the pose of the stereo vision scanning device is fixed, and the pose information of the stereo vision scanning device is obtained through calibration.
- the bone modeling registration system further includes: a navigation device and a target, the target is connected to the stereo vision scanning device, and the navigation device is adapted to the target for acquiring the target the real-time coordinate information of the target, and transmit the real-time coordinate information to the processor; the processor is connected in communication with the navigation device, and obtains the stereoscopic image based on the real-time coordinate information of the target fed back by the navigation device Pose information of the vision scanning device.
- an orthopedic surgery system which includes the above-mentioned bone modeling and registration system, and also includes a robotic arm, an operating trolley and a navigation trolley. at least one of.
- the readable storage medium stores a program, and when the program is executed, it realizes: obtaining the data of the predetermined object.
- bone surface image information comes from a stereo vision scanning device; three-dimensional reconstruction is performed according to the bone surface image information to obtain a first virtual bone model; the first virtual bone model is combined with the predetermined object
- the preset second virtual bone model is registered; based on the pose information of the stereo vision scanning device, the coordinates of the predetermined object in the navigation image coordinate system are obtained.
- the image information of the bone surface is obtained by the stereo vision scanning device, and the first virtual bone model is obtained by reconstruction.
- the coordinates of the predetermined object in the navigation image coordinate system can be obtained. That is, the registration of the preoperative image model and the actual intraoperative bone model is realized. There is no need to place the target on the bone, the patient will not be injured twice, the contact between the instrument and the human body is reduced, the probability of contamination is reduced, and the cleaning of the instrument is convenient.
- the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.
- the scanning accuracy of the stereo vision scanning device is higher than that of the traditional point-and-click method, which can better reflect the bone surface structure and improve the registration accuracy.
- FIG. 1 is a schematic diagram of the operation scene of the orthopaedic surgery system involved in the present invention
- Fig. 2 is the flow chart of the orthopaedic surgery process involved in the present invention
- FIG. 3 is a schematic diagram of a bone modeling registration system according to Embodiment 1 of the present invention.
- Fig. 4 is the schematic diagram of the cartilage removal area of embodiment one of the present invention.
- FIG. 5 is a schematic diagram of scanning after cartilage removal according to Embodiment 1 of the present invention.
- Embodiment 6 is a schematic diagram of coordinate conversion in Embodiment 1 of the present invention.
- Fig. 7 is the schematic diagram of the cartilage removal area of the second embodiment of the present invention.
- FIG. 8 is a schematic diagram of scanning after cartilage removal according to Embodiment 2 of the present invention.
- Fig. 9 is the schematic diagram of the cartilage removal area of the third embodiment of the present invention.
- FIG. 10 is a schematic diagram of scanning after cartilage removal according to Embodiment 3 of the present invention.
- FIG. 11 is a schematic diagram of a bone modeling registration system according to Embodiment 4 of the present invention.
- 1-surgical trolley 2-robot arm; 3-tool target; 4-osteotomy guide tool; 5-surgical tool; 6-tracker; 7-auxiliary monitor; 8-main monitor; 9-navigation trolley; 10 -Keyboard; 12-Femur; 14-Tibia; 17-Patient; 18-Operator;
- T1-navigation device coordinate system T2-target coordinate system; T3-stereo vision scanning device coordinate system; T4-navigation image coordinate system;
- features defined as “first”, “second”, “third” may expressly or implicitly include one or at least two of these features
- the term “proximal” is generally the end close to the operator
- the term “proximal” “Distal” usually refers to the end close to the object to be operated
- “one end” and “the other end” and “proximal end” and “distal end” usually refer to the corresponding two parts, which not only include the end point
- the terms “installation”, “Connected” and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated body; it can be a mechanical connection or an electrical connection; it can be directly connected or through the middle.
- the medium is indirectly connected, which can be the internal communication between two elements or the interaction relationship between the two elements.
- the arrangement of one element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements may be direct or indirect through intermediate elements connection, coupling, cooperation or transmission, and should not be construed as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any position inside, outside, above, below or on one side of the other element, unless the content Also clearly stated.
- the specific meanings of the above terms in the present invention can be understood according to specific situations.
- the core idea of the present invention is to provide a readable storage medium, a bone modeling and registration system, and an orthopedic surgery system, so as to solve the problems existing in the existing bone registration and registration.
- FIG. 1 is a schematic diagram of an orthopedic surgery system involved in the present invention
- FIG. 2 is a flowchart of an orthopedic surgery process of the orthopaedic surgery system involved in the present invention.
- FIG. 1 shows an application scenario of using the orthopaedic surgery system for knee replacement in an exemplary embodiment.
- the orthopaedic surgery system of the present invention has no particular limitation on the application environment, and can also be applied to other orthopaedic surgery systems. Operation.
- the orthopaedic surgical system is described by taking knee joint replacement as an example, but this should not be taken as a limitation of the present invention.
- the orthopedic surgery system includes a control device, a bone modeling and registration system, a robotic arm 2 and an osteotomy guide tool 4 .
- the robotic arm 2 is arranged on the operating trolley 1, and the control device is a computer in some embodiments, but the present invention is not limited to this, the computer is configured with a processor, a main display 8 and a keyboard 10, more preferably also A secondary display 7 is included. The contents displayed on the auxiliary display 7 and the main display 8 may be the same or different.
- the osteotomy guide tool 4 is installed at the end of the mechanical arm 2 , so that the osteotomy guide tool 4 is supported by the mechanical arm 2 and the spatial position and posture of the osteotomy guide tool 4 are adjusted.
- the orthopaedic surgical system further includes a navigation device, which may be an electromagnetic positioning navigation device, an optical positioning navigation device, or an inertial navigation device.
- the navigation device is an optical positioning and navigation device. Compared with other navigation methods, the measurement accuracy is high, and the positioning accuracy of the osteotomy guide tool 4 can be effectively improved.
- an optical positioning and navigation device is used as an example for description, but it is not limited thereto.
- the computer program stored in the memory is executed by the processor, according to the current pose and desired pose of the tool target 3, the robotic arm 2 is controlled to move, and the robotic arm 2 drives the osteotomy guide tool 4 and the tool target 3 to move, and makes the tool move.
- the target 3 reaches the desired pose, and the desired pose of the tool target 3 corresponds to the desired pose of the osteotomy guide tool 4 .
- the automatic positioning of the osteotomy guide tool 4 can be realized, and the real-time posture (including the position and posture) of the osteotomy guide tool 4 can be tracked and fed back by the tool target 3 during the operation, and controlled
- the movement of the mechanical arm realizes the adjustment of the position and posture of the osteotomy guide tool 4, not only the positioning accuracy of the osteotomy guide tool 4 is high, but also the osteotomy guide tool 4 is supported by the mechanical arm 2 without fixing the guide tool on the human body , which can avoid secondary damage to the human body.
- the orthopedic surgery system further includes an operating trolley 1 and a navigation trolley 9 .
- the control device and a part of the navigation device are installed on the navigation trolley 9, for example, the processor is installed inside the navigation trolley 9, the keyboard 10 is placed outside the navigation trolley 9 for operation, and the main
- the display 8 , the auxiliary display 7 and the tracker 6 are all mounted on a bracket, the bracket is vertically fixed on the navigation trolley 9 , and the robotic arm 2 is mounted on the operating trolley 1 .
- the use of the operating trolley 1 and the navigation trolley 9 makes the entire surgical operation more convenient.
- the use process of the orthopaedic surgery system of this embodiment generally includes the following operations:
- Step SK1 Move the operating trolley 1 and the navigation trolley 9 to a suitable position beside the hospital bed;
- Step SK2 Install navigation markers, osteotomy guide tools 4 and other related components (such as sterile bags);
- Step SK3 preoperative planning; specifically, the operator 18 imports the bone CT/MRI scan image data of the patient 17 into the computer for preoperative planning, and obtains an osteotomy plan, for example, the osteotomy plan includes information such as the model of the body and the installation orientation of the prosthesis; specifically, the computer creates a three-dimensional knee joint virtual model according to the image data of the patient's knee joint obtained by CT/MRI scan, and then creates an osteotomy plan according to the three-dimensional knee joint virtual model, In order for the operator to perform preoperative evaluation according to the osteotomy plan, more specifically, the osteotomy plan is determined based on the three-dimensional virtual model of the knee joint and in combination with the obtained size specifications of the prosthesis and the installation position of the osteotomy plate.
- the plan is finally output in the form of a surgical report, which records a series of reference data such as the coordinates of the osteotomy plane, the amount of osteotomy, the angle of osteotomy, the prosthesis specification, the installation position of the prosthesis, and surgical aids, especially a series of theoretical explanations. , such as the reason for selecting the osteotomy angle, etc., to provide reference for the surgical operator; wherein, the three-dimensional knee joint virtual model can be displayed through the main display 8, and the operator can input the surgical parameters through the keyboard 10 for preoperative planning. ;
- Step SK4 Bone real-time registration; after the preoperative evaluation, the position of the bone feature points needs to be acquired in real time, and then the processor can obtain the actual orientation of the femur 12 and the tibia 14 through the feature matching algorithm, and match the image orientation of the femur 12 and the tibia 14. correspond.
- the actual orientation of the femur 12 and the tibia 14 is registered with the three-dimensional knee joint virtual model created in step SK3 according to the image data of the patient's knee joint obtained by the preoperative CT/MRI scan through the bone modeling registration system, so that the femur 12 and the tibia 14 are registered.
- the actual orientation of the robot arm is unified with the coordinates of the robot arm under the navigation device, and the robot arm 2 can perform surgery according to the planned bone position in the navigation device;
- Step SK5 Drive the robotic arm to move in place, and perform the operation; and then send the coordinates of the preoperatively planned osteotomy plane to the robotic arm 2 through the navigation device, and the robotic arm 2 locates the osteotomy plane through the tool target 3 and moves to a predetermined position. , so that the robotic arm 2 enters the holding state (ie does not move), after which the operator can use the surgical tool 5 such as an oscillating saw or an electric drill to perform an osteotomy and/or drilling operation through the osteotomy guide tool 4 . After the osteotomy and drilling operations are completed, the operator can install the prosthesis and perform other surgical operations.
- the surgical tool 5 such as an oscillating saw or an electric drill to perform an osteotomy and/or drilling operation through the osteotomy guide tool 4 .
- the present invention provides a bone modeling registration system, which includes: a processor and a stereo vision scanning device 100; the processor here can be set on the operating trolley 1
- the shared processor in the computer on the computer can also be an independently set processor;
- the stereo vision scanning device 100 is used to acquire the bone surface image information of a predetermined object, that is, the three-dimensional data of the bone surface, and convert the bone surface image The information is fed back to the processor;
- the processor is connected in communication with the stereo vision scanning device 100 ; the processor is configured to obtain the pose information of the stereo vision scanning device 100 and obtain the stereo vision the bone surface image information of the predetermined object obtained by the scanning device 100; three-dimensional reconstruction is performed according to the bone surface image information to obtain a first virtual bone model; the first virtual bone model and the prese
- the orthopedic surgery system of the present invention includes the above-mentioned bone modeling and registration system, and preferably further includes at least one of a robotic arm 2 , an operating trolley 1 and a navigation trolley 9 .
- the bone location can be registered preoperatively or intraoperatively using the bone modeling registration system.
- the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.
- the scanning accuracy of the stereo vision scanning device is higher than that of the traditional point-and-click method, which can better reflect the bone surface structure and improve the registration accuracy.
- FIG. 3 is a schematic diagram of a bone modeling registration system according to Embodiment 1 of the present invention
- FIG. 4 is a schematic diagram of a cartilage removal area according to Embodiment 1 of the present invention
- FIG. 5 is an embodiment of the present invention 1 is a schematic diagram of scanning after cartilage removal
- FIG. 6 is a schematic diagram of coordinate conversion in Embodiment 1 of the present invention.
- FIG. 3 shows the bone modeling and registration system provided in the first embodiment, which includes a processor (not shown) and a stereo vision scanning device 100.
- the bone modeling and registration system further includes: a navigation device 200 and the target 300, the navigation device 200 can use the tracker 6 in the aforementioned orthopedic surgery system, or can be set independently.
- the following description takes the tracker 6 as an example of the navigation device 200 .
- the target 300 is an optical target adapted to the tracker 6 .
- the target 300 is connected to the stereo vision scanning device 100, and the navigation device 200 is adapted to the target 300 to obtain the real-time coordinate information of the target 300 and transmit the real-time coordinate information to the target.
- the processor is connected in communication with the navigation device 200 , and obtains the pose information of the stereo vision scanning device 100 based on the real-time coordinate information of the target 300 fed back by the navigation device 200 .
- the stereo vision scanning device 100 uses the principle of binocular stereo vision to scan a predetermined object (such as a knee joint) to obtain large-scale and high-precision three-dimensional depth information, that is, three-dimensional data information of the knee joint surface.
- the principle of binocular stereo vision is the basis for establishing the 3D imaging effect. Based on the principle of parallax, the imaging device is used to obtain two images of the measured object from different positions, and the 3D geometric information of the object is obtained by calculating the positional deviation between the corresponding points of the images. Methods.
- the stereo vision scanning device 100 can be selected from mature binocular or trinocular scanners currently on the market.
- the processor can perform three-dimensional reconstruction according to the bone surface image information to obtain a first virtual bone model, and perform three-dimensional reconstruction on the image information above.
- the steps of the 3D scanning can also be performed directly by the stereo scanning device, and the 3D reconstructed information is sent to the processor.
- the bone surface image information includes at least two image data from different viewing angles.
- the processor may acquire a pre-placed second virtual bone model, and the preset second virtual bone model may be established based on preoperative CT scanning of the bone surface of the predetermined object, or MRI scanning of the bone surface of the predetermined object. Surface build.
- the stereo vision scanning device 100 is fixedly connected to the target 300, and the two have a known relative positional relationship. Therefore, the navigation device 200 can know the pose information of the stereo vision scanning device 100 by passing the target 300.
- the navigation device 200 Further, the pose information of the stereo vision scanning device 100 is transmitted to the processor, and the processor registers the first virtual bone model with the preset second virtual bone model, based on the pose of the stereo vision scanning device 100 information, the coordinates of the predetermined object in the navigation image coordinate system can be obtained. This achieves the registration of the actual bone position with the navigation image.
- the relative positional relationship between the stereo vision scanning device 100 and the target 300 may be fixed, such as obtained through mechanical design files or through calibration.
- the first embodiment also provides a readable storage medium, for example, a computer-readable storage medium, on which a program, such as a computer program, is stored, and when the program is executed, it realizes:
- Step SA1 Acquire bone surface image information of a predetermined object; the bone surface image information comes from a stereo vision scanning device 100;
- Step SA2 performing three-dimensional reconstruction according to the bone surface image information to obtain a first virtual bone model
- Step SA3 register the first virtual bone model with the preset second virtual bone model
- Step SA4 Based on the pose information of the stereo vision scanning device 100, the coordinates of the predetermined object in the navigation image coordinate system are obtained.
- step SA2 specifically includes:
- Step SA21 Perform segmentation processing on the bone surface image information to obtain bone contour point cloud data
- Step SA22 Perform three-dimensional reconstruction based on the bone contour point cloud data to obtain the first virtual bone model, that is, the reconstructed virtual model of the femur.
- step SAT3 specifically includes: performing rough registration on the first virtual bone model and the second virtual bone model; using the Ransac consensus algorithm to remove possible error points; using the icp algorithm to iterate until the preset Convergence condition, fitting out the registration matrix.
- the point cloud registration is to convert the point cloud coordinates in two different coordinate systems to the opposite coordinate system.
- the algorithm provided by step SAT3 is an improved version of the traditional icp (Iteractive Closest Point) algorithm.
- the steps of the traditional icp algorithm can be summarized as follows:
- step SAT3 the first virtual bone model established based on the scanned bone surface image information and the preset second virtual bone model are coarsely registered to make the two models as close as possible, and then use Ransac to match. Then the icp algorithm is run to iterate until the convergence conditions are met to fit the final registration matrix.
- each coordinate system is unified in step SA4.
- the coordinate system of the navigation device 200 is the navigation device coordinate system T1
- the coordinate system of the target is the target coordinate system T2
- the coordinate system of the stereo vision scanning device 100 is the stereo vision scanning device coordinate system T3.
- the coordinate system of the second virtual bone model is the navigation image coordinate system T4;
- Step SA4 includes: based on the predetermined connection relationship between the stereo vision scanning device 100 and a target 300, obtaining a first coordinate conversion relationship between the coordinate system T3 of the stereo vision scanning device and the target coordinate system T2; The positioning of the target 300 obtains the second coordinate conversion relationship between the target coordinate system T2 and the navigation device coordinate system T1; based on the registration of the first virtual bone model and the second virtual bone model in step SA3, a stereo vision scan is obtained the third coordinate transformation relationship between the device coordinate system T3 and the navigation image coordinate system T4; based on the first coordinate transformation relationship, the second coordinate transformation relationship and the third coordinate transformation relationship, the first virtual The bone model performs coordinate transformation to obtain the coordinates of the predetermined object in the navigation image coordinate system T4.
- the relative position between the stereoscopic vision scanning device 100 and the target 300 can be predicted, so the coordinate system T3 of the stereoscopic vision scanning device and the target
- the first coordinate transformation relationship between the coordinate systems T2 is known, for example, obtained through a mechanical design file or through calibration. Since the navigation device 200 and the target 300 are compatible with each other, the navigation device 200 can know the position information of the target 300 in real time. Therefore, the conversion relationship between the target coordinate system T2 and the navigation device coordinate system T1 can be adjusted by the navigation device 200 . Tracking of target 300 is learned. Based on the registration of the first virtual bone model and the second virtual bone model in step SA3, the transformation relationship between the navigation device coordinate system T1 and the navigation image coordinate system T4 can be obtained.
- the specific process is as follows:
- the first virtual bone model established based on the bone surface image information obtained by the stereo vision scanning device 100 is converted from the coordinate system T3 of the stereo vision scanning device according to the transformation matrix of the first coordinate transformation relationship Transfer to the target coordinate system T2, and use the navigation device 200 to track the target 300 to obtain the transformation matrix of the second coordinate transformation relationship Convert the bone surface image information from the target coordinate system T2 to the navigation device coordinate system T1, and then obtain the navigation device coordinate system T1 and the navigation image coordinate system according to the registration of the first virtual bone model and the second virtual bone model in step SA3. Conversion relationship between T4.
- the coordinates of the first virtual bone model established according to the bone surface image information obtained by the stereo vision scanning device 100 in the navigation image coordinate system T4 can be obtained. That is, the registration of the bone position is achieved.
- the stereo vision scanning device 100 when the stereo vision scanning device 100 is held by the operator, its position can move relative to the patient, and the generated registration matrix cannot complete the navigation in the unstable coordinate system, so the coordinates of the navigation device are
- the system T1 is set as the world coordinate system, and the first virtual bone model is converted to the coordinate system T1 of the navigation device.
- the navigation device 200 remains fixed after the scanning is completed. As long as the patient remains fixed, the navigation device 200 also remains stationary relative to the patient.
- the fixed navigation device 200 can allow the stereoscopic scanning device 100 to be removed after scanning, without hindering the subsequent operation.
- the readable storage medium, the bone modeling registration system, and the orthopaedic surgery system provided in this embodiment are not limited to preoperative use. If there is a registration requirement during the operation, for example, the position of the patient's leg has changed. , and the stereoscopic vision scanning device 100 can also be used to scan the changed position of the bone to achieve re-registration.
- the bone surface image information directly scanned by the stereo vision scanning device 100 is generally point cloud data including cartilage on the bone surface.
- the pre-installed second virtual bone model is established based on the nuclear magnetic resonance (ie, MRI) scan image, it contains the cartilage data of the bone, and the bone surface image information just scanned by the stereo vision scanning device 100 also contains The data of cartilage is obtained, so the two can directly use the aforementioned method for registration.
- the above step S3 includes: acquiring cartilage compensation data according to a cartilage compensation algorithm; revising the first virtual bone model based on the cartilage compensation data, and using the revised first virtual bone model and the second virtual bone model model for registration.
- the cartilage is removed by grinding with a milling cutter.
- the location of the cartilage removal area is shown in Figure 4.
- the cartilage removal area 400 is roughly a point-like area, and the cartilage removal area is planned by the doctor before the operation. Decide on a specific location.
- Figure 5 demonstrates the process of the milling cutter scanning after cartilage removal. After the milling cutter grinds the soft tissue in the cartilage removal area, the stereoscopic vision scanning device 100 is used to scan the bone surface, and then the single-point cartilage compensation algorithm is run to obtain the cartilage compensation data.
- the single-point cartilage compensation algorithm includes the following steps: first, the Canny operator is used to obtain the edge of the cartilage removal area of the predetermined object, the gradient change of the edge is calculated, and the non-removal area adjacent to the cartilage removal area is fitted according to the gradient change. The depth changes of , iteratively cover the entire cartilage area, and finally fit the cartilage compensation data for the next registration.
- the Canny operator is a multi-level edge detection algorithm. Specific calculation methods such as calculating the gradient change of the edge, fitting adjacent regions and iterative coverage are well known to those skilled in the art, and will not be described here.
- this embodiment provides two different processing methods, without placing a target on the bone, that is, the matching of the preoperative image model and the actual intraoperative bone model is realized. Accurate, will not cause secondary trauma to the patient, reduce the contact between the instrument and the human body, reduce the probability of contamination, and facilitate the cleaning of the instrument.
- the setting of the bone modeling registration system is simple, which simplifies the installation of the registration tool during the operation, simplifies the registration process, reduces the complexity of the operation, and shortens the operation time.
- the scanning accuracy of the stereo vision scanning device is higher than that of the traditional point-and-click method, which can better reflect the bone surface structure and improve the registration accuracy.
- FIG. 7 is a schematic diagram of the cartilage removal area according to the second embodiment of the present invention
- FIG. 8 is a schematic diagram of scanning after the cartilage removal according to the second embodiment of the present invention.
- the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the second embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment, and the same parts are different. Again, only different points will be described below.
- the acquisition method of the cartilage compensation data is different from that in the first embodiment.
- the cartilage was also removed by grinding with a milling cutter.
- the location of the cartilage removal area is shown in Figure 7.
- the cartilage removal area is roughly a plurality of punctate areas. These cartilage removal areas are determined by the preoperative planning doctor. Location.
- Figure 8 illustrates the process of the milling cutter to scan the cartilage after removing the cartilage. There is no need to follow a special order to remove the cartilage at different positions. Bone surface, and then run a multi-point cartilage compensation algorithm to obtain cartilage compensation data.
- the multi-point cartilage compensation algorithm includes the following steps: first, using the Canny operator to obtain the edges of multiple cartilage removal areas of the predetermined object, calculating the gradient changes of the multiple edges, and according to the gradient changes from each cartilage removal area to the edge.
- the clearance depth is obtained by the peripheral expansion fitting; the clearance range is gradually expanded until the entire cartilage area is covered, and the cartilage compensation data is obtained.
- the removal depth at the junction is obtained by fitting the gradient change of the center point of the cartilage removal region closest to the junction.
- this embodiment adopts a multi-point cartilage compensation algorithm, its fitting accuracy is higher than that of the single-point cartilage compensation algorithm in the first embodiment. However, multiple cartilage-clearing areas of the bone need to be ground away.
- FIG. 9 is a schematic diagram of a cartilage removal area according to Embodiment 3 of the present invention
- FIG. 10 is a schematic diagram of scanning after cartilage removal according to Embodiment 3 of the present invention.
- the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided by the third embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment. Again, only different points will be described below.
- the acquisition method using the cartilage compensation data is different from that in the first embodiment.
- the cartilage was removed by scribing a knife.
- the location of the cartilage removal area is shown in Figure 9.
- the cartilage removal area is roughly a strip area, and the specific location of these cartilage removal areas is determined by the preoperative planning doctor.
- Figure 10 demonstrates the process of scanning after cartilage removal by scribing a knife. After scribing and scribing to remove the soft tissue in the cartilage removal area, the stereoscopic vision scanning device 100 can be used to scan the bone surface, and then run the cartilage compensation algorithm in the scribing area to obtain cartilage compensation data.
- the cartilage compensation algorithm in the scribed area is basically the same as the single-point compensation algorithm in the first embodiment.
- the removal depth of the surrounding area is fitted by the gradient change of the edge of the scribed area until the entire cartilage area is covered to obtain the cartilage compensation data.
- Embodiment 1 please refer to Embodiment 1, which will not be repeated here.
- FIG. 11 is a schematic diagram of a bone modeling registration system according to Embodiment 4 of the present invention.
- the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the fourth embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment. Again, only different points will be described below.
- the settings of the navigation device 200 and the target 300 are cancelled, and the stereo vision scanning
- the pose of the device 100 is fixed, and the pose information of the stereo vision scanning device 100 is obtained through calibration.
- the stereoscopic vision scanning device 100 is held by a robotic arm. After the pose information of the stereoscopic vision scanning device 100 is calibrated, the robotic arm is fixed, and the pose of the stereoscopic vision scanning device 100 is kept unchanged. .
- the pose of the stereo vision scanning device 100 is fixed, the coordinate transformation relationship of the first virtual bone model established by the acquired bone surface image information relative to the world coordinate system is known. Therefore, by combining the first virtual bone model with After the second virtual bone model is registered, the registration matrix of the first virtual bone model and the second virtual bone model can be directly obtained.
- the program in the readable storage medium when executed, it also realizes: acquiring real-time bone surface image information of a predetermined object, and the real-time bone surface image information comes from a stereo vision scanning device with fixed posture; perform three-dimensional reconstruction of the image information of the bone surface obtained by obtaining a real-time first virtual bone model; perform real-time registration of the first virtual bone model with the preset second virtual bone model of the predetermined object; obtain the predetermined object The real-time coordinates in the navigation image coordinate system.
- the pose of the stereo vision scanning device 100 is kept unchanged, and the state of scanning the bone surface is maintained, so that the real-time registration matrix is obtained by running the registration algorithm at all times, which can achieve the purpose of real-time tracking.
- This configuration enables real-time registration even if the position of the bone changes during surgery.
- the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided by the fifth embodiment of the present invention are basically the same as the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system provided in the first embodiment, and the same parts are different. Again, only different points will be described below.
- the acquisition method of the cartilage compensation data is different from that in the first embodiment.
- the cartilage compensation is not completed by mechanical means such as a milling cutter or a scribing knife, but the data information of the cartilage is automatically cleared by training a neuron network through a machine learning algorithm.
- the cartilage compensation algorithm includes: calculating the first virtual bone model by using the neuron network trained on the training set to obtain the cartilage compensation data. It should be noted that the method for training the neuron network through the training set is well known to those skilled in the art, and will not be described here.
- the readable storage medium, the bone modeling and registration system, and the orthopaedic surgery system of the above-mentioned several embodiments are described in a progressive description manner, and different parts in each embodiment can be combined with each other, which is not limited in the present invention .
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Architecture (AREA)
- General Engineering & Computer Science (AREA)
- Geometry (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Processing Or Creating Images (AREA)
- Image Processing (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (16)
- 一种可读存储介质,其特征在于,所述可读存储介质上存储有程序,所述程序被执行时实现:获取预定对象的骨表面图像信息,所述骨表面图像信息来自于一立体视觉扫描装置;根据所述骨表面图像信息进行三维重建,得到第一虚拟骨模型;将所述第一虚拟骨模型与所述预定对象的预置的第二虚拟骨模型进行配准;基于所述立体视觉扫描装置的位姿信息,得到所述预定对象于导航影像坐标系下的坐标。
- 根据权利要求1所述的可读存储介质,其特征在于,所述骨表面图像信息包括至少两幅不同视角的图像数据。
- 根据权利要求1所述的可读存储介质,其特征在于,根据所述骨表面图像信息进行三维重建,得到第一虚拟骨模型的步骤包括:对所述骨表面图像信息进行分割处理,获取骨轮廓点云数据;基于所述骨轮廓点云数据进行三维重建,得到所述第一虚拟骨模型。
- 根据权利要求1所述的可读存储介质,其特征在于,基于所述立体视觉扫描装置的位姿信息,得到所述预定对象于导航影像坐标系下的坐标的步骤包括:基于所述立体视觉扫描装置与一靶标的预定连接关系,得到立体视觉扫描装置坐标系与靶标坐标系之间的第一坐标转换关系;基于导航装置对所述靶标的定位,得到所述靶标坐标系与导航装置坐标系之间的第二坐标转换关系;基于所述第一虚拟骨模型与所述第二虚拟骨模型的配准,获得立体视觉扫描装置坐标系与导航影像坐标系之间的第三坐标转换关系;基于所述第一坐标转换关系、所述第二坐标转换关系和所述第三坐标转换关系,对所述第一虚拟骨模型进行坐标转换,得到所述预定对象于所述导 航影像坐标系下的坐标。
- 根据权利要求1所述的可读存储介质,其特征在于,预置的第二虚拟骨模型根据MRI扫描所述预定对象的骨表面建立。
- 根据权利要求1所述的可读存储介质,其特征在于,预置的第二虚拟骨模型根据CT扫描所述预定对象骨表面建立,将所述第一虚拟骨模型与所述预定对象的预置的第二虚拟骨模型进行配准的步骤包括:根据软骨补偿算法获取软骨补偿数据;基于所述软骨补偿数据对所述第一虚拟骨模型进行修正,并利用修正后的第一虚拟骨模型与所述第二虚拟骨模型进行配准。
- 根据权利要求6所述的可读存储介质,其特征在于,所述软骨补偿算法包括:使用Canny算子获取所述预定对象的软骨清除区域的边缘,计算所述边缘的梯度变化,根据所述梯度变化拟合邻近所述软骨清除区域的非清除区域的深度变化,迭代覆盖整个软骨区域,得到所述软骨补偿数据。
- 根据权利要求6所述的可读存储介质,其特征在于,所述软骨补偿算法包括:使用Canny算子获取所述预定对象的多个软骨清除区域的边缘,计算多个所述边缘的梯度变化,根据所述梯度变化从各软骨清除区域向周围扩展拟合得到清除深度;逐渐扩展清除范围直至覆盖整个软骨区域,得到所述软骨补偿数据。
- 根据权利要求8所述的可读存储介质,其特征在于,当两个扩展区域相交时,交界处的清除深度根据距离所述交界处最近的软骨清除区域的中心点的梯度变化拟合得到。
- 根据权利要求6所述的可读存储介质,其特征在于,所述软骨补偿算法包括:使用经训练集完成训练的神经元网络对所述第一虚拟骨模型进行计算,得到所述软骨补偿数据。
- 根据权利要求1所述的可读存储介质,其特征在于,将所述第一虚拟骨模型与预置的第二虚拟骨模型进行配准的步骤包括:将所述第一虚拟骨模型和所述第二虚拟骨模型进行粗配准;使用Ransac一致性算法去除可能的错误点;使用icp算法迭代,直至满足预设的收敛条件,拟合出配准矩阵。
- 根据权利要求1所述的可读存储介质,其特征在于,所述程序被执行时还实现:获取预定对象的实时的骨表面图像信息,所述实时的骨表面图像信息来自于位姿固定的立体视觉扫描装置;根据实时的骨表面图像信息进行三维重建,得到实时的第一虚拟骨模型;将所述第一虚拟骨模型与所述预定对象的预置的第二虚拟骨模型进行实时配准;得到所述预定对象于导航影像坐标系下的实时坐标。
- 一种骨建模配准***,其特征在于,包括:处理器以及立体视觉扫描装置;所述立体视觉扫描装置用于获取预定对象的骨表面图像信息,并将所述骨表面图像信息反馈至所述处理器;所述处理器与所述立体视觉扫描装置通信连接;所述处理器被配置为,获取所述立体视觉扫描装置的位姿信息,以及获取所述立体视觉扫描装置所得到的预定对象的骨表面图像信息;根据所述骨表面图像信息进行三维重建,得到第一虚拟骨模型;将所述第一虚拟骨模型与预置的第二虚拟骨模型进行配准,基于所述立体视觉扫描装置的位姿信息,得到所述预定对象于导航影像坐标系下的坐标。
- 根据权利要求13所述的骨建模配准***,其特征在于,所述立体视觉扫描装置的位姿固定,所述立体视觉扫描装置的位姿信息通过标定获取。
- 根据权利要求13所述的骨建模配准***,其特征在于,所述骨建模配准***还包括:导航装置和靶标,所述靶标与所述立体视觉扫描装置连接,所述导航装置与所述靶标相适配,用以获取所述靶标的实时坐标信息,并将所述实时坐标信息传输至所述处理器;所述处理器与所述导航装置通信连接,基于所述导航装置所反馈的所述靶标的实时坐标信息获得所述立体视觉扫描装置的位姿信息。
- 一种骨科手术***,其特征在于,包括根据权利要求13~15中任一项所述的骨建模配准***,还包括机械臂、手术台车及导航台车中的至少一者。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21874003.3A EP4223246A4 (en) | 2020-09-29 | 2021-07-27 | READABLE STORAGE MEDIUM, BONE MODELING REGISTRATION SYSTEM AND ORTHOPEDIC SURGICAL SYSTEM |
US18/445,062 US20230410453A1 (en) | 2020-09-29 | 2021-07-27 | Readable storage medium, bone modeling registration system and orthopedic surgical system |
BR112023005691A BR112023005691A2 (pt) | 2020-09-29 | 2021-07-27 | Meio de armazenamento legível, sistema de registro de modelagem óssea e sistema cirúrgico ortopédico |
AU2021354680A AU2021354680A1 (en) | 2020-09-29 | 2021-07-27 | Readable storage medium, bone modeling registration system and orthopedic surgical system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011052618.4 | 2020-09-29 | ||
CN202011052618.4A CN112155732B (zh) | 2020-09-29 | 2020-09-29 | 可读存储介质、骨建模配准***及骨科手术*** |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022068341A1 true WO2022068341A1 (zh) | 2022-04-07 |
Family
ID=73860765
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/108603 WO2022068341A1 (zh) | 2020-09-29 | 2021-07-27 | 可读存储介质、骨建模配准***及骨科手术*** |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230410453A1 (zh) |
EP (1) | EP4223246A4 (zh) |
CN (1) | CN112155732B (zh) |
AU (1) | AU2021354680A1 (zh) |
BR (1) | BR112023005691A2 (zh) |
WO (1) | WO2022068341A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115624385A (zh) * | 2022-09-19 | 2023-01-20 | 重庆生物智能制造研究院 | 术前空间配准方法及装置、计算机设备、存储介质 |
CN117420917A (zh) * | 2023-12-19 | 2024-01-19 | 烟台大学 | 基于手部骨架的虚拟现实控制方法、***、设备及介质 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112155732B (zh) * | 2020-09-29 | 2022-05-17 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
CN112826590A (zh) * | 2021-02-02 | 2021-05-25 | 复旦大学 | 基于多模态融合和点云配准的膝关节置换术空间注册*** |
CN113539444B (zh) * | 2021-08-30 | 2024-04-19 | 上海联影医疗科技股份有限公司 | 医学图像重建方法、装置、电子设备和存储介质 |
CN113524201B (zh) * | 2021-09-07 | 2022-04-08 | 杭州柳叶刀机器人有限公司 | 机械臂位姿主动调节方法、装置、机械臂和可读存储介质 |
CN114224508A (zh) * | 2021-11-12 | 2022-03-25 | 苏州微创畅行机器人有限公司 | 医学图像处理方法、***、计算机设备和存储介质 |
TWI790181B (zh) * | 2022-08-03 | 2023-01-11 | 國立陽明交通大學 | 手術機器人系統 |
CN115356840A (zh) * | 2022-09-01 | 2022-11-18 | 广东粤港澳大湾区黄埔材料研究院 | 一种显微镜的锁焦方法及装置 |
CN115830247B (zh) * | 2023-02-14 | 2023-07-14 | 北京壹点灵动科技有限公司 | 髋关节旋转中心的拟合方法和装置、处理器及电子设备 |
CN116563379B (zh) * | 2023-07-06 | 2023-09-29 | 湖南卓世创思科技有限公司 | 一种基于模型融合的标志物定位方法、装置及*** |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130102893A1 (en) * | 2010-06-30 | 2013-04-25 | Fritz Vollmer | Medical image registration using a rigid inner body surface |
CN106344152A (zh) * | 2015-07-13 | 2017-01-25 | 中国科学院深圳先进技术研究院 | 腹部外科手术导航配准方法及*** |
CN109692041A (zh) * | 2019-01-30 | 2019-04-30 | 杭州键嘉机器人有限公司 | 一种针对覆盖软骨的骨表面配准方法 |
CN109785374A (zh) * | 2019-01-23 | 2019-05-21 | 北京航空航天大学 | 一种牙科增强现实手术导航的自动实时无标记图像配准方法 |
CN112155732A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
CN112155733A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
CN112155734A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10568535B2 (en) * | 2008-05-22 | 2020-02-25 | The Trustees Of Dartmouth College | Surgical navigation with stereovision and associated methods |
WO2011134083A1 (en) * | 2010-04-28 | 2011-11-03 | Ryerson University | System and methods for intraoperative guidance feedback |
CN102155940B (zh) * | 2011-03-17 | 2012-10-17 | 北京信息科技大学 | 用于双目视觉定位跟踪***的立体靶标 |
US9192445B2 (en) * | 2012-12-13 | 2015-11-24 | Mako Surgical Corp. | Registration and navigation using a three-dimensional tracking sensor |
CN105139442A (zh) * | 2015-07-23 | 2015-12-09 | 昆明医科大学第一附属医院 | 一种结合ct和mri二维图像建立人体膝关节三维仿真模型的方法 |
CN106560163B (zh) * | 2015-09-30 | 2019-11-29 | 合肥美亚光电技术股份有限公司 | 手术导航***及手术导航***的配准方法 |
WO2017185170A1 (en) * | 2016-04-28 | 2017-11-02 | Intellijoint Surgical Inc. | Systems, methods and devices to scan 3d surfaces for intra-operative localization |
CN105852970B (zh) * | 2016-04-29 | 2019-06-14 | 北京柏惠维康科技有限公司 | 神经外科机器人导航定位***及方法 |
EP4331513A2 (en) * | 2016-05-27 | 2024-03-06 | Mako Surgical Corp. | Preoperative planning and associated intraoperative registration for a surgical system |
US11129681B2 (en) * | 2017-02-22 | 2021-09-28 | Orthosoft Ulc | Bone and tool tracking in robotized computer-assisted surgery |
CN107510504A (zh) * | 2017-06-23 | 2017-12-26 | 中南大学湘雅三医院 | 一种辅助骨科手术的非放射线透视视觉导航方法及*** |
CN107970060A (zh) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | 手术机器人***及其控制方法 |
CN111105385A (zh) * | 2018-10-09 | 2020-05-05 | 武汉大学中南医院 | 一种对基于断层成像技术提供的人体关节数据进行处理的方法 |
CN109512514A (zh) * | 2018-12-07 | 2019-03-26 | 陈玩君 | 一种混合现实骨科微创手术导航***及使用方法 |
CN109925055B (zh) * | 2019-03-04 | 2021-04-30 | 北京和华瑞博医疗科技有限公司 | 全数字化全膝关节置换手术机器人***及其模拟手术方法 |
CN110169820A (zh) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | 一种关节置换手术位姿标定方法及装置 |
CN110443839A (zh) * | 2019-07-22 | 2019-11-12 | 艾瑞迈迪科技石家庄有限公司 | 一种骨骼模型空间配准方法及装置 |
CN111297475B (zh) * | 2020-02-19 | 2021-06-18 | 苏州微创畅行机器人有限公司 | 骨注册方法、骨注册***、骨注册控制装置及可跟踪元件 |
CN111493878A (zh) * | 2020-03-17 | 2020-08-07 | 北京天智航医疗科技股份有限公司 | 用于骨科手术的光学三维扫描设备及测量骨骼表面的方法 |
-
2020
- 2020-09-29 CN CN202011052618.4A patent/CN112155732B/zh active Active
-
2021
- 2021-07-27 US US18/445,062 patent/US20230410453A1/en active Pending
- 2021-07-27 WO PCT/CN2021/108603 patent/WO2022068341A1/zh unknown
- 2021-07-27 EP EP21874003.3A patent/EP4223246A4/en not_active Withdrawn
- 2021-07-27 BR BR112023005691A patent/BR112023005691A2/pt unknown
- 2021-07-27 AU AU2021354680A patent/AU2021354680A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130102893A1 (en) * | 2010-06-30 | 2013-04-25 | Fritz Vollmer | Medical image registration using a rigid inner body surface |
CN106344152A (zh) * | 2015-07-13 | 2017-01-25 | 中国科学院深圳先进技术研究院 | 腹部外科手术导航配准方法及*** |
CN109785374A (zh) * | 2019-01-23 | 2019-05-21 | 北京航空航天大学 | 一种牙科增强现实手术导航的自动实时无标记图像配准方法 |
CN109692041A (zh) * | 2019-01-30 | 2019-04-30 | 杭州键嘉机器人有限公司 | 一种针对覆盖软骨的骨表面配准方法 |
CN112155732A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
CN112155733A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
CN112155734A (zh) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | 可读存储介质、骨建模配准***及骨科手术*** |
Non-Patent Citations (1)
Title |
---|
See also references of EP4223246A4 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115624385A (zh) * | 2022-09-19 | 2023-01-20 | 重庆生物智能制造研究院 | 术前空间配准方法及装置、计算机设备、存储介质 |
CN115624385B (zh) * | 2022-09-19 | 2024-05-10 | 重庆生物智能制造研究院 | 术前空间配准方法及装置、计算机设备、存储介质 |
CN117420917A (zh) * | 2023-12-19 | 2024-01-19 | 烟台大学 | 基于手部骨架的虚拟现实控制方法、***、设备及介质 |
CN117420917B (zh) * | 2023-12-19 | 2024-03-08 | 烟台大学 | 基于手部骨架的虚拟现实控制方法、***、设备及介质 |
Also Published As
Publication number | Publication date |
---|---|
EP4223246A1 (en) | 2023-08-09 |
CN112155732B (zh) | 2022-05-17 |
CN112155732A (zh) | 2021-01-01 |
AU2021354680A1 (en) | 2023-05-11 |
BR112023005691A2 (pt) | 2023-04-25 |
EP4223246A4 (en) | 2024-04-03 |
US20230410453A1 (en) | 2023-12-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2022068341A1 (zh) | 可读存储介质、骨建模配准***及骨科手术*** | |
CN111467036B (zh) | 手术导航***、髋臼截骨的手术机器人***及其控制方法 | |
US20230355312A1 (en) | Method and system for computer guided surgery | |
WO2021063023A1 (zh) | 截骨导向工具的位置校正方法及骨科手术*** | |
EP3397188B1 (en) | System and methods for preparing surgery on a patient at a target site defined by a virtual object | |
EP1855607B1 (en) | Image-guided robotic system for keyhole neurosurgery | |
WO2022068340A1 (zh) | 可读存储介质、骨建模配准***及骨科手术*** | |
US8010177B2 (en) | Intraoperative image registration | |
US8150494B2 (en) | Apparatus for registering a physical space to image space | |
AU2018316801B2 (en) | Ultrasound bone registration with learning-based segmentation and sound speed calibration | |
CN112220557B (zh) | 用于颅脑穿刺的手术导航及机器臂装置及定位方法 | |
US9052384B2 (en) | System and method for calibration for image-guided surgery | |
WO2022083453A1 (zh) | 手术操作工具的校验方法及校验*** | |
CN112006776A (zh) | 一种手术导航***及手术导航***的配准方法 | |
WO2023279825A1 (zh) | 导航及复位操作控制***及方法 | |
JP2000163558A (ja) | 位置合わせ装置 | |
CN114224508A (zh) | 医学图像处理方法、***、计算机设备和存储介质 | |
JP2023502727A (ja) | 骨切り術校正方法、校正装置、読み取り可能な記憶媒体、および整形外科手術システム | |
US20240024035A1 (en) | Preoperative imaging combined with intraoperative navigation before and after alteration of a surgical site to create a composite surgical three dimensional structural dataset | |
CN214857401U (zh) | 一体化***结构装置 | |
Chen et al. | Surgical Navigation System Design for Surgery Aided Diagnosis Platform |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21874003 Country of ref document: EP Kind code of ref document: A1 |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112023005691 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112023005691 Country of ref document: BR Kind code of ref document: A2 Effective date: 20230328 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2021874003 Country of ref document: EP Effective date: 20230502 |
|
ENP | Entry into the national phase |
Ref document number: 2021354680 Country of ref document: AU Date of ref document: 20210727 Kind code of ref document: A |