CN109009438B - Flexible noninvasive positioning device and application and system thereof in intraoperative surgical path planning - Google Patents
Flexible noninvasive positioning device and application and system thereof in intraoperative surgical path planning Download PDFInfo
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- CN109009438B CN109009438B CN201811068096.XA CN201811068096A CN109009438B CN 109009438 B CN109009438 B CN 109009438B CN 201811068096 A CN201811068096 A CN 201811068096A CN 109009438 B CN109009438 B CN 109009438B
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- 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
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- 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
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- 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
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- 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
- A61B2090/3945—Active visible markers, e.g. light emitting diodes
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- 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
- A61B2090/3966—Radiopaque markers visible in an X-ray image
Abstract
A flexible noninvasive positioning apparatus, comprising: the flexible sheet is provided with an operation window; a plurality of positioning markers recognized by the optical device, the positioning markers being asymmetrically and uniformly distributed on the flexible sheet around the surgical window; the flexible sheet is fixed on the body surface of a patient through an operation window around the lesion position of the patient, in the operation, the spatial position data of the positioning markers are collected, the spatial position data of a plurality of positioning markers collected at the current moment are recorded as a first group of point clouds, the spatial position data of a plurality of positioning markers collected at the previous moment are recorded as a second group of point clouds, the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment, and the spatial pose change of the flexible sheet in the operation reflects the spatial pose change of the lesion position in the operation. When the flexible noninvasive positioning device is applied to intraoperative surgical planning, the position movement of an operative part in navigation positioning or mechanical arm navigation positioning can be determined in an auxiliary manner.
Description
Technical Field
The invention relates to the technical field of mechanical arm operations, in particular to a flexible noninvasive positioning device for mechanical arm operation navigation and application and a system thereof in operation path planning in an operation.
Background
When a robot is used for surgery, surgical navigation and positioning of the surgical robot are required, but diseased regions of a patient, such as joints, are easy to change in state, such as displacement and angle, and in order to accurately position the diseased regions, the traditional positioning method is as follows: the method comprises the steps of performing incision on a diseased region, rigidly fixing a positioning mark at the incision by clamping, nailing or other modes for exposing a target region through a clamp, and performing real-time space positioning on the positioning mark to update the position of the diseased region, thereby achieving the purpose of navigation or surgical robot navigation.
As can be seen from the above navigation or robotic surgery navigation and positioning method, the above method has the following disadvantages:
1) for invasive navigation and positioning, the invasive navigation, positioning and positioning mark can bring secondary injury to patients through rigid fixing modes such as clamping, nailing and the like;
2) a positioning point is searched through the positioning mark, and the whole position of a large area cannot be updated;
3) the lack of flexibility in the rigid connection does not allow for the effect on the procedure when the lesion is deformed more than a certain amount during the procedure.
In addition to the above navigation, the following method is also used for surgical navigation:
such as electromagnetic navigation and optical navigation, wherein optical navigation is the mainstream surgical navigation method. The optical navigation utilizes the three-eye or two-eye stereoscopic vision principle and uses a visible light or near infrared light imaging system to realize space positioning. The existing surgical navigation clinical operation flow is as follows: (1) before operation, scalp positioning markers are pasted on the brain of a patient, CT or MR I scanning is carried out, image data are input into a computer workstation, and human body three-dimensional model reconstruction is carried out, so that an operation path is planned, and a reasonable and accurate operation scheme is formulated. (2) Erecting an infrared positioning instrument and a reference frame, starting to collect images, and registering the scalp positioning marker clicked by the surgical instrument to complete the registration between the surgical space coordinate system and the image space coordinate system, so that the surgical instrument can be accurately displayed in the images. (3) The focus is operated under the guidance of navigation, and the navigation system can display the position of the current operating point (tip probe) of the surgical instrument and images around the operating point in real time.
The surgical navigation is mainly applied to neurosurgery operations, such as skull, spinal cord and the like. When the operation navigation is applied to neurosurgery, because the head of the patient is fixed and can be regarded as a rigid body, a coordinate system can be effectively established by using the positioning marker attached to the head, and the coordinate system registration is completed. However, when the surgical navigation is applied to a respiratory motion focal region, if the method is still used, the positioning marker is attached to the chest and abdomen of the patient, the respiratory motion of the patient can cause the positioning marker to continuously move, so that an accurate coordinate system cannot be established, the registration between the surgical space coordinate system and the image coordinate system is influenced, and the precise surgical navigation cannot be realized.
Disclosure of Invention
When the mechanical arm performs an operation on a lesion part with a changeable space posture, how to dynamically plan the operation path of the mechanical arm in the operation according to the posture change of the lesion part provides a solution to the problem from the following aspects.
According to a first aspect, there is provided in an embodiment a flexible noninvasive positioning device comprising:
the flexible sheet is in an arbitrary regular or irregular shape and is provided with a regular or irregular operation window;
a plurality of positioning markers recognized by an optical device, distributed on said flexible sheet asymmetrically and uniformly around said surgical window;
the flexible sheet is fixed on the body surface of a patient through the operation window around the lesion position of the patient, in operation, the spatial position data of the positioning markers are collected in real time or at intervals, the spatial position data of a plurality of positioning markers collected at the current moment are recorded as a first group of point clouds, the spatial position data of a plurality of positioning markers collected at the previous moment are recorded as a second group of point clouds, the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment, and the spatial pose change of the flexible sheet in operation reflects the spatial pose change of the lesion position in operation.
In one embodiment, the positioning marker is a plastic ball, the plastic ball comprises a plastic ball core, the outer surface of the plastic ball core is coated with a reflective coating, and the optical device is an infrared device for identifying the plastic ball.
In one embodiment, the positioning marker is a metal reflective ball, the metal reflective ball includes a metal ball core and a plastic ball shell, the plastic ball shell covers the outer surface of the metal ball core, the outer surface of the plastic ball shell is coated with a reflective coating, and the optical device is an X-ray device or a C-arm machine for identifying the metal reflective ball.
In one embodiment, the positioning marker is a reflective patch and the optical device is an infrared device that recognizes the reflective patch.
In one embodiment, the positioning marker is a two-dimensional code, and the optical device is an optical camera for recognizing the two-dimensional code.
In one embodiment, the positioning marker is an LED lamp bead, and the LED lamp bead positioning device further comprises a controller, wherein the controller is embedded in the flexible sheet and is connected with the LED lamp beads through a circuit to control the luminous intensity, frequency, color and luminous sequence of each LED lamp bead.
According to a second aspect, an embodiment provides a use of the flexible noninvasive positioning device for intraoperative surgical path planning, comprising the steps of:
fixing the flexible noninvasive positioning device on the body surface of a patient by surrounding the lesion part of the patient through an operation window, wherein at least three positioning markers in a plurality of positioning markers on the flexible sheet are designated as reference positioning markers, and the rest positioning markers are designated as redundant positioning markers;
in the operation, the spatial position data of the positioning markers are collected in real time or at intervals, the spatial position data of a plurality of positioning markers collected at the current moment are recorded as a first group of point clouds, the spatial position data of a plurality of positioning markers collected at the previous moment are recorded as a second group of point clouds, and the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment;
establishing a first local coordinate system of the first group of point clouds and a second local coordinate system of the second group of point clouds by the fiducial locating markers;
carrying out point-to-point matching on each point in the first group of point clouds and each point in the second group of point clouds, optimizing and minimizing the sum of difference distances of the first group of point clouds and the second group of point clouds by finding out point and point pairing, and calculating the deformation variable value of the flexible sheet through the matched point pair;
integrally matching the first group of point clouds and the second group of point clouds in a world coordinate system to obtain a six-degree-of-freedom displacement rotation parameter of the flexible sheet;
and updating the space path plan in navigation positioning or mechanical arm navigation positioning according to the deformation quantitative value of the flexible sheet and the displacement rotation parameter of six degrees of freedom.
In one embodiment, the performing point-to-point matching on each point in the first group of point clouds and the second group of point clouds specifically includes:
obtaining coordinate values of all points of the first group of point clouds in the first local coordinate system;
obtaining coordinate values of all points of the second group of point clouds in the second local coordinate system;
calculating the distance from the coordinate value of each point of the first group of point clouds to the coordinate value of one point of the second group of point clouds, matching the point of the first group of point clouds with the point of the second group of point clouds, wherein the pair of point coordinate value of the first group of point clouds and the coordinate value of the point of the second group of point clouds is the minimum distance, and repeating the steps to complete point-to-point matching between each point of the first group of point clouds and each point of the second group of point clouds.
In one embodiment, the deformation variable value of the flexible sheet is the distance of the matched pair of points.
In one embodiment, updating the spatial path plan in the navigation positioning or the mechanical arm navigation positioning according to the deformation quantization value of the flexible sheet and the displacement rotation parameter of six degrees of freedom specifically includes:
judging whether the distances of all the matched point pairs are larger than a threshold value, and if the distances of all the matched point pairs are smaller than the threshold value, updating the space path plan in the navigation positioning or the mechanical arm navigation positioning;
and if one group of point pair distances in the distances of all the matched point pairs is larger than the threshold value, re-planning the spatial path in the navigation positioning or the mechanical arm navigation positioning.
In one embodiment, before the space path planning or the space path re-planning is updated, the method further includes estimating an optimal pose transformation matrix corresponding to the deformation of the flexible sheet through the matched corresponding point pairs.
According to a third aspect, an embodiment provides a system for applying the above flexible noninvasive positioning device in intraoperative surgical path planning, comprising:
the flexible noninvasive positioning device is fixed on the body surface of the patient by surrounding the lesion part of the patient through the operation window, wherein at least three positioning markers of the plurality of positioning markers on the flexible sheet are designated as reference positioning markers, and the rest positioning markers are designated as redundant positioning markers;
the optical equipment collects the spatial position data of the positioning marker in real time or at intervals;
the control device is in signal connection with the control ends of the optical equipment and the mechanical arm respectively, receives data fed back by the optical equipment, executes the following processing on the data, and assists in determining the position movement of the surgical site in the navigation positioning or the mechanical arm navigation positioning according to the processing result:
recording the spatial position data of a plurality of positioning markers received at the current moment as a first group of point clouds, recording the spatial position data of a plurality of positioning markers received at the previous moment as a second group of point clouds, wherein the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment;
establishing a first local coordinate system of the first group of point clouds and a second local coordinate system of the second group of point clouds by the fiducial locating markers;
point-to-point matching is carried out on each point in the first group of point clouds and each point in the second group of point clouds, and the deformation variable value of the flexible sheet is calculated through the matched point pairs;
integrally matching the first group of point clouds and the second group of point clouds in a world coordinate system to obtain a six-degree-of-freedom displacement rotation parameter of the flexible sheet;
and updating space path planning in navigation positioning or mechanical arm navigation positioning according to the deformation quantitative value of the flexible sheet and the displacement rotation parameter of six degrees of freedom, and assisting to determine the position movement of the operation part in the navigation positioning or mechanical arm navigation positioning according to the updated space path.
The flexible noninvasive positioning device according to the embodiment has the following effects:
in the mechanical arm operation, a proper flexible noninvasive positioning device is selected according to the lesion part of a patient and is fixed on the body surface of the patient by surrounding the lesion part of the patient through an operation window, reading the spatial position data of the positioning markers in real time or at intervals through optical equipment, recording the spatial position data of a plurality of positioning markers at the current moment as a first group of point clouds, recording the spatial position data of a plurality of positioning markers at the previous moment as a second group of point clouds, reflecting the spatial pose change of the flexible sheet at the current moment relative to the spatial position change of the second group of point clouds, reflecting the spatial pose change of a lesion part in an operation, therefore, the purpose of tracking the change of the space pose of the lesion part in the operation is achieved, and further, the problem that the existing operation navigation cannot be accurately realized due to the fact that the positioning marker continuously moves is solved.
When the flexible noninvasive positioning device is applied to surgical path planning in an operation, the deformation of the flexible sheet can be judged through the plurality of positioning markers on the flexible noninvasive positioning device, the posture change of a diseased part is tracked according to the deformation of the flexible sheet, and the spatial path planning in navigation positioning or mechanical arm navigation positioning is updated according to the tracking result, so that the position movement of the surgical part in navigation positioning or mechanical arm navigation positioning is assisted to be determined according to the posture change of the diseased part.
Drawings
Fig. 1 is a schematic structural diagram of a flexible noninvasive positioning device.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
In the embodiment of the invention, by designing a flexible noninvasive positioning device and arranging a plurality of positioning markers on the flexible noninvasive positioning device, when the flexible noninvasive positioning device is attached to a lesion part with easily changed position and posture, the posture change of the lesion part is tracked by acquiring the spatial position data of the positioning markers and processing the position data of the positioning markers with front and back changed postures, and the spatial path planning in navigation positioning or mechanical arm navigation positioning is updated according to the tracking result, so that the aim of assisting in determining the position movement of the surgical part in navigation positioning or mechanical arm navigation positioning according to the posture change of the lesion part is fulfilled.
The first embodiment is as follows:
the embodiment provides a flexible noninvasive positioning device, which comprises a flexible sheet 1, wherein the flexible sheet 1 is provided with an operation window 11, a plurality of positioning markers 2 identified by optical equipment are arranged around the operation window 11, the flexible sheet 1 is fixed on the body surface of a patient through the operation window 11 around the lesion part of the patient, the spatial position data of the positioning markers 2 are acquired in real time or at intervals during the operation, and the spatial position data of a plurality of positioning markers 2 acquired at the current moment is recorded as a first group of point clouds, the spatial position data of a plurality of positioning markers 2 acquired at the previous moment is recorded as a second group of point clouds, the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet 1 at the current moment, and the spatial pose change of the flexible sheet 1 in the operation reflects the spatial pose change of a lesion part in the operation.
In order to realize that the flexible sheet 1 can truly reflect the change of the space pose of a lesion part, the flexible sheet 1 not only has certain flexibility, but also can deform correspondingly along with the change of the pose of the lesion part, the material of the flexible sheet 1 in the embodiment is not particularly limited, for example, the flexible sheet 1 can be rubber, cloth and the like, and correspondingly, the way of fixing the flexible sheet 1 on the body surface of a human body can be various, for example, the flexible sheet 1 can be a flexible paste and is directly pasted on the body surface of the human body, and the flexible sheet can also be provided with a binding belt which is bound on the body surface of the human body; in order to adapt to the tracking application of different lesion sites, the flexible sheet 1 in this embodiment may be in any regular shape or any irregular shape, and accordingly, the surgical window 11 disposed on the flexible sheet 1 is also determined according to the actual shape of the lesion site, that is, the surgical window 11 may also be in a regular shape or an irregular shape.
Since the deformation of the flexible sheet 1 is reflected by the change of the spatial position of the positioning markers 2, in order to better track the deformation of the flexible sheet 1 through the positioning markers 2, the positioning markers 2 of the present embodiment are asymmetrically and uniformly distributed on the flexible sheet 1 around the surgical window, that is, the distances between any one of the positioning markers 2 and the remaining positioning markers 2 are different. If N positioning markers 2 are distributed on the flexible sheet 1, where N is greater than 3, distances between any one of the positioning markers 2 and the remaining N-1 positioning markers 2 are not equal.
In addition, in the case where the size of the space of the flexible sheet 1 is constant, the larger the number of the positioning markers 2 in the constant space, the more accurately the change in the spatial posture of the flexible sheet 1 can be reflected, and the more accurately the change in the posture of the lesion site can be reflected, and therefore, the volume design of the positioning markers 2 is very important, and if the volume is too large, the number of positioning markers 2 arranged in a certain space is reduced, and if the volume is too small, the small-volume positioning markers 2 are not easily recognized by the optical device, for which case the positioning markers 2 of this example have a diameter of 3mm to 12mm, wherein, the positioning marker 2 with the diameter of 3mm is the sphere with the smallest volume, and the positioning marker 2 with the diameter of 12mm is the sphere with the largest volume, and those skilled in the art can make the positioning markers 2 with other diameters according to the diameter range of the positioning marker 2 disclosed in the present application.
The optical device of the present embodiment is used in combination with the positioning marker 2, and those skilled in the art can select various types of positioning markers 2 and optical devices used with the positioning markers under the concept of the present invention.
According to different application scenarios, the present example provides the following types of positioning markers 2 and optical devices used with them:
1. active positioning marker 2
The active positioning marker 2 means that the positioning marker 2 can actively emit light, in the preferred scheme, the positioning marker 2 is an LED lamp bead, and further, a controller is matched with the LED lamp bead for use, the controller is embedded in the flexible sheet 1 and is connected with a plurality of positioning marker lines to control the light emitting intensity, frequency, color and light emitting sequence of each positioning marker, and the positioning marker can adjust the intensity, frequency, color and light emitting sequence of each positioning marker through the controller and can also directly perform special control on a specific positioning marker 2.
When the LED lamp beads are the infrared light-emitting diodes, infrared equipment is used in cooperation with the LED lamp beads, for example, the binocular infrared lens is used, the infrared equipment can identify the spatial position of the LED lamp beads as long as the LED lamp beads are controlled to emit light, and then the spatial posture change of the LED lamp beads on the flexible sheet 1 is obtained.
2. Passive positioning marker 2
The passive type of positioning marker 2 reflects light emitted from an external device through a reflective coating and is recognized by the external device, and the type of positioning marker 2 has the following categories according to an application scenario:
1) the positioning marker 2 is a plastic ball which comprises a plastic ball core, and the outer surface of the plastic ball core is coated with a reflective coating; the optical equipment matched with the infrared sensor is infrared equipment;
2) the positioning marker 2 is a metal reflective ball, the metal reflective ball comprises a metal ball core and a plastic ball shell, the plastic ball shell is coated on the outer surface of the metal ball core, and the outer surface of the plastic ball shell is coated with a reflective coating; the metal reflective ball can be developed under X-rays and identified by X-ray equipment or a C-arm machine, so that the flexible noninvasive positioning device with the metal reflective ball is suitable for surgical navigation of a mechanical arm under X-rays.
3) The positioning marker is a flexible reflective patch, and compared with a reflective ball, the reflective part of the reflective patch is of a planar structure, so that the optical equipment matched with the reflective patch is also infrared equipment.
The infrared device mentioned in this example is a device that emits infrared rays and receives infrared rays, that is, the infrared device is an infrared transceiver device, the infrared device emits infrared rays to the positioning marker 2, the infrared rays are reflected back through the reflective coating of the positioning marker 2, and the infrared rays reflected by the positioning marker 2 are received by the infrared device, so that the infrared device can read the spatial position data of the positioning marker 2 in real time, for example, the infrared device may be an NDI infrared binocular lens.
In addition, no matter what type of positioning marker, the positioning marker may be a spherical structure, or a hemispherical structure or a planar structure, and is installed on the flexible sheet 1 in an embedded manner, and since the spherical structure can implement 360-degree reflection, the optical device can recognize the change of the spatial posture of the positioning marker 2 at various angles, therefore, the positioning marker is the optimal spherical structure, and the specific structure can be determined according to practical applications, which is not limited in this example.
The positioning marker 2 is of another type than the above type, and the positioning marker 2 is a two-dimensional code, and the optical device used in cooperation with the positioning marker 2 is an optical camera for recognizing the two-dimensional code, that is, the spatial position information and the corresponding spatial posture change of the positioning marker 2 are further acquired by recognizing the two-dimensional code.
The flexible noninvasive positioning device provided by the embodiment tracks the pose of the lesion part in real time through the position change of the positioning marker, so as to realize the position movement of the surgical part in the navigation positioning or the mechanical arm navigation positioning in the assistance of the pose change of the lesion part in the operation.
Example two:
based on the first embodiment, the present invention provides an application of a flexible noninvasive positioning device in intraoperative surgical path planning, which specifically includes the following steps.
S1: the flexible noninvasive positioning device of the first embodiment is fixed on the body surface of the patient through the operation window and around the lesion position of the patient.
In order to calculate the deformation of the flexible sheet by the positioning markers, at least three positioning markers of the plurality of positioning markers on the flexible sheet are defined as reference positioning markers (in this example, three positioning markers are defined as reference positioning markers), and the remaining positioning markers are defined as redundant positioning markers.
S2: in the operation, the spatial position data of the positioning markers are collected in real time or at intervals, the spatial position data of a plurality of positioning markers collected at the current moment are recorded as a first group of point clouds, and the spatial position data of a plurality of positioning markers collected at the previous moment are recorded as a second group of point clouds.
After the lesion part is changed back and forth, the flexible sheet deforms, and correspondingly, the spatial position of the positioning marker on the flexible sheet also changes, so that the change of the spatial position of the first group of point clouds relative to the spatial position of the second group of point clouds reflects the change of the spatial pose of the flexible sheet at the current moment.
S3: a first local coordinate system of the first set of point clouds and a second local coordinate system of the second set of point clouds is established by fiducial localization markers.
It should be clear that, three positioning markers are selected as the reference positioning markers, the three positioning markers cannot be closely adjacent to each other in spatial position on the flexible sheet, and a certain interval is provided between the three positioning markers, so that the spatial structure of the flexible sheet can be reflected by the local coordinate system established by the reference positioning markers.
S4: and performing point-to-point matching on each point in the first group of point clouds and each point in the second group of point clouds, optimizing and minimizing the sum of the difference distances of the first group of point clouds and the second group of point clouds by finding point and point pairing, and calculating the deformation variable value of the flexible sheet through the matched point pairs.
In this step, the specific process of performing point-to-point matching on each point in the first group of point clouds and the second group of point clouds is as follows:
obtaining coordinate values of all points of the first group of point clouds in the first local coordinate system;
obtaining coordinate values of all points of the second group of point clouds in the second local coordinate system;
calculating the distance from the coordinate value of each point of the first group of point clouds to the coordinate value of one point of the second group of point clouds, matching the point of the first group of point clouds with the point of the second group of point clouds, wherein the pair of point coordinate value of the first group of point clouds and the coordinate value of the point of the second group of point clouds is the minimum distance, and repeating the steps to complete point-to-point matching between each point of the first group of point clouds and each point of the second group of point clouds.
To further understand point-to-point matching in a local coordinate system, the following illustrates a deeper understanding of point-to-point matching:
1) setting a positioning marker A on the flexible sheet; before the flexible device changes the pose, the coordinate value of the positioning marker in the second local coordinate system is A1; after the flexible device posture is changed, the coordinate value of the positioning marker in the first local coordinate system is A2;
2) if the flexible sheet does not deform before and after the posture changes, A1 is A2;
3) if the flexible sheet slightly deforms before and after the pose changes, the position of the positioning marker A in the first local coordinate system slightly changes;
4) a2 should be searched in the first group of point clouds after the change of the pose near A1, the point closest to A1 is the point A2, and A1 and A2 are a group of corresponding point pairs, so that the pairing of single points in the two groups of point clouds is completed. And matching all the points in the two groups of point clouds in the same way, namely completing point cloud matching in a local coordinate system.
And after point cloud matching is completed in the local coordinate system, calculating the deformation variable value of the flexible sheet according to the distance of the matched point pair.
S5: and integrally matching the first group of point clouds and the second group of point clouds in a world coordinate system to obtain the six-degree-of-freedom displacement rotation parameters of the flexible sheet.
The position and posture change of the whole flexible sheet is obtained through the steps, for example, the rotation freedom degree parameter and the displacement freedom degree parameter of the flexible sheet are obtained.
It should be noted that there is no requirement for sequentially executing the steps of calculating the deformation of the flexible sheet and calculating the position change of the overall structure of the flexible sheet, for example, step S5 may be executed first, and then steps S3-S4 are executed.
S6: and updating the space path planning in navigation positioning or mechanical arm navigation positioning according to the deformation quantitative value of the flexible sheet and the displacement rotation parameter of six degrees of freedom.
When the step is executed, whether the deformation of the flexible sheet is within the range of the allowable deformation needs to be judged, if the deformation is within the range of the allowable deformation, the space path planning in the navigation positioning or the mechanical arm navigation positioning only needs to be automatically updated according to the deformation and the position change of the flexible sheet, if the deformation is beyond the range of the allowable deformation, the space path planning in the navigation positioning or the mechanical arm navigation positioning needs to be re-planned according to the deformation and the position change of the flexible sheet, specifically, whether the distances of all the matched point pairs are greater than a threshold (the threshold is the maximum value of the allowable deformation) or not is judged, and if the distances of all the matched point pairs are smaller than the threshold, the space path planning in the navigation positioning or the mechanical arm navigation positioning is automatically updated; if one group of point pair distances in the distances of all the matched point pairs is larger than the threshold value, the spatial path in the navigation positioning or the mechanical arm navigation positioning is planned again.
Further, in order to realize accurate navigation control, before the space path planning or re-planning is carried out, an optimal pose transformation matrix corresponding to the deformation of the flexible sheet estimated through the matched corresponding point pair is further included, and the space path planning or re-planning is accurately carried out through the optimal pose transformation matrix.
In this example, three sets of corresponding points in the matched point pair are used to obtain a transformation matrix, and then an optimal pose transformation matrix is obtained by solving through redundant corresponding points and by using a least square method.
By applying the flexible noninvasive positioning device to surgical path planning in an operation, the pose change of a diseased part can be tracked by calculating the deformation and position change of the flexible sheet, and then the space path planning in navigation positioning or mechanical arm navigation positioning is updated according to the deformation and position change of the flexible sheet, so that the problem that the position of the surgical part in mechanical arm navigation positioning cannot be accurately navigated and positioned or cannot be accurately controlled to move when the pose of the diseased part in the operation is changed is solved.
In combination with the application of the flexible noninvasive positioning device in intraoperative surgical path planning, the present embodiment also provides a system corresponding to the application, that is, the present embodiment also provides a system for the application of the flexible noninvasive positioning device in intraoperative surgical path planning, which includes:
the flexible noninvasive positioning device is fixed on the body surface of a patient by surrounding the lesion part of the patient through an operation window, wherein at least three positioning markers in a plurality of positioning markers on the flexible sheet are designated as reference positioning markers, and the rest positioning markers are designated as redundant positioning markers; for a detailed description of the flexible noninvasive positioning device in this embodiment, please refer to the first embodiment, which is not repeated herein.
The optical equipment collects the spatial position data of the positioning marker in real time or at intervals; the optical device is preferably an NDI infrared binocular.
The control device is in signal connection with the control ends of the optical equipment and the mechanical arm respectively, receives data fed back by the optical equipment, executes the following processing on the data, and assists to determine the position movement of the surgical site in the navigation positioning or the mechanical arm navigation positioning according to the processing result:
recording the spatial position data of a plurality of positioning markers received at the current moment as a first group of point clouds, recording the spatial position data of a plurality of positioning markers received at the previous moment as a second group of point clouds, wherein the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment;
establishing a first local coordinate system of the first group of point clouds and a second local coordinate system of the second group of point clouds by the fiducial locating markers;
point-to-point matching is carried out on each point in the first group of point clouds and each point in the second group of point clouds, and the deformation variable value of the flexible sheet is calculated through the matched point pairs;
integrally matching the first group of point clouds and the second group of point clouds under a world coordinate system to obtain a six-degree-of-freedom displacement rotation parameter of the flexible sheet;
and updating space path planning in navigation positioning or mechanical arm navigation positioning according to the deformation quantitative value of the flexible sheet and the displacement rotation parameter of six degrees of freedom, and assisting to determine the position movement of the operation part in the navigation positioning or mechanical arm navigation positioning according to the updated space path.
For the specific processing procedure of the received spatial position data of the positioning marker by the control device in this embodiment, please refer to steps S2-S6 described above, which are not described herein again.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (7)
1. A flexible noninvasive positioning device, comprising:
the flexible sheet is in an arbitrary regular or irregular shape and is provided with a regular or irregular operation window;
a plurality of positioning markers recognized by the optical equipment, wherein the positioning markers are asymmetrically and uniformly distributed on the flexible sheet around the operation window, and the distances between any one positioning marker and the rest positioning markers are different; marking at least three of a number of positioning markers on the flexible sheet as fiducial positioning markers;
fixing the flexible sheet on the body surface of a patient through the operation window around the lesion part of the patient, acquiring the spatial position data of the positioning markers in real time or at intervals, recording the spatial position data of a plurality of positioning markers acquired at the current moment as a first group of point clouds, recording the spatial position data of a plurality of positioning markers acquired at the previous moment as a second group of point clouds,
establishing a first local coordinate system of the first group of point clouds and a second local coordinate system of the second group of point clouds through the reference positioning markers, performing point-to-point matching on each point in the first group of point clouds and the second group of point clouds, optimizing and minimizing the sum of difference distances of the first group of point clouds and the second group of point clouds by finding point-to-point pairing, and calculating the deformation variable value of the flexible sheet through the matched point-to-point; integrally matching the first group of point clouds and the second group of point clouds under a world coordinate system to obtain a six-degree-of-freedom displacement rotation parameter of the flexible sheet; acquiring the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds, and reflecting the spatial pose change of the flexible sheet at the current moment;
the change of the spatial posture of the flexible sheet in the operation reflects the change of the spatial posture of the lesion part in the operation;
the point-to-point matching of each point in the first group of point clouds and the second group of point clouds specifically comprises the following steps:
obtaining coordinate values of all points of the first group of point clouds in the first local coordinate system;
obtaining coordinate values of all points of the second group of point clouds in the second local coordinate system;
calculating the distance from the coordinate value of each point of the first group of point clouds to the coordinate value of one point of the second group of point clouds, matching the point of the first group of point clouds with the point of the second group of point clouds, wherein the pair of point coordinate value of the first group of point clouds and the coordinate value of the point of the second group of point clouds is the minimum distance, and repeating the steps to complete point-to-point matching between each point of the first group of point clouds and each point of the second group of point clouds.
2. The flexible noninvasive positioning apparatus of claim 1, wherein the positioning marker is a plastic ball comprising a plastic ball core, the outer surface of which is coated with a light reflective coating, and the optical device is an infrared device for identifying the plastic ball.
3. The flexible noninvasive positioning device of claim 1, wherein the positioning marker is a metal reflective ball, the metal reflective ball comprises a metal ball core and a plastic ball shell, the plastic ball shell covers the outer surface of the metal ball core, the outer surface of the plastic ball shell is coated with a reflective coating, and the optical device is an X-ray device or a C-arm machine for identifying the metal reflective ball.
4. The flexible noninvasive positioning apparatus of claim 1, wherein the positioning marker is a light-reflecting patch and the optical device is an infrared device that identifies the light-reflecting patch.
5. The flexible noninvasive positioning apparatus of claim 1, wherein the positioning marker is a two-dimensional code and the optical device is an optical camera that recognizes the two-dimensional code.
6. The flexible noninvasive positioning device of claim 1, wherein the positioning markers are LED light beads, and further comprising a controller embedded in the flexible sheet and connected to the LED light beads in a circuit for controlling the intensity, frequency, color and sequence of light emitted by each LED light bead.
7. A system for applying the flexible noninvasive positioning device of any of claims 1-6 for intraoperative surgical path planning, comprising:
the flexible noninvasive positioning device of any one of claims 1-6, said flexible noninvasive positioning device affixed to the body surface of a patient around the lesion of the patient through a surgical window, wherein at least three of a plurality of positioning markers on said flexible sheet are designated as fiducial positioning markers and the remaining positioning markers are designated as redundant positioning markers;
the optical equipment collects the spatial position data of the positioning marker in real time or at intervals;
the control device is in signal connection with the control ends of the optical equipment and the mechanical arm respectively, receives data fed back by the optical equipment, executes the following processing on the data, and assists in determining the position movement of the surgical site in the navigation positioning or the mechanical arm navigation positioning according to the processing result:
recording the spatial position data of a plurality of positioning markers received at the current moment as a first group of point clouds, recording the spatial position data of a plurality of positioning markers received at the previous moment as a second group of point clouds, wherein the spatial position change of the first group of point clouds relative to the spatial position change of the second group of point clouds reflects the spatial pose change of the flexible sheet at the current moment;
establishing a first local coordinate system of the first group of point clouds and a second local coordinate system of the second group of point clouds by the fiducial locating markers;
point-to-point matching is carried out on each point in the first group of point clouds and each point in the second group of point clouds, and the deformation variable value of the flexible sheet is calculated through the matched point pairs;
integrally matching the first group of point clouds and the second group of point clouds in a world coordinate system to obtain a six-degree-of-freedom displacement rotation parameter of the flexible sheet;
and updating space path planning in navigation positioning or mechanical arm navigation positioning according to the deformation quantitative value of the flexible sheet and the displacement rotation parameter of six degrees of freedom, and assisting to determine the position movement of the operation part in the navigation positioning or mechanical arm navigation positioning according to the updated space path.
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| WO2023038906A1 (en) * | 2021-09-07 | 2023-03-16 | Zeta Surgical Inc. | Systems and methods for robotic surgical control and navigation |
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