CN107468338A - The scaling method of personalized prosthese position real-time tracking - Google Patents

The scaling method of personalized prosthese position real-time tracking Download PDF

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Publication number
CN107468338A
CN107468338A CN201710702049.5A CN201710702049A CN107468338A CN 107468338 A CN107468338 A CN 107468338A CN 201710702049 A CN201710702049 A CN 201710702049A CN 107468338 A CN107468338 A CN 107468338A
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CN
China
Prior art keywords
prosthese
coordinate system
registration marks
frame
marks point
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Pending
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CN201710702049.5A
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Chinese (zh)
Inventor
陈晓军
徐律
胡俊磊
郝永强
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Priority to CN201710702049.5A priority Critical patent/CN107468338A/en
Publication of CN107468338A publication Critical patent/CN107468338A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4601—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for introducing bone substitute, for implanting bone graft implants or for compacting them in the bone cavity
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—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
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4688—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor having operating or control means

Abstract

The present invention relates to a kind of scaling method of personalized prosthese position real-time tracking, including：Step S1：Design prosthese frame of reference and personalized prosthese and making；Step S2：Prosthese real-world coordinate system is established, and obtains coordinate of each registration marks point in prosthese real-world coordinate system；Step S3：Establish prosthese frame of reference coordinate system；Step S4：Probe is chosen to corresponding registration marks point on prosthese successively；Step S5：According to each registration marks point in the coordinate of tip reference rack coordinate system, and the first space conversion matrices and second space transformation matrix obtain coordinate of each registration marks point under prosthese frame of reference coordinate system；Step S6：Position and posture of the prosthese under prosthese frame of reference coordinate system are determined according to coordinate and each registration marks point coordinate under prosthese frame of reference coordinate system of each registration marks point in prosthese real-world coordinate system.Compared with prior art, the present invention has the advantages that calibration range is wide.

Description

The scaling method of personalized prosthese position real-time tracking
Technical field
The present invention relates to one kind operation ancillary technique, more particularly, to a kind of demarcation of personalized prosthese position real-time tracking Method.
Background technology
After tumor resection, excision position, which usually needs to place prosthese, carrys out Reconstruction of The Function, but the different feature of human body is (such as Bone size, shape, structure etc.) it is different, traditional ready-made implant can not realize reconstruction well.With metal 3D printing individual character Change prosthese reaching its maturity in clinical practice, the technology provides new approaches to protect limb reconstruction operations, and it is more accurate to provide Positioning and anatomical compatibility.
Such as the A of Chinese patent CN 103860295 disclose a kind of digitized design platform of knee joint tibial prosthesis Method, it includes：1) medical image data based on Healthy People knee joint tibial establishes knee joint tibial three-dimensional digitalization model The step of；2) digital simulation proximal tibia osteotomy is carried out according to replacement knee in arthroplasty scheme, and measures tibial prosthesis design phase The step of closing geometric parameter；3) by statistical analysis obtain different sexes, different model tibial prosthesis geometry join Number, and draw the step of tibial prosthesis designs a model；4) designed a model according to tibial prosthesis and manufactured by 3D printing technique The step of knee joint tibial prosthesis.It can obtain different sexes, the tibial prosthesis of different model, and this prosthese can match state The different knee joint tibial skeleton dissection Morphological Features of people's masculinity and femininity, improve the covering of prosthese and knee joint tibial osteotomy surface Rate and the acceptance rate of operation.In addition, most of business or the navigation system of independent research can demarcate operating theater instruments at present, realize The accurate excision of tumour.But due to traditional scaling method based on calibration tool that system uses be not suitable for demarcating it is various not The personalized prosthese of regular shape, clinician be still faced with how according to the position of preoperative planning by personalized prosthese in art It is accurately positioned and this challenge problem is installed.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of personalized prosthese position Put the scaling method of real-time tracking.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of scaling method of personalized prosthese position real-time tracking, including：
Step S1：Prosthese frame of reference and personalized prosthese and making are designed, wherein, the prosthese, which is provided with, is used for prosthese The frame of reference mounting hole of frame of reference installation and multiple registration marks points for being used for registration, the prosthese frame of reference, which is provided with, to be used for The reflective small ball tracked by optical alignment tracking system；
Step S2：Prosthese real-world coordinate system is established, and obtains coordinate of each registration marks point in prosthese real-world coordinate system；
Step S3：Connected after prosthese frame of reference with prosthese and after geo-stationary, establish prosthese frame of reference coordinate system；
Step S4：Corresponding registration marks point on prosthese will be chosen successively by calibrated probe, and respectively matched somebody with somebody Quasi- index point tip reference rack coordinate system coordinate, and be respectively used to by prosthese frame of reference coordinate system and tip reference frame seat Mark system is converted to the first space conversion matrices and second space transformation matrix of world coordinate system；
Step S5：According to each registration marks point in the coordinate of tip reference rack coordinate system, and the first space conversion matrices Coordinate of each registration marks point under prosthese frame of reference coordinate system is obtained with second space transformation matrix；
Step S6：According to coordinate of each registration marks point in prosthese real-world coordinate system and each registration marks point in vacation Coordinate under body frame of reference coordinate system determines position and posture of the prosthese under prosthese frame of reference coordinate system.
The registration marks point is conical apertures.
The size of the conical apertures is diameter 2mm, high 1mm.
The number of the registration marks point is 3~5.
The number of the registration marks point is 4.
The size of the probe coordinates with registration marks point.
When the probe chooses registration marks point, probe cusp overlaps with registration marks point.
The step S4 is specifically included：
Step S41：Corresponding registration marks point on prosthese will be chosen successively by calibrated probe；
Step S42：Determine to be used to prosthese referring to rack coordinate by optical alignment tracking system locating and tracking reflective small ball System is converted to the first space conversion matrices of world coordinate system；
Step S43：When probe is chosen into specified registration marks point, the coordinate of probe tip is being visited as the registration marks point The coordinate of pin frame of reference coordinate system；
Step S44：Determine to be used to tip reference rack coordinate system being converted to world coordinate system according to the nominal data of probe Second space transformation matrix.
The world coordinate system is the coordinate system of optical alignment tracking system.
The prosthese frame of reference and prosthese are connected through a screw thread.
Compared with prior art, the present invention has advantages below：
1) side taken on the personalized prosthese material object of frame of reference a little in reserved identification point and is installed by the probe demarcated Method determines position and posture of the personalized prosthese under frame of reference coordinate system, pacifies to solve the lower personalized prosthese of image guiding Fill this problem and provide advantage.
2) doctor can be made to ensure the accuracy of planting body implantation and neighbouring important physiological tissue's structure in surgical procedure Security, for patients, operation wound can be reduced, improve the success rate at a specified future date of planting body, so as to improve its survive matter Amount.
3) position and the posture of prosthese are realized by prosthese frame of reference, the prosthese for personalization provides reference.
4) registration marks point is that conical apertures are easy to coordinate with probe.
5) number of registration marks point be 3~5, especially for 4 when, can accurately judge prosthese posture, and reduce Amount of calculation.
6) size of conical apertures is diameter 2mm, high 1mm, while providing registering, can take up smaller body Product, reduce the structure destruction to prosthese.
Brief description of the drawings
Fig. 1 is the key step schematic flow sheet of the inventive method；
Fig. 2 is the schematic diagram of personalized prosthese；
Fig. 3 is the schematic diagram of probe；
Fig. 4 is the schematic diagram of prosthese frame of reference；
Fig. 5 takes method schematic diagram a little for probe on prosthese.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to Following embodiments.
A kind of scaling method of personalized prosthese position real-time tracking, as shown in figure 1, including：
Step S1：Design prosthese frame of reference as shown in Figure 4 and personalized prosthese as shown in Fig. 2 and make, wherein, it is false Body is provided with the frame of reference mounting hole for being used for the installation of prosthese frame of reference and multiple registration marks points for being used for registration, prosthese reference Frame is provided with the size for the reflective small ball frame of reference mounting hole for being used for being tracked by optical alignment tracking system with needing vacation to be mounted Body frame of reference coordinates, and registration marks point is conical apertures, and its size is diameter 2mm, high 1mm.The number of registration marks point is 3 ~5, preferably 4.
Step S2：Prosthese real-world coordinate system is established, and obtains coordinate of each registration marks point in prosthese real-world coordinate system；
Specifically, forming the threedimensional model of personalized prosthese according to the result of preoperative planning, the personalization of completion will be designed Prosthese threedimensional model forms material object by metal 3D printing technique.During prosthetic designs, its surface need to reserve design 3 to 5 Individual conical apertures are as registration marks point, and reserved frame of reference mounting hole.Then, personalized prosthese coordinate in kind is established System, is set to O0X0Y0Z0, and coordinate of the reserved registration marks point under its coordinate system is set to X0i=(x0i,y0i,z0i)T,(i =1,2,3,4).
Personalized prosthese threedimensional model can by UG softwares (Unigraphics NX, SiemensPLM Software, The modeling software design such as Germany), and save as StereoLithographic (STL) file.
Described personalized prosthese real-world coordinate is with utilizing the three-dimensional during modeling softwares such as UG, SolidWorks design prosthese Model coordinate systems are consistent.
Step S3：Frame of reference mounting hole prosthese frame of reference being mounted by screwing on the prosthese of personalization, is treated After prosthese frame of reference and personalized prosthese keep geo-stationary, prosthese frame of reference coordinate system is established, is set to O2X2Y2Z2, prosthese ginseng Examine rack coordinate system and prosthese real-world coordinate system forms the demarcation coordinate system of personalized prosthese.
Step S4：As shown in Figure 3 is chosen into corresponding registration marks point on prosthese successively by calibrated probe, And coordinate of each registration marks point in tip reference rack coordinate system is obtained, and be respectively used to prosthese frame of reference coordinate system and spy Pin frame of reference coordinate system is converted to the first space conversion matrices and second space transformation matrix of world coordinate system, the world therein Coordinate system is the coordinate system of optical alignment tracking system；
The size of probe coordinates with registration marks point, when probe chooses registration marks point, probe cusp and registration marks point Overlap, step S4 is specifically included：
Step S41：As shown in figure 5, corresponding registration marks point on prosthese will be chosen successively by calibrated probe；
Step S42：Determine to be used to prosthese referring to rack coordinate by optical alignment tracking system locating and tracking reflective small ball System is converted to the first space conversion matrices of world coordinate system；
Step S43：When probe is chosen into specified registration marks point, the coordinate of probe tip is being visited as the registration marks point The coordinate of pin frame of reference coordinate system；
Step S44：Determine to be used to tip reference rack coordinate system being converted to world coordinate system according to the nominal data of probe Second space transformation matrix.
If three-dimensional seat of the registration marks point under tip reference rack coordinate system, prosthese frame of reference coordinate system, world coordinate system Mark is respectively X1i=(x1i,y1i,z1i)T、X2i=(x2i,y2i,z2i)T、Xi=(xi,yi,zi)T, (i=1,2,3,4).A1(R1, T1) and A2 (R2,T2) it is respectively the space that prosthese frame of reference coordinate system and tip reference rack coordinate system are converted to world coordinate system Transformation matrix (wherein R1、R2For spin matrix, T1、T2For translation matrix), then following transformational relation be present：
Step S5：According to each registration marks point in the coordinate of tip reference rack coordinate system, and the first space conversion matrices Coordinate of each registration marks point under prosthese frame of reference coordinate system is obtained with second space transformation matrix；
Specifically, A1, A2 for being calculated automatically from according to optical alignment tracking system and obtained probe cusp its from Three-dimensional coordinate under body reference frame, X can be solved2i=(x2i,y2i,z2i)T。
Step S6：Then, based on X0i=(x0i,y0i,z0i)TAnd X2i=(x2i,y2i,z2i)TThis two groups are marked correspondingly Three-dimensional coordinate of the will point point set under different coordinates, it can determine that personalized prosthese under its frame of reference coordinate system by a registration Position and posture.
To sum up, the application is reserving registering identification point and is installing the personalized of prosthese frame of reference by the probe demarcated Method a little is taken on prosthese material object to determine position and posture of the personalized prosthese under frame of reference coordinate system, is drawn to solve image Personalized prosthese under leading installs this problem and provides advantage.The application can make doctor ensure to plant in surgical procedure The security of the accuracy of implant implantation and neighbouring important physiological tissue's structure.For patients, operation wound can be reduced, carried The success rate at a specified future date of high planting body, so as to improve its life quality.

Claims (10)

  1. A kind of 1. scaling method of personalized prosthese position real-time tracking, it is characterised in that including：
    Step S1：Prosthese frame of reference and personalized prosthese and making are designed, wherein, the prosthese is provided with to be referred to for prosthese The frame of reference mounting hole of frame installation and multiple registration marks points for being used for registration, the prosthese frame of reference, which is provided with, to be used for by light Learn the reflective small ball of locating and tracking system tracking；
    Step S2：Prosthese real-world coordinate system is established, and obtains coordinate of each registration marks point in prosthese real-world coordinate system；
    Step S3：Connected after prosthese frame of reference with prosthese and after geo-stationary, establish prosthese frame of reference coordinate system；
    Step S4：Corresponding registration marks point on prosthese will be chosen successively by calibrated probe, and obtain respectively matching somebody with somebody fiducial mark Will point and is respectively used to prosthese frame of reference coordinate system and tip reference rack coordinate system in the coordinate of tip reference rack coordinate system Be converted to the first space conversion matrices and second space transformation matrix of world coordinate system；
    Step S5：According to each registration marks point in the coordinate of tip reference rack coordinate system, and the first space conversion matrices and Two space conversion matrices obtain coordinate of each registration marks point under prosthese frame of reference coordinate system；
    Step S6：Joined according to coordinate of each registration marks point in prosthese real-world coordinate system and each registration marks point in prosthese Examine the coordinate under rack coordinate system and determine position and posture of the prosthese under prosthese frame of reference coordinate system.
  2. 2. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 1, it is characterised in that described Registration marks point is conical apertures.
  3. 3. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 2, it is characterised in that described The size of conical apertures is diameter 2mm, high 1mm.
  4. 4. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 1, it is characterised in that described The number of registration marks point is 3~5.
  5. 5. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 4, it is characterised in that described The number of registration marks point is 4.
  6. 6. according to a kind of scaling method of any described personalized prosthese position real-time tracking in claims 1 to 3, its feature It is, size and the registration marks point of the probe coordinate.
  7. 7. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 6, it is characterised in that described When probe chooses registration marks point, probe cusp overlaps with registration marks point.
  8. 8. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 7, it is characterised in that described Step S4 is specifically included：
    Step S41：Corresponding registration marks point on prosthese will be chosen successively by calibrated probe；
    Step S42：Determine to be used to turn prosthese frame of reference coordinate system by optical alignment tracking system locating and tracking reflective small ball It is changed to the first space conversion matrices of world coordinate system；
    Step S43：When probe is chosen into specified registration marks point, the coordinate of probe tip is joined as the registration marks point in probe Examine the coordinate of rack coordinate system；
    Step S44：Determined according to the nominal data of probe for tip reference rack coordinate system to be converted into the of world coordinate system Two space conversion matrices.
  9. 9. the scaling method of a kind of personalized prosthese position real-time tracking according to claim 1, it is characterised in that described World coordinate system is the coordinate system of optical alignment tracking system.
  10. A kind of 10. scaling method of personalized prosthese position real-time tracking according to claim 1, it is characterised in that institute State prosthese frame of reference and prosthese is connected through a screw thread.
CN201710702049.5A 2017-08-16 2017-08-16 The scaling method of personalized prosthese position real-time tracking Pending CN107468338A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108652740A (en) * 2018-04-26 2018-10-16 上海交通大学 A kind of scaling method of floating bone block position real-time tracking
CN108888341A (en) * 2018-04-26 2018-11-27 上海交通大学 A kind of scaling method of augmented reality Helmet Mounted Display position real-time tracking
CN114748201A (en) * 2022-04-19 2022-07-15 深圳广成创新技术有限公司 Method and device for acquiring three-dimensional parameters of dental implant
CN117017482A (en) * 2022-12-29 2023-11-10 北京和华瑞博医疗科技有限公司 Auxiliary installation prosthesis device and operation navigation system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108652740A (en) * 2018-04-26 2018-10-16 上海交通大学 A kind of scaling method of floating bone block position real-time tracking
CN108888341A (en) * 2018-04-26 2018-11-27 上海交通大学 A kind of scaling method of augmented reality Helmet Mounted Display position real-time tracking
CN108652740B (en) * 2018-04-26 2020-09-08 上海交通大学 Calibration device for real-time tracking of free bone block position
CN114748201A (en) * 2022-04-19 2022-07-15 深圳广成创新技术有限公司 Method and device for acquiring three-dimensional parameters of dental implant
CN117017482A (en) * 2022-12-29 2023-11-10 北京和华瑞博医疗科技有限公司 Auxiliary installation prosthesis device and operation navigation system

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Application publication date: 20171215