CN109199586B - Laser osteotomy robot system and path planning method thereof - Google Patents
Laser osteotomy robot system and path planning method thereof Download PDFInfo
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- 238000001356 surgical procedure Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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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
- A61B34/30—Surgical robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B34/10—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
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- 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
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The invention discloses a laser osteotomy surgical robot system and a path planning method thereof, which solve the problem of low precision of a laser osteotomy position in the prior art, and have the beneficial effects of effectively controlling a robot and improving the surgical efficiency, and the scheme is as follows: a path planning method of a laser osteotomy robot system is characterized in that medical staff complete the design of an operative osteotomy scheme based on preoperative three-dimensional image reconstruction and editing, extract the position information of an osteotomy line in an image space, and map the position information to a mechanical arm coordinate system of the robot, so that path planning is obtained.
Description
Technical Field
The invention relates to the field of operations, in particular to a laser osteotomy robot system and a path planning method thereof.
Background
With the development of medical imaging and computer-assisted surgery, digital surgical techniques typified by three-dimensional surgical design software and image navigation techniques have become widespread clinically. Conventional surgical protocols are performed by manual measurements of CT images, and procedures are performed by manual measurements. Errors accumulate in layers in these manual operations, eventually leading to large differences between post-operative results and design solutions. In recent years, the application of preoperative three-dimensional surgery design software avoids the precision loss in the traditional manual scheme design, so that the surgery scheme in the brain of a doctor can be accurately expressed on an image, and even can be expressed on a three-dimensional printing model in a three-dimensional printing mode. However, this perfect solution lacks a good measure, monitor and implement means for intraoperative implementation, wherein an osteotomy is a particularly typical surgical task. The osteotomy operation is a key link of the surgical operation, and the osteotomy position not only can influence the damage degree of surrounding tissues, but also can determine the accuracy of the bone block in re-positioning after the operation and the postoperative recovery. Therefore, in most surgical planning software, osteotomies are precisely planned and simulated as an important step. How to accurately realize the osteotomy line planned before the operation in the operation becomes an urgent problem to be solved.
Therefore, a new research and design for a path planning method of a laser osteotomy robot system is required.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a path planning method of a laser osteotomy robot system, which solves the technical problem that an osteotomy path designed in a three-dimensional image before an operation cannot be accurately executed in the operation, avoids fatigue caused by a doctor holding a laser osteotome for a long time in the operation, and can improve the operation efficiency to a certain extent.
The specific scheme of the path planning method of the laser osteotomy robot system is as follows:
a path planning method of a laser osteotomy robot system comprises the steps that medical staff rebuilds and edits a surgical osteotomy scheme based on preoperative three-dimensional images, position information of an osteotomy line in an image space is extracted, the position information is mapped into a mechanical arm coordinate system of the robot, path planning is obtained, the position information of the osteotomy line is extracted according to the design scheme and then projected into the mechanical arm coordinate system, the robot system is not required to be held by the medical staff, osteotomy can be accurately achieved, operation efficiency is improved, and unnecessary troubles caused by errors of medical staff due to manual operation are avoided.
Further, the specific steps are as follows:
1) the medical staff completes the design of the operative osteotomy scheme based on the preoperative three-dimensional image reconstruction and editing, and extracts the position information of the osteotomy line in the image space;
2) installing a surgical tool at the end part of the mechanical arm;
3) integrating and unifying a coordinate system of the mechanical arm, a coordinate system of a navigation camera arranged on one side of the mechanical arm and an image space coordinate system;
4) and 3) integrally mapping the osteotomy line extracted in the step 1) to a camera coordinate system and a mechanical arm coordinate system in an operation space by means of the integration of the three coordinate systems, so as to realize the path planning of the laser osteotomy operation robot.
Further, the design of the surgical osteotomy scheme completed by the medical staff based on the preoperative three-dimensional image reconstruction and editing is realized through preoperative three-dimensional surgical planning and simulation software, the preoperative three-dimensional surgical planning and simulation software is installed on a computer, robot online controller software and image navigation software in the surgical process are also installed in the computer, the robot online control software is connected with a controller of the laser osteotomy surgical robot, and in part of schemes, the controller is a programmable PLC (programmable logic controller) controller, or the action of a robot mechanical arm is controlled through the controller directly by the robot online control software.
Further, the osteotomy line is the intersection of the bone tissue surface point cloud data reconstructed from the three-dimensional image and the virtual osteotomy plane in the operation simulation softwaremL1I.e. bymL1＝{mpi(x,y,z)|mpi∈S1∩O1,i∈[0,n]}，S1Is the point cloud of the outermost surface of the bone tissue, O1In order to be a virtual osteotomy plane,mpiis a set of pointsmL1At any point in the image, the superscript m represents that the point set is in the image coordinate system.
Further, the operation instrument is including locating the clamping tool of arm tip, clamping tool centre gripping laser emitter, clamping tool include two holding rods, set up the rotating electrical machines in one of them holding rod, the rotating electrical machines is connected with laser emitter's lateral part for adjustment laser emitter's angle, laser emitter's one end is used for launching laser, the other end set up be used for with navigation camera complex infrared reflection of light mark part, clamping tool pass through flange and arm end connection, infrared reflection of light mark part is used for the focus position of the laser that the laser emitter of department launched in camera coordinate system.
Furthermore, the infrared reflective marking components comprise a plurality of infrared reflective marking components, the setting positions of the infrared reflective marking components are determined according to the internal parameters of the navigation camera, the navigation camera is an infrared ray stereo camera, in part of the scheme, the other end of the laser transmitter is provided with a cross, and each end of the cross is provided with the infrared reflective marking components.
Further, the method for realizing integration and unification of the three in the step 3) is as follows:
marking the position of the focal point of the laser emitted by the laser emitter in a camera coordinate system by means of an infrared reflective marking component; marking the position and the posture of a default tool center point of the mechanical arm in a camera coordinate system by using an infrared reflective marking part, and further solving the conversion relation between a base calibration system of the mechanical arm and the camera coordinate system; and finally, realizing the relationship between the preoperative three-dimensional image coordinate system and the camera coordinate system through the homonymous points preset on the body of the patient, and finally realizing the mechanical arm, the navigation camera and the image space coordinate system so as to complete system integration.
Further, the path planning method of the step 4) comprises geometric path planning and surgical tool posture planning of the osteotomy robot;
planning the geometric path based on the osteotomy line extracted in the step 1)mL1All the discrete points ofmpi(x, y, z) by a cubic B-spline difference approximation fitting method;
the posture of the operation tool is as followsmL1All the discrete points ofmpi(x, y, z) is the angle between the coordinate system of the surgical tool and the coordinate system of the camera, the three coordinate axes of the coordinate system of the surgical tool
Are respectively defined as
Wherein
As a virtual osteotomy plane O1Inward unit normal vector, pn-i，pnFor cutting bone linemL1Two adjacent points.
Further, the sequence of the step 1) and the step 2) can be changed.
The invention also provides a laser osteotomy robot system, which comprises a mechanical arm, wherein the end part of the mechanical arm is provided with a surgical tool for osteotomy, one side of the mechanical arm is provided with a navigation camera,
the surgical tool comprises a clamping tool arranged at the end part of the mechanical arm, the clamping tool clamps the laser emitter, the clamping tool comprises two clamping rods, a rotating motor is arranged in one clamping rod and connected with the side part of the laser emitter and used for adjusting the angle of the laser emitter, one end of the laser emitter is used for emitting laser, and the other end of the laser emitter is provided with an infrared reflective marking part used for being matched with the navigation camera; the robot, the navigation camera and the surgical tool are connected with a master controller, and the master controller is a computer.
Compared with the prior art, the invention has the beneficial effects that:
1) through the design of the whole method, the invention solves the technical problem that the osteotomy path designed on the three-dimensional image before the operation cannot be accurately executed in the operation, avoids the fatigue caused by holding the laser osteotome for a long time in the operation by a doctor, and can improve the operation efficiency to a certain extent.
2) Through the design of the whole method, the invention avoids the error condition of partial manual doctor personnel in the osteotomy process.
3) The invention effectively maps the position information of the osteotomy line in the space image to the mechanical arm coordinate system by integrating the three coordinate systems, thereby realizing the accuracy of path planning.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an integrated structure and workflow of a laser osteotomy robotic system
FIG. 2 is a configuration diagram of a laser surgical robot system
FIG. 3 is a robot end tool for laser osteotomy
FIG. 4 is surgical robot end-of-tool pose planning
The system comprises a mechanical arm 1, a binocular stereo camera 2, a master controller 3, a surgical tool 4, a laser osteotome controller 5, an operating table 6, a robot working target 7, a flange 8, a clamping tool 9, a laser emitter 10, an infrared light reflecting marking part 11, a laser line 12, a virtual osteotomy plane 13, an intersection line of the outer layer surface of the bone tissue and the virtual osteotomy plane 14 and a surgical tool posture 15.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background, the prior art has shortcomings, and in order to solve the above technical problems, the present application provides a path planning method for a laser osteotomy robot system.
In a typical embodiment of the present application, as shown in fig. 2, a path planning method for a laser osteotomy robot system is provided, in which the laser osteotomy robot includes a six-degree-of-freedom mechanical arm 1, the robot is disposed on one side of an operating table, an end portion of the mechanical arm 1 can be disposed above the operating table 6, a navigation camera is disposed obliquely above the mechanical arm on one side of the operating table 6, the navigation camera is an infrared binocular stereo camera 2, an end portion of the mechanical arm 1 is provided with a surgical tool through a flange 8, the surgical tool is an execution mechanism in fig. 1, and the navigation camera is supported through a support.
The surgical tool is including the clamping tool 9 who locates 1 tip of arm, as shown in fig. 3, clamping tool 9 centre gripping laser emitter 10, and clamping tool 9 includes two holding rods, sets up the rotating electrical machines in one of them holding rod, and the rotating electrical machines is connected with laser emitter's lateral part for the angle of adjustment laser emitter 10, the one end of laser emitter 10 is used for launching osteotomy laser, the other end set up be used for with navigation camera complex infrared reflective marking part 11, clamping tool passes through flange 8 and arm end connection, infrared reflective marking part is used for the focus position of the laser that laser emitter launched in the department of standardization in the camera coordinate system.
The infrared reflective marking parts comprise a plurality of infrared reflective marking parts, the setting positions of the infrared reflective marking parts are determined according to the internal parameters of the navigation camera (in the prior art, the setting is not repeated), in part of schemes, the other end part of the laser emitter is provided with a cross, and each end part of the cross is provided with the infrared reflective marking parts.
The robot, navigation camera and operation tool are connected with the master controller, the operation tool is connected with the master controller through the operation tool controller, the master controller is a computer, preoperative three-dimensional operation planning and simulation software is arranged in the computer, robot on-line control software and image navigation software in the operation process are arranged in the computer, the robot on-line control software is in wireless connection with the controller of the robot, control over the robot is achieved, the image navigation software is connected with the navigation camera and used for tracking the position of the operation tool, and the tracked focal position of emitted laser is sent to the image navigation software through the navigation camera.
The path planning method, as shown in fig. 1, includes the following steps:
step 1, a doctor completes the design of an operative osteotomy scheme based on the three-dimensional image reconstruction and editing of preoperative CT by means of a computer, and extracts the position information of an osteotomy line in an image space. The computer comprises three major parts of preoperative three-dimensional operation planning and simulation software, robot online control software and image navigation software in the operation process, and is a comprehensive operation robot workstation integrating a three-dimensional graphic workstation, operation process tracking and mechanical arm control.
Step 2, a special surgical tool 4 is mounted on the end flange 8 of the robotic arm 1. Wherein the osteotomy line is the intersection of the point cloud data 14 of the bone tissue surface reconstructed by the three-dimensional CT and the virtual osteotomy plane 13 in the operation simulation software, namelymL1＝{mpi(x,y,z)|mpi∈S1∩O1,i∈[0,n]}，S1Is the point cloud of the outermost surface of the bone tissue, O1Is a virtual osteotomy plane 13. The operation tool 4 consists of an infrared reflective marking part 11, a laser emitter 10 and a clamping tool 9, and the three parts are fixedly connected through screws. The infrared reflecting mark part 11 is supported by a cross by four infrared reflecting balls installed at four corners of a quadrangle according to preset positions, and the preset position of infrared reflection is determined according to calibrated internal parameters of the binocular stereo camera 2 of infrared rays.
And 3, integrating all modules in the system of the laser osteotomy robot by means of the infrared reflective marking component 11 through a calibration process. The calibration process comprises the following steps: firstly, marking the position of a focal point of laser emitted by a laser emitter 10 in a camera coordinate system by an infrared reflective marking component 11; then, the position and the posture of a default Tool Center Point (TCP) of the mechanical arm 1 are marked in a camera coordinate system by means of the infrared reflective marking part 11, and then the conversion relation between a base calibration system of the mechanical arm 1 and the camera coordinate system is obtained; and finally, realizing the relation between the preoperative CT image coordinate system and the camera coordinate system through the homonymy points preset on the body of the patient, and finally realizing the unification of the mechanical arm 1, the navigation camera 2 and the image space coordinate system so as to complete the system integration.
And 4, integrating the three coordinate systems completed in the step 3, mapping the osteotomy line extracted in the step 1 into a camera coordinate system and a mechanical arm coordinate system in an operation space, realizing path planning of the laser osteotomy robot in the computer 3 by a robot path planning method, and making a control strategy.
The path planning method, as shown in fig. 4, includes two parts of geometric path planning of the osteotomy robot and surgical tool pose 15 planning. The geometric path planning is based on the osteotomy line extracted in step 1mL1All the discrete points ofmpi(x, y, z) by a cubic B-spline difference approximation fitting method. The posture 15 of the operation tool is as followsmL1All the discrete points ofmpi(x, y, z) is the angle between the surgical tool coordinate system and the camera coordinate system at the origin.
Three coordinate axes of the coordinate system of the surgical tool are respectively defined as
Wherein
As a virtual osteotomy plane O1Inward unit normal vector, pn-i，pnFor cutting bone linemL1Two adjacent points.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A laser osteotomy surgical robot system is characterized by comprising a mechanical arm, wherein an end of the mechanical arm is provided with a surgical tool for osteotomy, one side of the mechanical arm is provided with a navigation camera, the surgical tool comprises a clamping tool arranged at the end of the mechanical arm, the clamping tool clamps a laser emitter, the clamping tool comprises two clamping rods, one of the two clamping rods is internally provided with a rotating motor, the rotating motor is connected with the side of the laser emitter and used for adjusting the angle of the laser emitter, one end of the laser emitter is used for emitting laser, the other end of the laser emitter is provided with a cross, and each end of the cross is provided with an infrared reflective marking part; the mechanical arm, the navigation camera and the surgical tool are connected with a master controller, the setting position of the infrared reflective marking part is determined according to the internal parameters of the navigation camera, and the navigation camera is an infrared ray stereo camera; the infrared reflective marking component is used for marking the position of the focal point of the laser emitted by the laser emitter in a camera coordinate system;
the medical staff completes the design of the operative osteotomy scheme based on the preoperative three-dimensional image reconstruction and editing, extracts the position information of the osteotomy line in the image space, and maps the position information into a mechanical arm coordinate system of the robot so as to obtain path planning;
the operation path comprises the following specific steps:
1) the medical staff completes the design of the operative osteotomy scheme based on the preoperative three-dimensional image reconstruction and editing, and extracts the position information of the osteotomy line in the image space;
2) installing a surgical tool at the end part of the mechanical arm;
3) integrating and unifying a coordinate system of the mechanical arm, a coordinate system of a navigation camera arranged on one side of the mechanical arm and an image space coordinate system;
4) and 3) integrally mapping the osteotomy line extracted in the step 1) to a camera coordinate system and a mechanical arm coordinate system in an operation space by means of the integration of the three coordinate systems, so as to realize the path planning of the laser osteotomy operation robot.
2. The laser osteotomy surgical robotic system of claim 1, wherein said medical personnel is configured to perform a surgical osteotomy plan based on the preoperative three-dimensional image reconstruction and editing by means of preoperative three-dimensional surgical planning and simulation software installed in a computer, and the computer further contains robot on-line controller software and image navigation software during the surgical procedure.
3. The robotic laser osteotomy system of claim 1, wherein said osteotomy line is a bone tissue reconstructed from a three-dimensional imageIntersection of surface point cloud data with virtual osteotomy planes in surgical simulation softwaremL1I.e. bymL1＝{mpi(x,y,z)|mpi∈S1∩O1,i∈[0,n]}，S1Is the point cloud of the outermost surface of the bone tissue, O1In order to be a virtual osteotomy plane,mpiis a set of pointsmL1At any point in, x, y, z arempiIn coordinate values on three coordinate axes, superscript m represents a point set in an image coordinate system, n is the number of points, and i represents a label of the point.
4. The laser osteotomy robotic system of claim 1, wherein said infrared reflective marking component comprises a plurality.
5. The laser osteotomy robot system of claim 1, wherein said step 3) is realized by integrating three parts as follows:
marking the position of the focal point of the laser emitted by the laser emitter in a camera coordinate system by means of an infrared reflective marking component; marking the position and the posture of a default tool center point of the mechanical arm in a camera coordinate system by using an infrared reflective marking part, and further solving the conversion relation between a base calibration system of the mechanical arm and the camera coordinate system; and finally, realizing the relationship between the preoperative three-dimensional image coordinate system and the camera coordinate system through the homonymous points preset on the body of the patient, and finally realizing the mechanical arm, the navigation camera and the image space coordinate system so as to complete system integration.
6. The laser osteotomy surgical robotic system of claim 1, wherein said path planning of step 4) comprises geometric path planning and surgical tool pose planning of an osteotomy robot;
planning the geometric path based on the osteotomy line extracted in the step 1)mL1All the discrete points ofmpi(x, y, z) by cubic B-spline difference approximationCompleting a near fitting method;
the posture of the operation tool is as followsmL1All the discrete points ofmpi(x, y, z) is the angle between the coordinate system of the surgical tool and the coordinate system of the camera, and the three coordinate axes of the coordinate system of the surgical tool are respectively defined as
Wherein
As a virtual osteotomy plane O1Inward unit normal vector, pn-i，pnFor cutting bone linemL1The upper two adjacent points are arranged on the upper surface,
the three coordinate axes of the coordinate system of the surgical tool are marked with m to represent the point set in the image coordinate system, n is the number of the points, and i represents the labels of the points.
7. The laser osteotomy surgical robotic system of claim 1, wherein said sequence of steps 1) and 2) is interchangeable.
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| CN114888792B (en) * | 2022-04-21 | 2023-09-05 | 北京航空航天大学 | Tool coordinate system calibration method in osteotomy robot system based on TCP method |
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