CN111728701A - Rapid registration method and device for robot-assisted spinal surgery - Google Patents
Rapid registration method and device for robot-assisted spinal surgery Download PDFInfo
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- CN111728701A CN111728701A CN202010736250.7A CN202010736250A CN111728701A CN 111728701 A CN111728701 A CN 111728701A CN 202010736250 A CN202010736250 A CN 202010736250A CN 111728701 A CN111728701 A CN 111728701A
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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
- A61B34/10—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
- 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
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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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
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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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
- A61B2034/2065—Tracking using image or pattern recognition
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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
- A61B2034/2068—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
- A61B2034/207—Divots for calibration
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a rapid registration method and a rapid registration device for robot-assisted spine surgery, wherein the rapid registration method comprises the steps of carrying out Boolean operation on a three-dimensional model of a registration device and a spinous process part of a three-dimensional model of a vertebra to be operated, and deriving a registration matrix; exporting a registration device three-dimensional model after Boolean operation, and carrying out rapid forming processing; in the operation process, the object of the registration device is installed and fixed on the spinous process part of the operation object, and the registration is completed. The invention has simple interactive operation, short learning period, portable registering device, easy carrying and disinfection, high registering speed, and simultaneously avoids X-ray radiation exposure and improves the operation environment.
Description
Technical Field
The invention relates to the field of surgical auxiliary instruments, in particular to a rapid registration method and a rapid registration device for a robot-assisted spinal surgery.
Background
In robot-assisted bone surgery, it is often necessary to map preoperative surgeon planning data into intraoperative surgical object space, i.e., registration technique of the surgical space and image space, which is the key to determine whether the robot-assisted surgery can be successfully performed.
In the prior art, a C-arm machine is required to be combined with a corresponding registration device for registration, the C-arm machine is used for carrying out standard normal position and standard side position perspective on a registration device with navigation mark points in an operation, steel ball mark points in a visual field are selected and are brought into a C-arm machine imaging model to solve model parameters, and two C-arm images are subjected to registration calculation.
The existing registration device and registration method have the following defects: 1. the C-arm machine of the imaging equipment in the operation has the problems of large volume, heavy weight, great damage of X-rays to the human body and the like; 2. when shooting a standard right side position, the shooting angle is extremely difficult to grasp, and the problem that the imaging of the C arm is shielded by the operating table is easy to occur; 3, the C-arm machine has serious image distortion and deformation, the calculation error of a projection mapping model is large, and the registration precision is not high; 4. in the whole registration process, the interactive operation is complex, the time consumption is long, and the learning period of an operator is long.
It can be seen that the above-mentioned existing registration method and fitting apparatus, in terms of structure, method and use, still have inconveniences and disadvantages, and further improvement is needed. How to create a new rapid registration method and device for robot-assisted spinal surgery, and actually belongs to one of the current important research and development subjects.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a rapid registration method for robot-assisted spinal surgery, which has the advantages of rapid registration, simple interactive operation, short learning period, avoidance of X-ray radiation exposure and improvement of the surgical environment, thereby overcoming the defects of the existing registration method.
In order to solve the technical problem, the invention provides a rapid registration method for robot-assisted spinal surgery, which comprises the following steps:
s1: performing Boolean operation on the three-dimensional model of the registration device and the spinous process part of the three-dimensional model of the vertebra of the operation object, and deriving a registration matrix;
s2: exporting a registration device three-dimensional model after Boolean operation, and carrying out rapid forming processing;
s3: in the operation process, the object of the registration device is installed and fixed on the spinous process part of the operation object, and the registration is completed.
As a modification of the present invention, the specific steps of step S1 include:
s11: performing medical image scanning on the vertebra of the operation object and performing three-dimensional reconstruction on the scanned medical image to reconstruct a three-dimensional model of the vertebra of the operation object;
s12: defining a coordinate system of the three-dimensional model of the registration device;
s13: introducing the three-dimensional model of the surgical object vertebra and the three-dimensional model of the registration device into a computer graphics space;
s14: adjusting the three-dimensional model of the registration device to enable the three-dimensional model of the registration device to be superposed with the spinous process of the three-dimensional model of the vertebra of the operation object, executing Boolean difference operation, and deriving the three-dimensional model of the registration device after Boolean operation for step S2;
s15: and recording the conversion matrix in the adjustment process, namely the registration matrix, and exporting and storing the conversion matrix.
Further, the specific step of step S2 includes:
s21: performing rapid molding processing on the registration device three-dimensional model after Boolean operation;
s22: and carrying out preoperative sterilization treatment on the machined and molded registering device real object.
Further, the specific step of step S3 includes:
s31: peeling off the spinous process of the surgical object;
s32: and installing and clamping the registration device on the vertebrae of the operation object.
In addition, the invention also provides a registration device, which has high registration speed, is portable and easy to carry and disinfect, avoids X-ray radiation exposure, improves the operation environment and overcomes the defects of the existing registration device.
In order to solve the above technical problem, the present invention provides a registration apparatus for use in the above fast registration method for robot-assisted spine surgery, including a boolean operation area, a connection area, and a navigation marker, wherein:
the Boolean operation area is in a shape obtained by performing Boolean subtraction operation on the registration device model and the surgical object vertebra model by a computer, and the Boolean operation area is contacted and attached to the surgical object vertebra spinous process in the operation;
the connection area connects and fixes the Boolean operation area and the navigation marker;
and the navigation marker is provided with a tracking marker for the robot to identify and navigate the registration device.
As a further improvement, the boolean operation area and the navigation marker are connected by a connection area to form an integral structure, wherein:
the connecting area is an I-shaped connecting rod;
the Boolean operation area is fixedly connected to the bottom surface of the middle part of the connecting area;
the navigation marker is four cubes fixedly connected to four I-shaped end portions of the connecting area, and at least three surfaces of the four cube blocks are provided with identification mark points.
Further, the registration device is provided with an installation indication area, and the installation indication area is an arrow or other graphic marks or character marks and is used for indicating the installation direction of the registration device.
Furthermore, a positioning and checking area is arranged on the registration device, is a circular or other-shaped mark and is used for calibrating the navigation precision of the robot before the operation.
Furthermore, a path simulation area is arranged on the connecting area, the path simulation area is a curve drawn by simulating the traveling path of the surgical instrument through a computer, and the path simulation area is imprinted on the connecting area.
After adopting such design, the invention has at least the following advantages:
1. after the computer is used for carrying out Boolean difference operation on the three-dimensional model of the registration device and the three-dimensional model of the vertebra of the operation object, the rapid prototyping processing technology is applied to carry out personalized customization on the registration device, and the adaptability of the registration device is stronger;
2. the registration precision is high, and the registration speed is high;
3. the operator has simple interactive operation and short learning period;
4. x-ray irradiation is not needed in the operation, so that the exposure of the X-ray radiation is avoided, and the operation environment is improved.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
Fig. 1 is a schematic structural diagram of a registration apparatus provided in the present invention.
Description of reference numerals: 1-Boolean operation area; 2-installing a clamping area; 3-a navigation marker; 4-linking; 5-installing an indication area; 6-positioning the check area.
Detailed Description
Referring to fig. 1, the present invention provides a registration device, which includes a boolean operation area 1, an installation clamping area 2, a navigation marker 3, a connection area 4, an installation indication area 5, a positioning verification area 6, and a path simulation area (not shown).
The Boolean operation area 1 and the navigation marker 3 are fixedly connected through the connection area 4 to form an integral structure, the Boolean operation area 1 is located in the middle of the connection area 4, the shape of the Boolean operation area 1 is the shape obtained by performing Boolean subtraction operation on the registration device model and the operation object vertebra model through a computer, therefore, the Boolean operation area 1 and the operation object vertebra have high adaptability, and in the operation process, the Boolean operation area 1 is contacted and attached to the operation object vertebra spinous process.
The connection area 4 is an I-shaped connecting rod, four end portions of the I-shaped connecting rod are respectively and vertically and fixedly connected to one surface of a cube of the navigation marker 3 and used for fixedly connecting the Boolean operation area 1 and the navigation marker 3, the Boolean operation area 1 is located on the bottom surface of the middle portion of the connection area 4, and the navigation marker 3 is fixedly connected to the end portion of the connection area 4.
The navigation marker 3 is four cubes fixedly connected to four I-shaped ends of the connecting area 4, and at least three surfaces of the four cube blocks are provided with identification marker points for identifying and navigating the registration device by a robot.
It should be noted that, in the present embodiment, the navigation marker 3 is configured in four cube shapes, and the identification mark points are disposed on at least three surfaces, which belong to the optical positioning and tracking mark.
The mounting and clamping area 2 is arranged on the side of the middle part of the connecting area 4, and in the embodiment, the mounting and clamping area 2 is a rectangular groove used for clamping the registration device through a surgical clamp. In other embodiments, the mounting clamping area 2 may also be a through hole, a bolt hole or other structures for fixing the registration device by a k-wire, a bolt or other fixing forms.
The installation indication area 5 and the positioning verification area 6 are arranged on the top surface of the connection area 4, and the installation indication area 5 is an arrow graphic mark for indicating the installation direction of the registration device. The positioning and checking area 6 is a round hole and is used for calibrating the navigation precision of the robot before an operation. In other embodiments of the present invention, the shape of the installation indication area 5 is not limited to an arrow shape, and may be other shapes or characters, or a combination of shapes and characters, and the shape of the positioning verification area 6 is also limited to a circle, and may be other shapes.
The path simulation area (not shown in the figure) is a curve drawn by a computer simulation of the traveling path of the surgical instrument, and the path simulation area is engraved on the connection area 4 and plays a role of providing a path reference for an operator in the operation.
Preferably, the registration device is made of a transparent material.
The invention also provides a rapid registration method for the robot-assisted spine surgery, which comprises the following steps:
s1: performing Boolean operation on the three-dimensional model of the registration device and the spinous process part of the three-dimensional model of the vertebra of the operation object, and deriving a registration matrix
S2: exporting a registration device three-dimensional model after Boolean operation, and carrying out rapid forming processing;
s3: in the operation process, the object of the registration device is installed and fixed on the spinous process part of the operation object, and the registration is completed.
Specifically, step S1 may be subdivided into:
s11: performing medical image scanning on the vertebra of the operation object and performing three-dimensional reconstruction on the scanned medical image to reconstruct a three-dimensional model of the vertebra of the operation object;
s12: defining a coordinate system of the three-dimensional model of the registration device;
s13: introducing the three-dimensional model of the surgical object vertebra and the three-dimensional model of the registration device into a computer graphics space;
s14: adjusting the three-dimensional model of the registration device to enable the three-dimensional model of the registration device to be superposed with the spinous process of the three-dimensional model of the vertebra of the operation object, executing Boolean difference operation, and deriving the three-dimensional model of the registration device after Boolean operation for step S2;
s15: and recording the conversion matrix in the adjustment process, namely the registration matrix, and exporting and storing the conversion matrix.
Specifically, step S2 may be subdivided into:
s21: performing rapid molding processing on the registration device three-dimensional model after Boolean operation;
s22: and carrying out preoperative sterilization treatment on the machined and molded registering device real object.
Specifically, step S3 may be subdivided into:
s31: peeling off the spinous process of the surgical object;
s32: and installing and clamping the registration device on the vertebrae of the operation object.
The rapid registration method for the robot-assisted spine surgery provided by the invention is simple to operate, short in learning period, strong in adaptability of the registration device to the vertebrae of the surgical object in structure, high in registration speed and high in registration precision in use.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (10)
1. A method of rapid registration for robotic-assisted spinal surgery, comprising the steps of:
s1: performing Boolean operation on the three-dimensional model of the registration device and the spinous process part of the three-dimensional model of the vertebra of the operation object, and deriving a registration matrix;
s2: exporting a registration device three-dimensional model after Boolean operation, and carrying out rapid forming processing;
s3: in the operation process, the object of the registration device is installed and fixed on the spinous process part of the operation object, and the registration is completed.
2. The fast registration method for robotic-assisted spine surgery according to claim 1, wherein the specific steps of step S1 include:
s11: performing medical image scanning on the vertebra of the operation object and performing three-dimensional reconstruction on the scanned medical image to reconstruct a three-dimensional model of the vertebra of the operation object;
s12: defining a coordinate system of the three-dimensional model of the registration device;
s13: introducing the three-dimensional model of the surgical object vertebra and the three-dimensional model of the registration device into a computer graphics space;
s14: adjusting the three-dimensional model of the registration device to enable the three-dimensional model of the registration device to be superposed with the spinous process of the three-dimensional model of the vertebra of the operation object, executing Boolean difference operation, and deriving the three-dimensional model of the registration device after Boolean operation for step S2;
s15: and recording the conversion matrix in the adjustment process, namely the registration matrix, and exporting and storing the conversion matrix.
3. The fast registration method for robotic-assisted spine surgery according to claim 1, wherein the specific steps of step S2 include:
s21: performing rapid molding processing on the registration device three-dimensional model after Boolean operation;
s22: and carrying out preoperative sterilization treatment on the machined and molded registering device real object.
4. The fast registration method for robotic-assisted spinal surgery as claimed in claim 1, wherein the specific steps of said step S3 include:
s31: peeling off the spinous process of the surgical object;
s32: and installing and clamping the registration device on the vertebrae of the operation object.
5. A registration device for use in a rapid registration method for robotically assisted spinal surgery according to any of claims 1-4, characterized by: the system comprises a Boolean operation area, a connection area and a navigation marker, wherein:
the Boolean operation area is in a shape obtained by performing Boolean subtraction operation on the registration device model and the surgical object vertebra model by a computer, and the Boolean operation area is contacted and attached to the surgical object vertebra spinous process in the operation;
the connection area connects and fixes the Boolean operation area and the navigation marker;
and the navigation marker is provided with a tracking marker for the robot to identify and navigate the registration device.
6. The registration apparatus as claimed in claim 5, wherein the Boolean operation area and the navigation marker are connected by a connection area to form an integral structure, wherein:
the connecting area is an I-shaped connecting rod;
the Boolean operation area is fixedly connected to the bottom surface of the middle part of the connecting area;
the navigation marker is four cubes fixedly connected to four I-shaped end portions of the connecting area, and at least three surfaces of the four cube blocks are provided with identification mark points.
7. The registration device according to claim 5 or 6, wherein the connection area is provided with an installation indication area, and the installation indication area is an arrow or other graphic mark, or a text mark for indicating an installation direction of the registration device.
8. The registration device according to claim 5 or 6, wherein a positioning calibration area is provided on the connection area, and the positioning calibration area is a circular or other mark for calibrating the navigation accuracy of the robot before operation.
9. The registration device of claim 5 or 6, wherein the connection region is provided with a mounting clamping region, the mounting clamping region being a rectangular groove provided at a side of a middle portion of the connection region for securing the registration device by a surgical clip.
10. The registration device according to claim 5 or 6, wherein a path simulation area is provided on the connection area, the path simulation area being a curve drawn by a computer simulating a path traveled by a surgical instrument, the path simulation area being imprinted on the connection area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010736250.7A CN111728701A (en) | 2020-07-28 | 2020-07-28 | Rapid registration method and device for robot-assisted spinal surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010736250.7A CN111728701A (en) | 2020-07-28 | 2020-07-28 | Rapid registration method and device for robot-assisted spinal surgery |
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| CN111728701A true CN111728701A (en) | 2020-10-02 |
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| CN202010736250.7A Pending CN111728701A (en) | 2020-07-28 | 2020-07-28 | Rapid registration method and device for robot-assisted spinal surgery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656508A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Novel registration is supplementary device |
| CN112656509A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
-
2020
- 2020-07-28 CN CN202010736250.7A patent/CN111728701A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656508A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Novel registration is supplementary device |
| CN112656509A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
| CN112656509B (en) * | 2020-12-18 | 2023-09-22 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
| CN112656508B (en) * | 2020-12-18 | 2023-09-26 | 华科精准（北京）医疗科技有限公司 | Novel registration auxiliary device |
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