CN112370158A

CN112370158A - Robot fracture reduction path planning method and system and robot

Info

Publication number: CN112370158A
Application number: CN202011271695.9A
Authority: CN
Inventors: 毕建平; 马平
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-02-19
Anticipated expiration: 2040-11-13
Also published as: CN112370158B

Abstract

The present disclosure provides a robot fracture reduction path planning method, a planning system and a robot, including the following steps: obtaining a far-end bone model and a near-end bone model by segmentation modeling; copying the far-end bone model to obtain a far-end bone copying model; virtually resetting the far-end bone replication model and the near-end bone model to obtain a reset combination model; constructing a reset shaft with positioning points and a replication shaft thereof; binding the replication shaft of the reset shaft with the distal bone replication model; binding the reduction shaft with the proximal bone model; registering the combination of the replication axis and the distal bone replication model with the distal model as a reference; and acquiring the reset tracks of the two broken bones according to the reset shaft and the positioning points on the copy shaft thereof. According to the setting have the axle that resets of setpoint, convert the matching between distal end model and the near-end model into the matching of axle that resets, can obtain the orbit that resets that more is fit for clinically, can realize quick accurate the resetting, avoid the collision of the in-process that resets, reduce disease secondary damage.

Description

Robot fracture reduction path planning method and system and robot

Technical Field

The disclosure relates to the technical field of surgical robots, in particular to a robot fracture reduction path planning method, a robot fracture reduction path planning system and a robot.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Fracture reduction is always a delicate problem in the fracture treatment process, and particularly under the closed condition, the ideal reduction position can hardly be reached. With the development of the robot technology, the robot-assisted fracture reduction research is developed at home and abroad. The accurate and reasonable preoperative reduction path planning is the premise of ensuring the operation safety, and has important significance for improving the operation precision and reducing the operation damage of a patient.

The inventor finds that the fracture reduction is realized by adopting a mechanical arm technology and a virtual simulation technology, and the specific method comprises the following steps: and under the condition that the proximal end of the fracture is not fixed, the distal end of the fracture is moved to complete resetting, a path of the distal end is planned, position information of each road point is recorded, a collision test is carried out, all effective road point information is input into the robot, and the robot accurately moves in place according to the position information, so that resetting is completed. However, the far-near-end fracture block cannot automatically collide and escape in a fixed state, and because the limb is a closed space formed by skin, muscle and the like, collision is easily caused in the process of path planning, and in addition, insufficient or excessive axis adjustment, insufficient or excessive rotation and the like are easily caused, so that the path planning work is repeatedly carried out, the robot also repeatedly moves, and the rapid and accurate fracture reduction of the surgical robot cannot be controlled. In the prior art, when the robot-assisted operation is used for resetting, medical accidents are easy to happen due to the large-amplitude traction of the far end and the collision of the fracture far end and surrounding tissues, and the precision and the safety are insufficient.

Disclosure of Invention

In order to solve the problems, the disclosure provides a robot fracture reduction path planning method, a robot fracture reduction path planning system and a robot, which avoid repeated path planning work, and realize rapid and accurate fracture reduction due to repeated movement of the robot.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

one or more embodiments provide a method for planning a reduction path of a robotic fracture, comprising the steps of:

acquiring a CT scanning image of a fractured bone, and performing segmentation modeling on the far end and the near end of the fractured bone to respectively obtain a far-end bone model and a near-end bone model;

copying the far-end bone model to obtain a far-end bone copying model;

moving the far-end bone replication model, and virtually resetting the far-end bone replication model and the near-end bone model;

constructing a reset shaft with positioning points and a copy shaft of the reset shaft, wherein the length of the reset shaft is not less than the longest fracture section of two fractured bones;

binding the replication shaft of the reset shaft with the distal bone replication model according to the same position of the positioning point; binding the reduction shaft with the proximal bone model;

registering the combination of the replication axis and the distal bone replication model with the distal model as a reference;

and acquiring the reset tracks of the two broken bones according to the reset shaft and the positioning points on the copy shaft thereof.

(1) taking the proximal-most bone as the current proximal bone and the adjacent broken bone as the current distal bone, and performing path planning by adopting the fracture reduction path planning method;

(2) repositioning the current distal bone;

(3) taking the combination of the current near-end bone and the current far-end bone as the current near-end bone, taking the adjacent broken bone as the current far-end bone, and adopting the fracture reduction path planning method to plan the path;

and (4) repeating the steps (2) to (3) until a reduction path of the most distal fractured bone is obtained.

One or more embodiments provide a robotic fracture reduction path planning system, comprising:

a segmentation modeling module: the CT scanning image acquisition device is configured to be used for acquiring a CT scanning image of a fractured bone, and performing segmentation modeling on the distal end and the proximal end of the fractured bone to respectively acquire a distal bone model and a proximal bone model;

a model replication module: configured for replicating the distal bone model, obtaining a distal bone replica model;

a virtual reset module: configured to move the distal bone replica model, and virtually reposition the distal bone replica model and the proximal bone model to obtain a repositioning combined model;

a reset shaft generation module: a replica shaft configured for constructing a reduction shaft having an anchor point and a reduction shaft, the reduction shaft having a length not less than the longest fracture segment of the two fractured bones;

a binding module: the bone restoration device is configured to bind the replication shaft of the reset shaft with the distal bone replication model according to the same position of the positioning point; binding the reduction shaft with the proximal bone model;

a registration module: is configured for registering the replica axis with a combination of the replica models of the distal bone, referenced to the distal model;

a trajectory generation module: is configured for acquiring the reduction trajectories of the two fractured bones according to the positioning points on the reduction shaft and the replication shaft thereof.

One or more embodiments provide a robot, the robot the above-mentioned a method for planning a fracture reduction path of a robot.

An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the reset path planning method according to any of claims 1-5 when executing the program.

Compared with the prior art, the beneficial effect of this disclosure is:

this openly has the axle that resets of setpoint according to setting up, converts the matching between distal end model and the near-end model into the matching of axle that resets, can obtain the orbit that resets that more is fit for clinically, can realize quick accurate the resetting, avoids the collision of the in-process that resets, reduces the secondary injury of disease.

According to the fracture reduction method and device, the planned path is not output in the process of realizing virtual reduction through section registration of the far-end model and the near-end model, when the virtual reduction is successful, calibration of the reduction position and planning of the reduction track are realized through setting two identical reduction shafts, collision in the actual reduction process can be reduced, and rapid and accurate fracture reduction is realized.

The fracture reduction device adopts a four-step reduction method of over-traction, alignment and retraction to seek the reduction path of the far end of the fractured bone, namely, the reduction process is divided into a plurality of stages, and the actual fracture reduction of the fractured bone can be effectively realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.

FIG. 1 is a flow chart of a method of example 1 of the present disclosure;

FIG. 2 is a schematic view of a bone fracture in example 1 of the present disclosure;

fig. 3 is a schematic view of distal bone replication in example 1 of the present disclosure;

fig. 4 is a schematic diagram of virtual reset in embodiment 1 of the present disclosure;

fig. 5 is a schematic view of a reset shaft in embodiment 1 of the present disclosure;

fig. 6 is a schematic view of a replica axis obtained by replicating a reset axis in embodiment 1 of the present disclosure;

fig. 7 is a schematic view of the reduction shaft being bound to the distal bone in embodiment 1 of the present disclosure;

FIG. 8 is a schematic view of the binding of the replication shaft to the proximal bone in example 1 of the present disclosure;

fig. 9 is a schematic diagram of registration of two combined models after binding in embodiment 1 of the present disclosure;

fig. 10 is a schematic diagram of an over-pulling alignment state based on the reset axis and the replica axis in embodiment 1 of the present disclosure;

fig. 11 is a schematic diagram of the reset shaft and the replica shaft reaching the retracted state in embodiment 1 of the present disclosure.

The specific implementation mode is as follows:

the present disclosure is further described with reference to the following drawings and examples.

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 disclosure 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 disclosure. 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. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

Example 1

In the technical solutions disclosed in one or more embodiments, as shown in fig. 1 to 11, a robot fracture reduction path planning method is used for implementing reduction of two segments of fractured bones, and includes the following steps:

step 1, acquiring a CT scanning image of a fractured bone, and performing segmentation modeling on a distal end and a proximal end of the fractured bone to respectively obtain a distal bone model and a proximal bone model;

step 2, copying the far-end bone model to obtain a far-end bone copied model;

step 3, moving the far-end bone replication model, and virtually resetting the far-end bone replication model and the near-end bone model;

step 4, constructing a reset shaft with positioning points and a copy shaft of the reset shaft, wherein the length of the reset shaft is not less than the longest fracture section of the two fractured bones;

step 5, binding the replication shaft of the reset shaft with the distal bone replication model according to the same position of the positioning point; binding the reduction shaft with the proximal bone model;

step 6, registering the combination of the replication axis and the distal bone replication model by taking the distal model as a reference;

and 7, acquiring the reduction tracks of the two broken bones according to the reduction shaft and the positioning points on the replication shaft.

This embodiment has the axle that resets of setpoint according to the setting, converts the matching between distal end and the near-end model into the matching between the axle that resets, can obtain the orbit that resets that more is fit for clinically, can realize quick accurate the resetting, avoids the collision of the in-process that resets, reduces the secondary injury of disease.

In the embodiment, the reset shaft is constructed, and the matching between the far-end model and the near-end model is converted into the matching between the reset shafts according to the reset principle of solving the mother with the son, so that the original complex reset trajectory planning is converted into a simple four-step reset method, and the reset trajectory more suitable for clinic can be obtained.

optionally, the CT scan image may be acquired by a CT scanning device, and the specific method may be as follows:

(1) respectively fixing the broken bones at the fracture part, so that the broken bones do not move relatively;

the proximal end and the distal end of the fracture are respectively provided with a threaded needle with proper quantity, length and diameter; the external fixation device of the fractured bone is adopted to fix the two sections of fractured bones, so that the proximal end and the distal end of the fracture cannot move relatively;

(2) placing the bone external fixing device and the broken bone into a CT scanner for scanning to obtain a CT image layer;

optionally, after the data is obtained, a virtual modeling method may be adopted, for example, the data may be segmented and modeled by digital medical modeling software or directly on a ct machine, then a st l file is output, and a three-dimensional digital model of a distal bone and a proximal bone is obtained by reconstruction and is used as a virtual model of the distal bone and the proximal bone, as shown in fig. 2, the three-dimensional digital model is a virtual model displayed in a software interface, and in the present embodiment, a fracture at the upper end in a position in a drawing is used as the proximal bone, and a fracture at the lower end in the drawing is used as the distal bone, for example, so as to explain a fracture reduction plan.

Step 2, copying the far-end bone model to obtain a far-end bone copied model;

specifically, as shown in fig. 3 to 4, after the far-end bone replica model is generated, the far-end bone model is kept still, and the far-end bone replica model and the near-end bone model are subjected to virtual reduction, and the following method may be adopted as the virtual reduction method.

Optionally, automatic reset may be adopted, and the computer automatically and virtually resets: registering the fracture sections based on the far-end bone replication model and the near-end bone model; specifically, coordinate data of the fracture section is identified, shape information of the fracture section is identified according to the coordinate data, and the far-end bone replica model is moved to enable the shape of the fracture section to be matched with the fracture section of the near-end bone model.

Optionally, a manual virtual reset may be employed: and receiving a virtual reduction operation aiming at the far-end bone replication model, splicing the far-end bone replication model and the near-end bone model, and obtaining two virtual reduction models of broken bones. As an implementation mode, dragging, rotating and the like can be performed on the far-end bone replica model by means of three-dimensional modeling software, so that the far-end bone replica model and the near-end model can be spliced.

Above-mentioned virtual resetting needs to carry out adjustment many times according to the effect that virtual resetting, if regard the virtual path of resetting of above-mentioned distal end bone replication model as the planning path that resets of fracture, and the in-process that the arm resets along the virtual path that resets can appear collision many times, causes patient's secondary injury. The reset shaft is constructed in the embodiment, the reset path is output based on the reset process of the reset shaft, the collision of the actual reset process is reduced, the reset system can reset according to the track of the stage in sequence by stages, and the clinical significance is achieved.

Step 4, constructing a reset shaft with positioning points and a copy shaft of the reset shaft, wherein the length of the reset shaft is greater than the longest fracture section of the two fractured bones;

for ease of operation, the reduction and replication axes may be arranged parallel to the fractured bone.

Specifically, the reset shaft may be a cylinder model, and the positioning points are spherical balls or cylinder models. As shown in fig. 5-6, the dots in the figures are round ball models.

Step 5, binding the replication axis of the reset shaft with the distal bone replication model on the premise that the generated reset shaft and the replication axis are overlapped; binding the reduction shaft with the proximal bone model;

step 6, registering the combination of the replication axis and the distal bone replication model by taking the distal model as a reference; after the registration, the distal bone replica model and the replica axis are moved to the distal bone model, and at this time, the trajectory planning problem from the distal model to the proximal model is converted into the trajectory planning problem from the replica axis to the reset axis.

As shown in fig. 7-8, the positions of the positioning points of the reset shaft connected to the distal bone model and the replica shaft connected to the distal bone replica model are the same, that is, the positions of the positioning points of the two shafts connected to the distal bone model and the distal bone replica model are the same positions.

Specifically, the distal end bone assembly can be moved, so that the reset shaft and the replication shaft are completely coincided to operate, the moving track of the replication shaft is output as the fracture resetting track in the process of coincidence operation, and the mechanical arm is operated to move according to the fracture resetting track, so that rapid fracture resetting is realized. The problem of planning the track from the far-end model to the near-end model is converted into the problem of planning the track from the copy shaft to the reset shaft.

In this embodiment, in order to reduce the secondary injury during the fracture reduction process, a four-step reduction method of over-traction, alignment and retraction may be used in step 6 to find the reduction path of the distal end of the fractured bone. As shown in fig. 9 to 11, the method specifically includes:

step 6.1, over-pulling: and moving the reset shaft by taking the copy shaft as a reference, so that the two shafts are staggered by a set distance in the axial position, and obtaining the moving track of the axial over-traction of the distal model of the fractured bone.

Optionally, the axial distance of the positioning points on the two axes is used as a staggered distance, and the staggered distance may be set to 0.5-1cm, so that the distal bone and the proximal bone are separated by a set distance.

Step 6.2, aligning: and setting a rotation center, and moving the reset shaft to enable the axis of the reset shaft to coincide with the axis of the copy shaft, so as to obtain an alignment track of the far-end model which rotates and moves with the rotation center.

Specifically, the motion trajectory of the replicated shaft in this step is output to the mechanical arm to perform alignment operation on the distal bone, that is, the rotational movement operation is generated with the ankle joint as the center of rotation, so that the distal bone and the proximal bone are on the same axis.

Step 6.3, alignment: and moving the reset shaft to enable the connecting line of the positioning point of the reset shaft and the positioning point of the copying shaft to be parallel to the axis of the copying shaft, and obtaining the rotating alignment track of the far-end model.

Specifically, the motion trajectory of the duplicated shaft is output to the mechanical arm to perform the alignment operation on the distal bone, that is, the rotation operation is generated by taking a pair of bobbins as a reference, so that the cross sections of the distal bone and the proximal bone are opposite. Because the replication axis is bound with the reduction combined model, wherein the reduction combined model is a model after the distal bone replication model and the proximal bone model are reduced, the reduction axis is moved to the position coinciding with the replication axis according to the position of the replication axis, and fracture reduction with matched fracture surfaces can be realized.

Step 6.4, retraction: and axially moving the reset shaft to enable the positioning point of the reset shaft to be superposed with the positioning point of the replication shaft, and obtaining an axial retraction track of the replication shaft, wherein two end points of the track are in the direction of a retraction force line.

Specifically, the motion track of the replication shaft in this step is output to the mechanical arm to perform the action, and the distal bone is subjected to the retraction operation, that is, the axial approach operation is generated, so that the cross sections of the distal bone and the proximal bone are overlapped.

Example 2

The embodiment provides a robot fracture reduction path planning method, which is used for realizing reduction of multiple broken bones, and sequentially connecting each section of far-end bone model according to a near-end bone model respectively, wherein when one far-end bone and one near-end bone are reduced, the far-end bone and the next far-end bone are reduced, and the robot fracture reduction path planning method in embodiment 1 is adopted for reduction of the current near-end bone and the far-end bone.

The method comprises the following specific steps:

(1) taking the proximal-most bone as the current proximal bone and the adjacent broken bone as the current distal bone, and performing path planning by adopting the method in the embodiment 1;

(2) repositioning the current distal bone;

(3) taking the combination of the current proximal bone and the current distal bone as the current proximal bone, and taking the adjacent broken bone as the current distal bone, and performing path planning by adopting the method of the embodiment 1;

Specifically, taking the N fractured bones as an example, the proximal bone and the distal bone are determined from near to far according to the positions of the proximal bone and the distal bone with respect to the human body trunk, and are the 1 st fractured bone, the 2 nd fractured bone and the 3 rd fractured bone … … th fractured bone, respectively. Firstly, executing the path planning method of the embodiment 1 to carry out fracture reduction path planning on the 1 st broken bone and the 2 nd broken bone, and executing a reduction process, wherein the first broken bone is a proximal bone, and the 2 nd broken bone is a relative distal bone; the route planning method of embodiment 1 is executed with the 1 st broken bone and the 2 nd broken bone after reduction as the current proximal bone, and the next broken bone, namely the 3 rd broken bone, to perform fracture reduction, the reduced bones after the 1 st broken bone, the 2 nd broken bone and the 3 rd broken bone are sequentially reduced are obtained as the current proximal bone, and the next reduction planning and reduction process is performed until all the broken bones are reduced.

Example 3

The embodiment provides a robot fracture reduction path planning system based on the method described in embodiment 1, including:

Optionally, the trajectory generating module includes:

a pulling module: the resetting shaft is configured to move by taking the copying shaft as a reference, so that the two shafts are staggered by a set distance in the axial position, and the moving track of the far-end model axial traction of the fractured bone is obtained;

aligning the module: an alignment trajectory configured to set a rotation center, move the reset shaft so that an axis of the reset shaft and an axis of the replica shaft coincide, and obtain a rotational movement of the distal model with the rotation center;

and (3) aligning the modules: configured to move the reset shaft so that a line connecting the positioning point of the reset shaft and the positioning point of the replica shaft is parallel to the axis of the replica shaft, and obtain an alignment trajectory of the rotation of the distal model;

a retraction module: is configured for axially displacing the reset shaft such that the location points of the reset shaft coincide with the location points of the replica shaft, obtaining an axially retracted trajectory of the replica shaft.

Example 4

The present embodiment provides a robot, and the robot adopts the method for planning a fracture reduction path of a robot in embodiment 1 or embodiment 2, and is respectively configured to output a fracture reduction planned path of two fractured bones or a fracture reduction planned path of multiple fractured bones.

Example 5

The present embodiment also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method of embodiment 1 or embodiment 2.

Example 6

The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method described in embodiment 1 or embodiment 2.

The steps involved in the above system, electronic device and readable storage medium correspond to the method, and the detailed description can be found in the relevant description part of the method. The term "computer-readable storage medium" should be taken to include a single medium or multiple media containing one or more sets of instructions; it should also be understood to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any of the methods of the present invention.

Those skilled in the art will appreciate that the modules or steps described above may be implemented using general purpose computing equipment, or alternatively, they may be implemented using program code executable by computing equipment, such that the program code is stored in memory and executed by computing equipment, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from a plurality of modules or steps. The present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

1. A robot fracture reduction path planning method is characterized by comprising the following steps:

copying the far-end bone model to obtain a far-end bone copying model;

2. The method for planning the path for reduction of bone fracture by robot as claimed in claim 1, wherein:

the virtual reset method adopts automatic reset, and the computer automatically and virtually resets: registering the fracture sections based on the far-end bone replication model and the near-end bone model;

or, the virtual reset method adopts manual virtual reset: and receiving a virtual reduction operation aiming at the far-end bone replication model, splicing the far-end bone replication model and the near-end bone model, and obtaining two virtual reduction models of broken bones.

3. The method for planning the path for reduction of bone fracture by robot as claimed in claim 1, wherein: the reset shaft is a cylindrical model, and the positioning points are spherical or cylindrical models;

or/and the length of the reduction shaft is not less than the longest fracture section of the two fractured bones.

4. The method for planning the path for reduction of bone fracture by robot as claimed in claim 1, wherein: the method for acquiring the reduction tracks of two broken bones according to the reduction shaft and the positioning points on the replication shaft comprises the following steps:

pulling: moving the copying shaft by taking the reset shaft as a reference, so that the copying shaft is parallel to the copying shaft and is staggered from the axial position by a set distance, and obtaining the axial over-traction moving track of the distal model of the fractured bone;

alignment: setting a rotation center, and moving the reset shaft to enable the axis of the reset shaft to coincide with the axis of the copy shaft, so as to obtain an alignment track of the far-end model which rotates and moves by the rotation center;

and (3) contraposition: moving the reset shaft to enable the connecting line of the positioning point of the reset shaft and the positioning point of the copying shaft to be parallel to the axis of the copying shaft, and obtaining the rotating alignment track of the far-end model;

retraction: and axially moving the replication shaft to enable the positioning point of the reset shaft to coincide with the positioning point of the replication shaft, so as to obtain an axial retraction track of the replication shaft.

5. A robot fracture reduction path planning method is characterized by comprising the following steps:

(1) performing path planning by using the method of any one of claims 1-4 with the proximal-most bone as the current proximal bone and the adjacent fractured bone as the current distal bone;

(2) repositioning the current distal bone;

(3) taking the combination of the current proximal bone and the current distal bone as the current proximal bone, and taking the adjacent broken bone as the current distal bone, and performing path planning by adopting the method of any one of claims 1 to 4;

6. A robot fracture reduction path planning system is characterized by comprising:

7. The robotic fracture reduction path planning system of claim 6, wherein the trajectory generation module comprises:

a pulling module: the device is configured to move the replication shaft by taking the reset shaft as a reference, so that the two shafts are parallel and staggered by a set distance in the axial position to obtain a moving track of the far-end model of the fractured bone in the axial traction process;

a retraction module: is configured for axially moving the replication axis such that the location point of the reset axis coincides with the location point of the replication axis, obtaining an axial retraction trajectory of the replication axis.

8. A robot is characterized in that: the robot adopts a robot fracture reduction path planning method of any one of claims 1-5.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein: the processor, when executing the program, implements the method of any of claims 1-5.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implements the method of any one of claims 1 to 5.