CN112603538A - Orthopedic navigation positioning system and method - Google Patents
Orthopedic navigation positioning system and method Download PDFInfo
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- CN112603538A CN112603538A CN202011525997.4A CN202011525997A CN112603538A CN 112603538 A CN112603538 A CN 112603538A CN 202011525997 A CN202011525997 A CN 202011525997A CN 112603538 A CN112603538 A CN 112603538A
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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
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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
- A61B2034/107—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
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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
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses an orthopedics navigation positioning system and a method thereof, wherein the orthopedics navigation positioning system comprises: the tail end of the mechanical arm is provided with an actuator and a tracer; the precision verification device is used for verifying and optimizing the navigation precision of the system by matching with the C-arm machine and the optical tracker; the optical tracker is used for collecting the positions of the tracers on the equipment and obtaining the position information of the corresponding equipment; the C-arm machine is used for scanning to generate a preoperative 3D image and registering the preoperative 3D image with the intraoperative 2D perspective image; and the upper computer is used for planning a path on the preoperative 3D image, controlling the mechanical arm to move to a target position after the path is registered with the intraoperative 2D perspective image, and performing an operation. The invention can maximize the operation precision of people and the mechanical arm through accurate positioning, reduce the wound of a patient, accelerate the operation process and reduce the radiation of doctors and patients.
Description
Technical Field
The invention relates to the field of surgical navigation and positioning, in particular to an orthopedic navigation and positioning system and method.
Background
Currently, spinal orthopedic surgery requires a doctor to precisely locate a patient position using preoperative and intraoperative medical images in order to manipulate the patient position, such as nailing or injecting bone cement, etc., and the necessary preoperative operations of these operations are drilling holes at the desired position. In conventional spinal surgery, the surgeon is required to manually position and maintain the position of the positioning drill guide tube. This manual process has some disadvantages as follows:
1. the operation positioning process is complex and the safety is low due to the low precision of operating the surgical instruments by doctors;
2. the vision of a doctor needs to be constantly switched between the display screen and a patient, so that accidental injury is easily caused, and complications are generated;
3. repeated X-ray images are required for positioning, increasing the operation time and causing unnecessary radiation damage to the doctor and the patient.
4. The success of the procedure depends in large part on the dexterity and dexterity of the surgeon.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an orthopedic navigation positioning system and method aiming at the defects, which can assist a surgeon in positioning in the body of a patient and executing an operation procedure.
The technical scheme is as follows:
an orthopedic navigation positioning system comprising:
the tail end of the mechanical arm is provided with an actuator and a tracer;
the precision verification device is used for verifying and optimizing the navigation precision of the system by matching with the C-arm machine and the optical tracker;
the optical tracker is used for collecting the positions of the tracers on the equipment and obtaining the position information of the corresponding equipment;
the C-arm machine is used for scanning to generate a preoperative 3D image and registering the preoperative 3D image with the intraoperative 2D perspective image;
and the upper computer is used for planning a path on the preoperative 3D image, controlling the mechanical arm to move to a target position after the path is registered with the intraoperative 2D perspective image, and performing an operation.
The precision verification device comprises a precision verification tool and a verification piece, wherein the precision verification tool comprises a bearing body and a verification tracer, and the bearing body is provided with an inclined bearing surface; a plurality of verification holes with different diameters are formed in the bearing surface, and the verification holes penetrate through the bearing body to form verification channels; the supporting body is provided with a plurality of registration points which are arranged according to a set rule, and the registration points are made of an X-ray opaque material.
The C-arm machine is characterized in that a registration tool is installed on an imaging path of the C-arm machine, at least two parallel planar structural members are arranged on the registration tool, and a registration tracer and a plurality of registration points are arranged on the planar structural members.
An orthopedic navigation positioning method is characterized in that: the method comprises the following steps:
(1) the navigation precision of the system is verified and optimized by the precision verification device in cooperation with the C-arm machine and the optical tracker;
(2) scanning the affected part of the patient by using a C-arm machine to obtain a preoperative 3D image, and planning an operation path on the preoperative 3D image;
(3) carrying out perspective imaging on the affected part of the patient through a C-arm machine in the operation, and registering the affected part with the preoperative 3D image obtained in the step (2);
(4) and (4) obtaining the registered operation path according to the step (2) and the step (3), and controlling the mechanical arm to move to the target pose according to the operation path to perform the operation.
The verification and optimization of the system navigation precision in the step (1) are specifically as follows:
(11) scanning a 3D image of the precision verification tool by the C-arm machine, and acquiring an image coordinate of a registration point on the 3D image;
(12) acquiring the pose of a tool tracer on the precision verification tool through an optical tracker, calculating according to design parameters to obtain the space coordinate of a registration point on the tool tracer, and further calculating to obtain the transformation relation between an image coordinate system and an optical tracker coordinate system;
(13) selecting a certain verification channel in the precision verification tool as a planning channel, and calculating according to the step (12) to obtain the target pose of the verification piece arranged on the end effector;
(14) calculating according to the installation parameters of the end effector and the verification to obtain a transformation relation between the verification piece and the tracer at the tail end of the mechanical arm;
(15) planning the mechanical arm to move to the target position according to the steps (13) and (14);
(16) verifying through the verification certificate, calculating the error between the verification certificate and a verification channel, and judging whether the error meets the precision error range; if so, allowing the operation; if the error does not meet the requirement, debugging is needed again until the error between the verification piece and the verification channel meets the precision error range.
The registration in step (3) is as follows:
(21) scanning a planar structural member arranged on an imaging path of the C-arm machine to obtain an image coordinate of a registered point on the planar structural member, and obtaining a planar coordinate of the registered point on the planar structural member according to design parameters of the planar structural member, thereby obtaining a transformation relation between a plane and an image;
(22) obtaining coordinates of a calibration point arranged on the intraoperative 2D perspective image on different planes according to the transformation relation between the planes and the images, and obtaining the center of an X-ray source according to the perspective projection principle;
(23) and (4) taking the X-ray source center obtained in the step (22) as an optical center, taking a plane of a certain plane structural member as a virtual imaging plane to construct a C-arm machine space positioning model, generating a DRR image for the preoperative 3D image according to the C-arm machine space positioning model, and registering the intraoperative 2D perspective image and the preoperative 3D image according to the DRR image.
In the step (4), the pose of the target is calculated as follows:
(31) calculating the image coordinates of the two end points of the planning channel, and obtaining the space coordinates of the two end points of the planning channel according to the pose of the patient tracer obtained by the optical tracker and the registration result;
(32) and (5) calculating the target pose of the tail end of the mechanical arm according to the step (31) and the installation parameters of the tail end tracer.
Has the advantages that: the invention can maximize the operation precision of people and the mechanical arm through accurate positioning, reduce the wound of a patient, accelerate the operation process and reduce the radiation of doctors and patients.
Drawings
FIG. 1 is a system architecture diagram of the present invention.
Fig. 2 is a schematic diagram of the precision verification tool of the invention.
Figure 3 is a schematic view of the installation of the verification member of the present invention.
Fig. 4 is a schematic view of the preoperative plan of the present invention.
FIG. 5 is a schematic diagram of a C-arm machine space positioning model constructed according to the present invention.
Fig. 6 is a schematic diagram of the exercise program of the present invention.
Wherein, 10 is an execution control component, 20 is an accuracy verification device, 30 is an optical tracker, 40 is a C-arm machine, 50 is an operation platform, 60 is a registration tool, and 70 is a planning channel;
101 is the tail end of a mechanical arm, 102 is an end effector, and 103 is a tail end tracer; 201 is a verification tracer, 202 is a registration point, 203 is a verification channel, and 204 is a verification piece; 401 is a registration tool; 501 is the affected part of the patient, and 502 is the tracer of the patient; 601 is an end registrar.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1 is a system architecture diagram of the present invention, and as shown in fig. 1, the orthopedic navigation positioning system of the present invention includes a robot, a precision verification device 20, an optical tracker 30, a C-arm machine 40, and an upper computer, which is respectively connected to the robot, the optical tracker 30, and the C-arm machine 40.
An end effector 102 and an end tracer 103 are mounted at the end 101 of the mechanical arm of the robot, and the robot controls the movement of the mechanical arm according to the planned path.
As shown in fig. 2 and 3, the precision verification apparatus 20 of the present invention includes a precision verification tool and a verification component 204, wherein the precision verification tool includes a supporting body, a registration point 202 and a verification tracer 201, and the supporting body is provided with an inclined supporting surface; a plurality of verification holes with different diameters are formed on the bearing surface, and the verification holes penetrate through the bearing body to form a verification channel 203; a plurality of registration points 202 which are arranged according to a set rule are arranged on the carrier, and the registration points 202 are made of an X-ray opaque material; in the invention, the registration point 202 is a steel ball with the diameter of 2-4 mm; also mounted on the carrier is a verification tracer 201, the verification tracer 201 comprising at least three coplanar non-collinear verification balls that can be identified by the optical tracker 30, the verification balls being either active light-emitting balls or light-reflecting balls. In the invention, the verification tracer 201 is provided with 4 coplanar non-collinear reflective balls, wherein one reflective ball is used for calibrating the positions of other luminescent balls, and the tracing function can be realized under the condition that any one reflective ball is shielded; the verification member 204 is mounted in cooperation with the end effector 102.
The invention carries out precision verification by the precision verification device 20 before operation so as to ensure the usability of the system, and specifically comprises the following steps:
(11) scanning the 3D image of the precision verification tool by the C-arm machine 40, and acquiring the coordinates of the registration point 202 on the C-arm machine under an image coordinate system; acquiring the pose of a tooling tracer 201 on the precision verification tooling through an optical tracker 30, calculating according to the design parameters of the precision verification tooling to obtain the coordinates of the registration points on the tooling under the coordinate system of the optical tracker, and further calculating to obtain the transformation relation between the image coordinate system and the coordinate system of the optical tracker;
(12) selecting a certain verification channel 203 in the precision verification tool as a planning channel, transforming the certain verification channel 203 into an optical tracker coordinate system, and calculating according to the target pose of a verification piece 204 arranged on the end effector 102;
(13) calculating to obtain a transformation relation between the verification piece 204 and the tracer at the tail end of the mechanical arm according to the installation parameters of the end effector 102 and the verification piece 204;
(14) planning the mechanical arm to move to the target position according to the steps (12) and (13);
(15) verifying through the verification certificate, calculating the error between the verification certificate and a verification channel, and judging whether the error meets the precision error range; if so, allowing the operation; if the error does not meet the requirement, debugging is needed again until the error between the verification piece and the verification channel meets the precision error range.
Fig. 4 is a schematic diagram of preoperative planning of the present invention, and as shown in fig. 4, a registration tool 401 is installed on an imaging path of the C-arm machine 40, at least two mutually parallel planar structural members are arranged on the registration tool 401, and a registration tracer and a plurality of registration points are arranged on the planar structural members.
The invention obtains a planning channel by performing operation planning in the preoperative 3D image, and obtains an operation path by performing registration on the intraoperative 2D perspective image and the preoperative 3D image, and performs operation according to the operation path.
In the invention, the registration of the intraoperative 2D fluoroscopic image and the preoperative 3D image is specifically as follows:
(21) scanning the planar structural member through the C-arm machine to obtain the image coordinates of the registered points on the planar structural member, and obtaining the planar coordinates of the registered points on the planar structural member according to the design parameters of the planar structural member, thereby obtaining the transformation relation between the plane and the image;
(22) obtaining coordinates of a calibration point arranged on the intraoperative 2D perspective image on different planes according to the transformation relation between the planes and the images, and obtaining the center of an X-ray source according to the perspective projection principle;
(23) and (3) taking the center of the X-ray source obtained in the step (22) as an optical center, taking a plane of a certain planar structural member as a virtual imaging plane to construct a C-arm machine space positioning model, as shown in fig. 5, generating a DRR image for the preoperative 3D image, and registering the intraoperative 2D perspective image and the preoperative 3D image.
Therefore, the preoperative 3D image can be aligned to the intraoperative 2D fluoroscopic image, the planning channel in the preoperative 3D image can be aligned to the intraoperative 2D fluoroscopic image, and the mechanical arm is guided to be executed to the target pose according to the registration result, so that the operation is performed.
Wherein the target pose of the end effector 102 is calculated as follows:
(31) calculating coordinates of the two end points of the planning channel 70 in the image coordinate system, and obtaining the coordinates of the two end points of the planning channel 70 in the optical tracker coordinate system according to the pose of the patient tracer 502 obtained by the optical tracker 30 and the registration result;
(32) the patient tracer 502 and the tail end tracer 103 can be seen through the optical tracker 30 at the same time, the position which the tail end of the mechanical arm should reach can be calculated according to the step (31) and the installation parameters of the tail end tracer 103, the tail end of the mechanical arm is controlled to reach the calculated theoretical value, the poses of the patient tracer 502 and the tail end tracer 103 are obtained through the optical tracker 30 in real time, the position of the tail end of the mechanical arm is continuously compensated and adjusted, and the planned position is finally reached, as shown in fig. 6.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (7)
1. An orthopedic navigation positioning system, comprising: the method comprises the following steps:
the tail end of the mechanical arm is provided with an actuator and a tracer;
the precision verification device is used for verifying and optimizing the navigation precision of the system by matching with the C-arm machine and the optical tracker;
the optical tracker is used for collecting the positions of the tracers on the equipment and obtaining the position information of the corresponding equipment;
the C-arm machine is used for scanning to generate a preoperative 3D image and registering the preoperative 3D image with the intraoperative 2D perspective image;
and the upper computer is used for planning a path on the preoperative 3D image, controlling the mechanical arm to move to a target position after the path is registered with the intraoperative 2D perspective image, and performing an operation.
2. The orthopedic navigation positioning system of claim 1, wherein: the precision verification device comprises a precision verification tool and a verification piece, wherein the precision verification tool comprises a bearing body and a verification tracer, and the bearing body is provided with an inclined bearing surface; a plurality of verification holes with different diameters are formed in the bearing surface, and the verification holes penetrate through the bearing body to form verification channels; the supporting body is provided with a plurality of registration points which are arranged according to a set rule, and the registration points are made of an X-ray opaque material.
3. The orthopedic navigation positioning system of claim 1, wherein: the C-arm machine is characterized in that a registration tool is installed on an imaging path of the C-arm machine, at least two parallel planar structural members are arranged on the registration tool, and a registration tracer and a plurality of registration points are arranged on the planar structural members.
4. An orthopedic navigation positioning method adopting the orthopedic navigation positioning system of any one of claims 1 to 3, characterized in that: the method comprises the following steps:
(1) the navigation precision of the system is verified and optimized by the precision verification device in cooperation with the C-arm machine and the optical tracker;
(2) scanning the affected part of the patient by using a C-arm machine to obtain a preoperative 3D image, and planning an operation path on the preoperative 3D image;
(3) carrying out perspective imaging on the affected part of the patient through a C-arm machine in the operation, and registering the affected part with the preoperative 3D image obtained in the step (2);
(4) and (4) obtaining the registered operation path according to the step (2) and the step (3), and controlling the mechanical arm to move to the target pose according to the operation path to perform the operation.
5. The orthopedic navigation positioning method according to claim 4, characterized in that: the verification and optimization of the system navigation precision in the step (1) are specifically as follows:
(11) scanning a 3D image of the precision verification tool by the C-arm machine, and acquiring an image coordinate of a registration point on the 3D image;
(12) acquiring the pose of a tool tracer on the precision verification tool through an optical tracker, calculating according to design parameters to obtain the space coordinate of a registration point on the tool tracer, and further calculating to obtain the transformation relation between an image coordinate system and an optical tracker coordinate system;
(13) selecting a certain verification channel in the precision verification tool as a planning channel, and calculating according to the step (12) to obtain the target pose of the verification piece arranged on the end effector;
(14) calculating according to the installation parameters of the end effector and the verification to obtain a transformation relation between the verification piece and the tracer at the tail end of the mechanical arm;
(15) planning the mechanical arm to move to the target position according to the steps (13) and (14);
(16) verifying through the verification certificate, calculating the error between the verification certificate and a verification channel, and judging whether the error meets the precision error range; if so, allowing the operation; if the error does not meet the requirement, debugging is needed again until the error between the verification piece and the verification channel meets the precision error range.
6. The orthopedic navigation positioning method according to claim 4, characterized in that: the registration in step (3) is as follows:
(21) scanning a planar structural member arranged on an imaging path of the C-arm machine to obtain an image coordinate of a registered point on the planar structural member, and obtaining a planar coordinate of the registered point on the planar structural member according to design parameters of the planar structural member, thereby obtaining a transformation relation between a plane and an image;
(22) obtaining coordinates of a calibration point arranged on the intraoperative 2D perspective image on different planes according to the transformation relation between the planes and the images, and obtaining the center of an X-ray source according to the perspective projection principle;
(23) and (4) taking the X-ray source center obtained in the step (22) as an optical center, taking a plane of a certain plane structural member as a virtual imaging plane to construct a C-arm machine space positioning model, generating a DRR image for the preoperative 3D image according to the C-arm machine space positioning model, and registering the intraoperative 2D perspective image and the preoperative 3D image according to the DRR image.
7. The orthopedic navigation positioning method according to claim 4, characterized in that: in the step (4), the pose of the target is calculated as follows:
(31) calculating the image coordinates of the two end points of the planning channel, and obtaining the space coordinates of the two end points of the planning channel according to the pose of the patient tracer obtained by the optical tracker and the registration result;
(32) and (5) calculating the target pose of the tail end of the mechanical arm according to the step (31) and the installation parameters of the tail end tracer.
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| CN113143466A (en) * | 2021-05-31 | 2021-07-23 | 上海阅行医疗科技有限公司 | Intraoperative planning adjustment method and system based on integrated surgical robot |
| CN113558765A (en) * | 2021-07-09 | 2021-10-29 | 北京罗森博特科技有限公司 | Navigation and reset operation control system and method |
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| CN114176787A (en) * | 2022-02-15 | 2022-03-15 | 江苏省人民医院（南京医科大学第一附属医院） | Control method based on effective working space of surgical robot |
| CN115396654B (en) * | 2022-09-02 | 2023-08-08 | 北京积水潭医院 | Navigation offset verification device, method, navigation equipment and storage medium |
| CN116747023A (en) * | 2023-08-11 | 2023-09-15 | 北京维卓致远医疗科技发展有限责任公司 | Fixing instrument for registration instrument of image system and navigation system |
| CN116747023B (en) * | 2023-08-11 | 2023-11-28 | 北京维卓致远医疗科技发展有限责任公司 | Fixing instrument for registration instrument of image system and navigation system |
| CN117064557A (en) * | 2023-08-24 | 2023-11-17 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical robot for orthopedic surgery |
| CN117064557B (en) * | 2023-08-24 | 2024-03-29 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical robot for orthopedic surgery |
| CN117137626A (en) * | 2023-10-30 | 2023-12-01 | 北京三博脑科医院有限公司 | Noninvasive registration method for neurosurgery robot |
| CN117137626B (en) * | 2023-10-30 | 2024-04-12 | 北京三博脑科医院有限公司 | Noninvasive registration method for neurosurgery robot |
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