CN112618017B - Navigation operation system, computer readable storage medium and electronic device - Google Patents

Navigation operation system, computer readable storage medium and electronic device Download PDF

Info

Publication number
CN112618017B
CN112618017B CN202011487498.0A CN202011487498A CN112618017B CN 112618017 B CN112618017 B CN 112618017B CN 202011487498 A CN202011487498 A CN 202011487498A CN 112618017 B CN112618017 B CN 112618017B
Authority
CN
China
Prior art keywords
coordinate system
target
mechanical arm
base
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011487498.0A
Other languages
Chinese (zh)
Other versions
CN112618017A (en
Inventor
彭维礼
李涛
何超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Xiaowei Changxing Robot Co ltd
Original Assignee
Suzhou Xiaowei Changxing Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Xiaowei Changxing Robot Co ltd filed Critical Suzhou Xiaowei Changxing Robot Co ltd
Priority to CN202011487498.0A priority Critical patent/CN112618017B/en
Publication of CN112618017A publication Critical patent/CN112618017A/en
Priority to PCT/CN2021/138093 priority patent/WO2022127794A1/en
Application granted granted Critical
Publication of CN112618017B publication Critical patent/CN112618017B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue

Abstract

The invention provides a navigation operation system, a computer readable storage medium and electronic equipment, which comprise a robot system, a navigation system and a control unit which are in communication connection, wherein the robot system comprises a mechanical arm, and the robot system is provided with a robot coordinate system on the mechanical arm; the navigation system comprises navigation tracking equipment and a bone target, and is provided with a base coordinate system and a verification target coordinate system which can be identified by the navigation tracking equipment; the base coordinate system and the robot coordinate system have a preset first conversion relation, and the verification target coordinate system and the base coordinate system have a preset second conversion relation; the control unit identifies a calibration target coordinate system and determines the position of the mechanical arm under the calibration target coordinate system when the mechanical arm is in an expected pose according to the coordinate system of the bone target; and obtaining the expected position of the mechanical arm under the coordinate system of the robot system according to the position of the mechanical arm under the coordinate system of the calibration target, the second conversion relation and the first conversion relation, ensuring the operation precision and expanding the operation space in the operation.

Description

Navigation operation system, computer readable storage medium and electronic device
Technical Field
The invention relates to the technical field of medical instruments, in particular to a computer readable storage medium and electronic equipment of a navigation operation system.
Background
Knee osteoarthritis is a common orthopedic disease, and is clinically manifested as swelling and pain, swelling, stiffness and the like of the knee joint. The knee osteoarthritis has more inducements, if a patient cannot be timely and effectively treated, a series of complications such as muscular atrophy, knee joint deformity and the like are easily caused, and the physical and psychological health and the life quality of the patient are seriously influenced. Total Knee Arthroplasty (TKA) is the most effective means for treating late knee osteoarthritis at present, and can relieve knee pain of patients, recover knee mobility and greatly improve postoperative life quality of patients.
In the prior art, an orthopaedic surgical robot system is usually used for total knee replacement, and a plurality of targets such as a tool target, a base target and the like are used for determining the coordinate system relationship between the surgical robot and a navigation system, but the problem that the mechanical arm of the robot is not accurately positioned in the operation still exists.
Disclosure of Invention
The invention aims to provide a navigation surgery system, a computer readable storage medium and electronic equipment, aiming at improving the positioning accuracy of a mechanical arm of a robot system in surgery and further improving the surgery precision.
In order to achieve the above object, the present invention provides a navigation surgery system, which is characterized by comprising a robot system, a navigation system and a control unit, wherein the robot system, the navigation system and the control unit are connected in communication;
the robotic system includes a robotic arm and the robotic system has a robot coordinate system defined on the robotic arm;
the navigation system comprises a navigation tracking device and a bone target, wherein the bone target is used for being arranged at a specified position on the body of a patient, and the navigation system is provided with a base coordinate system and a verification target coordinate system which can be identified by the navigation tracking device; the base coordinate system and the robot coordinate system have a predetermined first conversion relation, and the verification target coordinate system and the base coordinate system have a predetermined second conversion relation;
the control unit is configured to: receiving the coordinate system of the verification target, and determining the position of the mechanical arm under the coordinate system of the verification target when the mechanical arm is in an expected pose according to the coordinate system of the bone target; and obtaining the expected position of the mechanical arm in the coordinate system of the robot system according to the position of the mechanical arm in the coordinate system of the verification target, the second conversion relation and the first conversion relation.
Optionally, the navigation system further comprises a base target and a verification target, the base target is used for constructing the base coordinate system, and the verification target is used for constructing the verification target coordinate system;
the base target and the verification target are respectively fixed at different positions, and the verification target is closer to a supporting device for bearing a patient than the base target; and/or the presence of a gas in the gas,
the volume of the verification target is smaller than that of the base target.
Optionally, the control unit is further configured to: and identifying the base target, determining the position of the mechanical arm in the base coordinate system when the mechanical arm is in the expected pose according to the coordinate system of the bone target, and obtaining the expected position of the mechanical arm in the robot coordinate system according to the position of the mechanical arm in the base coordinate system and the first conversion relation.
Optionally, the navigation system further comprises a tool target for being disposed on an end tool carried by the end of the robotic arm;
the control unit is configured to: and driving the mechanical arm to move, identifying the tool target and judging whether the mechanical arm reaches the expected position.
Optionally, the navigation tracking device is an optical tracking device.
Optionally, the navigation tracking device is used for tracking the position of the tail end of the mechanical arm in space; the control unit executes kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in space, and acquires the first conversion relation between the base coordinate system and the robot coordinate system according to the calibrated model of the mechanical arm.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a program which, when executed, performs the steps of:
establishing a robot coordinate system on a mechanical arm, and establishing a base coordinate system and a verification target coordinate system which can be identified by navigation tracking equipment in a navigation operation system; the base coordinate system and the robot coordinate system have a first preset conversion relation, and the verification target coordinate system and the base coordinate system have a second preset conversion relation;
identifying the coordinate system of the verification target, and determining the position of the mechanical arm under the coordinate system of the verification target when the mechanical arm is in an expected pose according to the coordinate system of the bone target arranged on the body of the patient; and converting the position of the mechanical arm under the coordinate system of the verification target into an expected position of the mechanical arm under the coordinate system of the robot according to the second conversion relation and the first conversion relation.
Optionally, the program further performs the steps of:
identifying the base coordinate system and determining a position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;
and converting the position of the mechanical arm in the base coordinate system into the expected position of the mechanical arm in the robot coordinate system according to the first conversion relation.
Optionally, the program further performs the steps of: and performing kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in the space, and acquiring the first conversion relation between the base coordinate system and the robot coordinate system according to the calibrated model of the mechanical arm.
Optionally, a tail end tool is hung at the tail end of the mechanical arm, and a tool target is arranged on the tail end tool;
the program further executes the steps of: and driving the mechanical arm to move, identifying the tool target and judging whether the mechanical arm reaches the expected position.
To achieve the above object, the present invention also provides an electronic product including a processor and the computer-readable storage medium according to any one of the preceding claims, wherein the processor is configured to execute the program in the computer-readable storage medium.
Compared with the prior art, the navigation operation system, the computer readable storage medium and the electronic product have the following advantages:
the first navigation surgery system comprises a robot system, a navigation system and a control unit which are in communication connection, wherein the robot system is connected with the navigation system; the robotic system includes a robotic arm and the robotic system has a robot coordinate system defined on the robotic arm; the navigation system comprises a navigation tracking device and a bone target, wherein the bone target is used for being arranged at a specified position on the body of a patient, and the navigation system is provided with a base coordinate system and a verification target coordinate system which can be identified by the navigation tracking device; the base coordinate system and the robot coordinate system have a predetermined first conversion relation, and the verification target coordinate system and the base coordinate system have a predetermined second conversion relation; the control unit is configured to: identifying the coordinate system of the verification target, and determining the position of the mechanical arm under the coordinate system of the verification target when the mechanical arm is in an expected pose according to the coordinate system of the bone target; and obtaining the expected position of the mechanical arm in the coordinate system of the robot system according to the position of the mechanical arm in the coordinate system of the verification target, the second conversion relation and the first conversion relation. The calibration target coordinate system is used for positioning, the problem of inaccurate positioning caused by failure in the operation of the base coordinate system is avoided, and the positioning precision of the mechanical arm is effectively guaranteed. Moreover, the calibration target is used for positioning, so that the operation space of a doctor in an actual operation can be enlarged, the interference in the operation is reduced, and the operation convenience is improved;
secondly, during actual operation, various positioning modes can be selected according to actual conditions to carry out redundancy correction, so that the positioning accuracy of the mechanical arm is ensured; the positioning is carried out in a mode of carrying out data fusion by utilizing the position of the mechanical arm in the coordinate system of the verification target and the position of the tool target, or in a mode of carrying out data fusion by utilizing the position of the mechanical arm in the coordinate system of the base and the position of the tool target, so that the positioning precision of the mechanical arm can be further improved.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a navigated surgical system according to one embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a navigated surgical system according to one embodiment of the present invention, wherein the dashed boxes represent virtual boxes during robotic arm registration;
FIG. 3 is an overall flow diagram of a navigated surgical system in performing robotic arm registration in accordance with one embodiment of the present invention;
FIG. 4 is a detailed flow chart of a navigated surgical system while performing robotic arm registration in accordance with one embodiment of the present invention;
FIG. 5 is a schematic view of a navigated surgical system while performing positioning of robotic arms in accordance with a first embodiment of the present invention;
FIG. 6 is a flow chart of a navigated surgical system in accordance with a first embodiment of the present invention during positioning of a robotic arm;
FIG. 7 is a schematic view of a navigated surgical system in accordance with a second embodiment of the present invention while positioning of robotic arms is being performed;
FIG. 8 is a flow chart of a navigated surgical system in accordance with a second embodiment of the present invention during positioning of a robotic arm;
FIG. 9 is a diagrammatic view of a navigated surgical system in accordance with a third embodiment of the present invention in performing positioning of a robotic arm;
FIG. 10 is a flow chart of a navigated surgical system in accordance with a third embodiment of the present invention during positioning of a robotic arm;
FIG. 11 is a diagrammatic view of a navigated surgical system in accordance with a fourth embodiment of the present invention in performing positioning of a robotic arm;
FIG. 12 is a flow chart of a navigated surgical system in accordance with a fourth embodiment of the present invention during positioning of a robotic arm.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Furthermore, each of the embodiments described below has one or more technical features, and thus, the use of the technical features of any one embodiment does not necessarily mean that all of the technical features of any one embodiment are implemented at the same time or that only some or all of the technical features of different embodiments are implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.
As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" includes more than two referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. The same or similar reference numbers in the drawings identify the same or similar elements.
FIG. 1 is a schematic diagram of a navigated surgical system according to an exemplary embodiment. As shown in fig. 1, the navigated surgical system includes a communicatively connected robotic system, navigation system, and control unit. The robot system includes a robot arm 110 and has a robot coordinate system defined on the robot arm 110. The navigation system includes a navigation tracking device 210, the navigation system having a base coordinate system that can be identified by the navigation tracking device 210. The navigated surgical system is configured to: the navigation tracking device 210 tracks the position of the tip of the robotic arm 110 in space; the control unit performs a kinematic model calibration of the robot arm 110 according to the position of the end of the robot arm 110 in space, and obtains a first transformation relationship between the base coordinate system and the robot coordinate system according to the calibrated model of the robot arm 110.
In other words, in the embodiment of the present invention, when the mechanical arm 110 is registered (acquiring the conversion relationship between the base coordinate system and the robot coordinate system), the kinematic model calibration is performed on the mechanical arm 110 first to improve the absolute positioning accuracy of the mechanical arm 110, so that the more accurate first conversion relationship can be acquired, which is beneficial to achieving higher positioning accuracy in an operation and further improving the osteotomy accuracy.
With continued reference to fig. 1, those skilled in the art will appreciate that the navigation system further includes a navigation trolley 220, and the navigation tracking device 210 is directly fixed on the navigation trolley 220. The navigation cart 220 may also be provided with a human interface device, such as a display, for providing images to the operator for use during the procedure. Furthermore, the navigation system includes a plurality of targets that can be identified by the navigation tracking device 210. Preferably, the navigation tracking device 210 may be an optical tracking device, such as an ND I optical positioning apparatus, and compared with other navigation tracking devices, the measurement accuracy is high, and the positioning accuracy of the robot arm 110 can be effectively improved. Correspondingly, the target is an optical target, such as a spherical reflective marker or a sticker-type reflective marker. The control unit is provided in a controller on the navigation trolley 220.
The plurality of targets includes a base target 230 and a tool target 240. Wherein the base target 230 is used for constructing the base coordinate system, the base target 230 may be disposed on the base of the robot system, or disposed at any other suitable fixed position, and the skilled person knows how to construct the base coordinate system according to the base target 230. The tool target 240 is configured to be disposed on an end tool 101 mounted to the end of the robotic arm 110 such that the navigation tracking device 210 can track the position of the end of the robotic arm 110 in space by identifying the tool target 240.
The navigated surgical system may be used to perform a corresponding surgical procedure, such as a knee replacement procedure. It should be appreciated that when the navigated surgical system is used for knee replacement, the end tool 101 is a surgical tool for joint surgery, where the navigated system further comprises a bone target 250 for placement on a designated location on the patient's body, such as the femur and/or tibia, for constructing a bone target coordinate system with a predetermined third translation relationship between the bone target coordinate system and the base coordinate system. It should be noted that the navigated surgical system may also be used for other procedures, in which case the end tool 101 should be selected depending on the particular type of procedure.
The knee joint replacement operation by using the navigation operation system generally comprises the following operations:
first, the robot arm 110 and the navigation trolley are moved to a suitable position beside the patient bed.
The base target 230, the tool target 240, and the bone target 250 (and the verification target 260 described later as needed) are then installed, as well as the end tool 101 (specifically, an osteotomy tool such as a saw, a drill tool) and other related components such as a sterile bag.
Then, the operator guides the CT/MR scanning model of the bone of the patient into the control unit for preoperative planning, and obtains an osteotomy plan, which includes information such as the coordinates of an osteotomy plane, the model of the prosthesis, and the installation position of the prosthesis. Specifically, a three-dimensional knee joint digital model is created according to knee joint image data of a patient obtained through CT/MR scanning, and then an osteotomy scheme is created according to the three-dimensional knee joint digital model, so that an operator can perform preoperative evaluation according to the osteotomy scheme. More specifically, the osteotomy plan is determined based on the three-dimensional knee joint digital model, in combination with the resulting size plan of the prosthesis and the mounting position of the osteotomy plate, etc. Wherein the three-dimensional knee joint digital model is displayable via the display.
Then, the operator marks feature points on the bone of the patient using a target pen (for example, the operator marks a plurality of femur anatomical feature points on the bone surface of the patient), records the positions of all the feature points on the bone of the patient by using the bone target 250 as a reference through the navigation tracking device 210, and sends the position information of all the feature points to the control unit, and then the control unit obtains the actual position of the bone through a feature matching algorithm and registers the actual position of the bone with the position of the CT/MR scanning image of the bone to obtain a conversion relationship (i.e., a conversion matrix) between the coordinate system after three-dimensional reconstruction of the CT/MR scanning image and the coordinate system of the bone target, and the control unit can plan the position of each osteotomy plane under the coordinate system of the bone target according to the conversion relationship.
Subsequently, the control unit may register the robot arm 110 (i.e. perform a kinematic model calibration of the robot arm 110 and obtain the relation between the base coordinate system and the robot coordinate system) and perform a spatial positioning of the robot arm 110.
Finally, osteotomy and drilling operations are performed with the robotic system of the navigated surgical system.
In one disclosed embodiment, the method of registering the robotic arm 110 is shown in FIG. 3 and includes the steps of:
step S10: establishing a robot coordinate system on the robotic arm, and establishing a base coordinate system in the navigation system that is recognizable by the navigational tracking device. In this step, the base coordinate system is established by the control unit according to the base target 230 identified by the navigation tracking device.
And S20, the mechanical arm moves, the navigation tracking equipment tracks the position of the tail end of the mechanical arm in the space by tracking the tool target, and the control unit performs kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in the space.
Step S30: and the control unit determines the first conversion relation between the robot coordinate system and the base coordinate system according to the calibrated model of the mechanical arm.
In more detail, referring to fig. 4, the step S20 specifically includes:
step S21: the control unit issues instructions to the robotic system to drive the robotic arm to move and cause the end of the robotic arm to pass through a plurality of predetermined points in space. In a specific embodiment, the number of predetermined sites is eight.
Step S22: the control unit obtains a position of the tip end of the robot arm in the base coordinate system when the tip end of the robot arm passes through each of the predetermined sites.
Step S23: the control unit obtains a position of the tip of the robot arm in the robot coordinate system when the tip of the robot arm passes each of the predetermined positions.
Step S24: and taking a second designated point in the space as an observation point, and obtaining the absolute position of the tail end of the mechanical arm based on the robot coordinate system by the control unit according to the positions of the tail end of the mechanical arm under the base coordinate system and the robot coordinate system. The second designated point may be a first predetermined site of the plurality of predetermined sites.
Step S25: the control unit corrects a kinematic model of joints of the robot arm (the robot arm includes a plurality of joints and joints for connecting the respective joints) according to an actual joint angle position of the robot arm and the absolute position of the tip end of the robot arm. At this point, the kinematic model calibration of the robotic arm 110 is complete. The control unit stores a calibrated model of the robotic arm 110.
In the step S22, the navigation tracking device 210 tracks the tool target 240 while acquiring the position of the tip of the robot arm 110 in the base coordinate system, and therefore, the step S22 includes:
step S22 a: the control unit obtains the position of the tool target 240 in the base coordinate system.
Step S22 b: the control unit converts the position of the tool target 240 in the base coordinate system to the position of the tip of the robotic arm 110 in the base coordinate system.
Those skilled in the art will appreciate that the tool target 240 may construct a tool target coordinate system, and when the tool target 240 is installed, the positional relationship of the tool target 240 and the end of the robotic arm 110 is fixed and known, so the relationship between the tool target coordinate system and the end of the robotic arm 110 is known, and thus the control unit may convert the position of the tool target 240 in the base coordinate system to the position of the end of the robotic arm 110 in the base coordinate system.
In the step S25, the control unit corrects the kinematic model of the joint of the robot arm 110 by a method of iterative convergence by a least square method. The kinematic model used in the embodiment of the present invention may be a DH model, and in an alternative embodiment, the kinematic model may also be any one of an S model, a CPC model, and a POE model. Depending on the specific configuration of the robotic arm 110, N x 4 joint parameters and six end-tool parameters may be used for calibration, N being the axis of the robotic system, e.g., five when the robotic system is a five-axis robotic system; and when the robot system is a six-axis robot system, N is six. The specific parameters are shown in the following tables 1 and 2:
TABLE 1 Joint parameters used for kinematics model calibration
Figure GDA0003552720180000101
Figure GDA0003552720180000111
End tool parameters used in the calibration of a two-dimensional kinematic model
Offset of X axis Rotation of the X axis Offset of Y axis Rotation of Y axis Offset of Z axis Rotation of Z axis
Xd Xβ Yd Yβ Zd Zβ
A rectangular coordinate system is established with a point on one joint of the robot arm 110, for example, a base joint, as a coordinate origin, and a direction of a Z axis in the rectangular coordinate system is a direction of an output shaft of a motor of the base joint, and a direction perpendicular to the Z axis at an appropriate interval is selected as a direction of an X axis. In this case, in table one, α represents a rotation angle of a joint connecting the base joint and the second joint of the robot arm 110 about the X axis, a represents a translational distance of the joint along the X axis, θ represents a rotation angle of the joint about the Z axis, and D represents a translational distance of the joint along the Z axis. In Table two, XdDenotes the offset distance of the end tool in the X-axis direction, XβIndicating the angle of rotation of the end tool about the X-axis, YdIndicating the offset distance of the end tool in the direction of the Y-axis, YβIndicating the angle of rotation of the end tool about the Y axis, ZdIndicating the offset distance of the end tool in the Z-axis direction, ZβIndicating the angle of rotation of the end tool about the Z-axis.
Referring to fig. 4, the step S30 specifically includes: and the control unit calculates the calculated position of the tool target under the robot coordinate according to the calibrated model of the mechanical arm, and performs rigid body registration on the calculated position of the tool target and the actual position of the base target tracked by the navigation tracking equipment to obtain the first conversion relation between the base coordinate system and the robot coordinate system.
In positioning the robotic arm 110, the control unit is configured to: the expected position of the robot arm 110 in the robot coordinate system is obtained from the expected pose (including the expected position and the expected pose) of the robot arm 110. Specifically, the desired positions of a plurality of points on the robot arm 110 are determined, and when all the points on the robot arm 110 reach the respective desired positions, the robot arm 110 is in the desired attitude and the robot arm 110 is driven to move to the desired positions. As will be understood by those skilled in the art, the process of the control unit driving the robot arm 110 to move is that the control unit issues a motion command to the robot system, and then the robot arm 110 moves according to the motion command.
In the embodiment of the present invention, the navigated surgery system can select different methods to position the robotic arm 110 according to actual needs.
Next, different positioning modes of the navigated surgical system are described herein by way of specific embodiments.
Fig. 5 shows a schematic view of the positioning of the robot arm 110 provided by the first embodiment of the present invention. Referring to fig. 5, in the present embodiment, the navigation surgery system positions the robot 110 through the base target 230. Thus, after completing the registration of the robotic arm 110, the operator may detach the tool target 240 from the end tool 101. In this manner, the surgical procedure after the robotic arm 110 is positioned is more flexible.
Referring to fig. 6, the positioning method of the robot arm 110 of the present embodiment includes:
step A1: the control unit determines a position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose according to the bone target coordinate system. Specifically, the control unit determines a position of the manipulator under the bone target coordinate system according to the bone target coordinate system, and then obtains the position of the manipulator under the base coordinate system by combining the third transformation relationship between the bone target coordinate system and the base coordinate system.
Step A2: the control unit converts the position of the mechanical arm under the base coordinate system into an expected position of the mechanical arm under the robot coordinate system according to the first conversion relation between the base coordinate system and the robot coordinate system.
Step A3: and the control unit sends the expected position of the mechanical arm under the robot coordinate system to the robot system so as to drive the mechanical arm to move and position the mechanical arm.
Thereafter, after the robotic arm is moved to the desired pose (i.e., positioning is completed), the operator may perform an osteotomy procedure using the navigated surgical system.
The present embodiment is suitable for maintaining the relative fixation between the base target 230 and the surgical platform during the whole procedure of the surgery, so that the navigation tracking apparatus 210 can track the base target 230 all the time and keep the base coordinate system unchanged.
Fig. 7 shows a schematic view of the positioning of the robot arm 110 provided by the second embodiment of the present invention. As shown in fig. 7, the present embodiment is different from the first embodiment in that the navigated surgical system positions the robotic arm 110 using the base coordinate system and the tool target simultaneously. That is, at this time, the end tool 101 mounted on the end of the robot arm 110 is provided with the tool target 240 (see fig. 7). Meanwhile, in the present embodiment, the desired positions of the robot arm 110 in the robot coordinate system include a first desired position and a second desired position.
Referring to fig. 8, the process of positioning the robot arm 110 in the embodiment includes:
step A10: the control unit determines, from the bone target, positions of the robotic arm and the tool target in the base coordinate system when the robotic arm is in the expected pose. Specifically, the control unit determines the positions of the mechanical arm and the tool target in the bone target coordinate system, and then obtains the positions of the mechanical arm and the tool target in the base coordinate system according to the third conversion relationship between the bone target coordinate system and the base coordinate system.
Step A20: the control unit converts the position of the mechanical arm in the base coordinate system to the first desired position in the robot coordinate system according to the first conversion relationship between the base coordinate system and the robot coordinate system.
Step A30: the control unit converts the position of the tool target in the base coordinate system to a position of a first specified point on the end tool in the robot coordinate system according to the first conversion relationship between the base coordinate system and the robot coordinate system. It is understood that the tool target 240 is mounted on the end tool 101, the relative position between the two is fixed, the first designated point is a determined point on the end tool 101, and therefore the position relationship between the tool target 240 and the first designated point is also determined, and therefore, in the same coordinate system, the position of the first designated point is easily determined according to the position of the tool target 240. The first designated point is determined by the practitioner according to actual needs.
Step A40: the control unit executes data fusion processing on a first expected position of the mechanical arm in the robot coordinate system and a position of the first designated point in the robot coordinate system to obtain a second expected position of the mechanical arm in the robot coordinate system.
Step A50: and the control unit sends a second expected position of the mechanical arm under the robot coordinate system to the robot system so as to drive the mechanical arm to move to the second expected position for spatial positioning.
The positioning method of the mechanical arm 110 provided by the embodiment is more accurate than that of the first embodiment, and is beneficial to further improving the operation precision.
Fig. 9 shows a schematic view of the positioning of the robot arm 110 provided by the third embodiment of the present invention. This embodiment may be suitable for situations where the base target 230 is knocked and displaced, or where the surgical platform is repositioned. It should be understood that in the present embodiment, the base coordinate system is determined by the initial position of the base target 230, which is not affected by the displacement of the base target 230. That is, as shown in fig. 10, in the present embodiment, the base target 230 may be removed when the robot arm 110 is positioned.
With continued reference to fig. 9, the navigation system further includes a verification target 260, and the navigation surgical system positions the robotic arm 110 using the verification target 260 such that the tool target 240 may also be removed during positioning. The verification target 260 is disposed at a designated location, such as on the base of the robotic arm 110, and the verification target 260 has a predetermined second translation relationship with the base coordinate system. The mounting position of the verification target 260 may be determined before the robotic arm 110 is registered (i.e., before the robotic arm is registered, the verification target 260 is mounted, and the mounting position at this time is used as the designated position of the verification target 260), or after the robotic arm 110 is registered but before the base target 230 is collided and the surgical platform is repositioned, as long as it is ensured that the verification target 260 has the second conversion relationship with the base coordinate system when it is mounted at this position.
Referring to fig. 10, after the base target 230 is displaced by collision or the surgical platform is repositioned, the positioning method of the robot arm 110 includes:
step A100: installing the verification target based on a predetermined location.
Step A200: the control unit determines the position of the robotic arm in the verification target coordinate system when the robotic arm is in the expected pose according to the bone target coordinate system. Since the mounting positions of the bone target 250 and the verification target 260 are fixed, a known fourth conversion relationship exists between the bone target coordinate system and the verification target coordinate system, and therefore the control unit determines the position of the mechanical arm in the bone target coordinate system first, and then obtains the position of the mechanical arm in the verification target coordinate system according to the fourth conversion relationship.
Step A300: the control unit converts the position of the robot arm in the verification target coordinate system into the desired position of the robot arm in the robot coordinate system according to the second conversion relationship between the verification target coordinate system and the base coordinate system and the first conversion relationship between the base coordinate system and the robot coordinate system.
Step A400: and the control unit sends the expected position of the mechanical arm under the robot coordinate system to the robot system so as to drive the mechanical arm to move to the expected pose and position the mechanical arm.
In this embodiment, the verification target 260 is used for positioning, and the base target 230 can be removed. The calibration target 260 has a smaller volume than the base target 230, and occupies a smaller space environment, so that the operating space of a doctor in an operation can be enlarged, and the convenience of the operation can be improved. Not only here, when the verification target 260 and the base target 230 are installed, the verification target 260 is closer to a supporting device (e.g., a patient bed) for supporting a patient than the base target 230, so that the verification target 260 is further away from a doctor during an operation than the base target 230, reducing the risk of the doctor colliding with the verification target 260. As will be appreciated by those skilled in the art, the specific mounting locations of the verification target 260 and the base target 230 can be chosen as appropriate according to the actual needs, so long as the verification target 260 is further away from the surgeon than the base target 230 during the operation.
In addition, it should be noted that the positioning method of the robot arm 110 provided in the present embodiment is not only suitable for the case where the base target 230 fails (for example, the base target 230 is displaced by collision, or is shielded, or fails to identify itself). It also applies to cases where the tool target 240 fails (e.g., is displaced by a collision, or is occluded, or fails to identify itself). Fig. 11 shows a schematic view of the positioning of the robot arm 110 according to the fourth embodiment of the present invention. As shown in fig. 12, the present embodiment is different from the third embodiment in that the navigated surgical system simultaneously uses the verification target 260 and the tool target 240 for localization. And, the desired position of the robot arm 110 in the robot coordinate system includes a first desired position and a second desired position.
Fig. 12 shows a positioning process of the robot arm 110 provided in the present example, including:
step A1000: the control unit determines the positions of the robotic arm and the tool target in the verification target coordinate system when the robotic arm is in the desired pose according to the bone target coordinate system.
Step A2000: the control unit converts the position of the mechanical arm under the calibration target coordinate system into a first expected position of the mechanical arm under the robot coordinate system according to the second conversion relation between the calibration target coordinate system and the base coordinate system and the first conversion relation between the base coordinate system and the robot coordinate system.
Step A3000: the control unit converts the position of the tool target in the verification target coordinate system to the position of the first specified point on the end tool in the robot coordinate system according to the second conversion relationship between the verification target coordinate system and the base coordinate system and the first conversion relationship between the base coordinate system and the robot coordinate system.
Step A4000: the control unit performs data fusion processing on the first expected position of the mechanical arm in the robot coordinate system and the position of the first designated point in the robot coordinate system to obtain the second expected position of the mechanical arm in the robot coordinate system.
Step A5000: and the control unit sends the second expected position of the mechanical arm under the robot coordinate system to the robot system so as to enable the mechanical arm to move and perform space positioning.
In fact, in the case where the base target 230 and the tool target 240 can be used normally, the positioning methods of the robotic arm 110 provided in the above four embodiments can be combined to provide redundant position tracking, such as performing the positioning methods provided in the first and second embodiments simultaneously, or performing the positioning methods provided in the first and third embodiments simultaneously, etc.
Furthermore, although the robotic arm positioning process described herein is described with reference to performing a kinematic model calibration at the time of registration of the robotic arm 110 to provide surgical accuracy and fault tolerance, the first transformation relationship between the base coordinate system and the robot coordinate system may be obtained in practice using conventional methods.
Further, the embodiment of the invention also provides a registration method of the navigation operation system, which is used for registering the mechanical arm.
Still further, an embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, which, when executed, performs all the steps performed by the control unit described above. That is, the program performs all the steps of the method of registering the navigated surgical system and performs all the steps in positioning the robotic arm.
Also, an electronic device is provided in an embodiment of the present invention, and includes a processor and the computer-readable storage medium as described above, where the processor is configured to execute the program stored on the computer-readable storage medium.
Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (11)

1. A navigated surgical system comprising a robotic system, a navigation system, and a control unit communicatively coupled thereto, wherein;
the robotic system includes a robotic arm and the robotic system has a robot coordinate system defined on the robotic arm;
the navigation system comprises a navigation tracking device and a bone target, wherein the bone target is used for being arranged at a specified position on the body of a patient, and the navigation system is provided with a base coordinate system and a verification target coordinate system which can be identified by the navigation tracking device; the base coordinate system and the robot coordinate system have a predetermined first conversion relation, and the calibration target coordinate system and the base coordinate system have a predetermined second conversion relation;
the control unit is configured to: receiving the coordinate system of the verification target, and determining the position of the mechanical arm under the coordinate system of the verification target when the mechanical arm is in an expected pose according to the coordinate system of the bone target; and obtaining the expected position of the mechanical arm in the coordinate system of the robot system according to the position of the mechanical arm in the coordinate system of the verification target, the second conversion relation and the first conversion relation.
2. The navigated surgical system according to claim 1, further comprising a base target for constructing the base coordinate system and a verification target for constructing the verification target coordinate system;
the base target and the verification target are respectively fixed at different positions, and the verification target is closer to a supporting device for bearing a patient than the base target; and/or the presence of a gas in the gas,
the volume of the verification target is smaller than that of the base target.
3. The navigated surgical system according to claim 2, wherein the control unit is further configured to: and identifying the base target, determining the position of the mechanical arm in the base coordinate system when the mechanical arm is in the expected pose according to the bone target, and obtaining the expected position of the mechanical arm in the robot coordinate system according to the position of the mechanical arm in the base coordinate system and the first conversion relation.
4. The navigated surgical system according to claim 1, further comprising a tool target for placement on a tip tool carried by a tip of the robotic arm;
the control unit is configured to: and driving the mechanical arm to move, identifying the tool target and judging whether the mechanical arm reaches the expected position.
5. The navigated surgical system according to claim 1, wherein the navigational tracking device is an optical tracking device.
6. The navigated surgical system according to claim 1, wherein the navigational tracking device is configured to track a position of a tip of the robotic arm in space; the control unit executes kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in space, and acquires the first conversion relation between the base coordinate system and the robot coordinate system according to the calibrated model of the mechanical arm.
7. A computer-readable storage medium on which a program is stored, characterized in that, when the program is executed, the program performs the steps of:
establishing a robot coordinate system on a mechanical arm, and establishing a base coordinate system and a verification target coordinate system which can be identified by navigation tracking equipment in a navigation operation system; the base coordinate system and the robot coordinate system have a first preset conversion relation, and the verification target coordinate system and the base coordinate system have a second preset conversion relation;
identifying the coordinate system of the verification target, and determining the position of the mechanical arm under the coordinate system of the verification target when the mechanical arm is in an expected pose according to the coordinate system of the bone target arranged on the body of the patient; and converting the position of the mechanical arm under the coordinate system of the verification target into an expected position of the mechanical arm under the coordinate system of the robot according to the second conversion relation and the first conversion relation.
8. The computer-readable storage medium according to claim 7, wherein the program further performs the steps of:
identifying the base coordinate system and determining a position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;
and converting the position of the mechanical arm in the base coordinate system into the expected position of the mechanical arm in the robot coordinate system according to the first conversion relation.
9. The computer-readable storage medium according to claim 7, wherein the program further performs the steps of: and performing kinematic model calibration on the mechanical arm according to the position of the tail end of the mechanical arm in the space, and acquiring the first conversion relation between the base coordinate system and the robot coordinate system according to the calibrated model of the mechanical arm.
10. The computer-readable storage medium of claim 7, wherein the robotic arm has a tip tool carried by a tip thereof, the tip tool having a tool target thereon;
the program further executes the steps of: and driving the mechanical arm to move, identifying the tool target and judging whether the mechanical arm reaches the expected position.
11. An electronic product comprising a computer-readable storage medium according to any one of claims 7 to 10 and a processor for executing a program in the computer-readable storage medium.
CN202011487498.0A 2020-12-16 2020-12-16 Navigation operation system, computer readable storage medium and electronic device Active CN112618017B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011487498.0A CN112618017B (en) 2020-12-16 2020-12-16 Navigation operation system, computer readable storage medium and electronic device
PCT/CN2021/138093 WO2022127794A1 (en) 2020-12-16 2021-12-14 Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011487498.0A CN112618017B (en) 2020-12-16 2020-12-16 Navigation operation system, computer readable storage medium and electronic device

Publications (2)

Publication Number Publication Date
CN112618017A CN112618017A (en) 2021-04-09
CN112618017B true CN112618017B (en) 2022-05-03

Family

ID=75313826

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011487498.0A Active CN112618017B (en) 2020-12-16 2020-12-16 Navigation operation system, computer readable storage medium and electronic device

Country Status (1)

Country Link
CN (1) CN112618017B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022127794A1 (en) * 2020-12-16 2022-06-23 苏州微创畅行机器人有限公司 Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device
CN113288358B (en) * 2021-05-21 2022-11-15 中国医学科学院生物医学工程研究所 Pose information determination method and device, electronic equipment and storage medium
CN113171176B (en) * 2021-06-28 2021-10-01 北京纳通医学研究院有限公司 Arm system
CN114176779B (en) * 2021-12-31 2023-12-26 杭州三坛医疗科技有限公司 Surgical robot navigation positioning method and device
CN114407012A (en) * 2022-01-12 2022-04-29 苏州微创畅行机器人有限公司 Robot motion calibration method and device, computer equipment and storage medium
CN115068113A (en) * 2022-08-22 2022-09-20 科弛医疗科技(北京)有限公司 Master-slave teleoperation orthopedic robot system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3254621A1 (en) * 2016-06-08 2017-12-13 Tinavi Medical Technologies Co., Ltd. 3d image special calibrator, surgical localizing system and method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100496429C (en) * 2005-02-06 2009-06-10 天津市华志计算机应用有限公司 Robot operation locating method of surgical operation navigation system based on optical positioning
CN103705307B (en) * 2013-12-10 2017-02-22 中国科学院深圳先进技术研究院 Surgical navigation system and medical robot
US10499997B2 (en) * 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
US11135025B2 (en) * 2019-01-10 2021-10-05 Medtronic Navigation, Inc. System and method for registration between coordinate systems and navigation
US11571265B2 (en) * 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
CN113208689B (en) * 2019-09-30 2022-08-02 苏州微创畅行机器人有限公司 Osteotomy guiding tool
CN110640746B (en) * 2019-11-07 2023-03-24 上海电气集团股份有限公司 Method, system, equipment and medium for calibrating and positioning coordinate system of robot
CN110897717B (en) * 2019-12-09 2021-06-18 苏州微创畅行机器人有限公司 Navigation operation system, registration method thereof and electronic equipment
CN111037561B (en) * 2019-12-27 2021-09-07 武汉联影智融医疗科技有限公司 Space registration method and device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3254621A1 (en) * 2016-06-08 2017-12-13 Tinavi Medical Technologies Co., Ltd. 3d image special calibrator, surgical localizing system and method

Also Published As

Publication number Publication date
CN112618017A (en) 2021-04-09

Similar Documents

Publication Publication Date Title
CN112618017B (en) Navigation operation system, computer readable storage medium and electronic device
WO2021179662A1 (en) Robot-assisted system for total knee arthroplasty, control method, and electronic device
EP4014915B1 (en) Position correction method of osteotomy guide tool, and orthopedic surgery system
CN112618018A (en) Navigation operation system, registration method thereof and computer readable storage medium
AU2020399817B2 (en) Navigation surgery system and registration method therefor, electronic device, and support apparatus
CN109199586B (en) Laser osteotomy robot system and path planning method thereof
Kienzle et al. Total knee replacement
CN112914726B (en) Robot system for assisting bone surgery
CN110711030B (en) Femoral head necrosis minimally invasive surgery navigation system and navigation method based on AR technology
CN112603538A (en) Orthopedic navigation positioning system and method
Kostrzewski et al. Robotic system for cervical spine surgery
CN114650785A (en) Robotic positioning of a device
US20200297440A1 (en) Interactive anatomical positioner and a robotic system therewith
CN113017834B (en) Joint replacement operation navigation device and method
CN113940755A (en) Surgical operation planning and navigation method integrating operation and image
CN109124835B (en) Method and system for positioning central point of femoral head
JP5216949B2 (en) Surgery support device
CN114760936A (en) Methods and systems for robotic-assisted surgery using a customized bone registration guide
Fu et al. Indirect visual guided fracture reduction robot based on external markers
US20230380905A1 (en) Method and system for validating bone alterations in computer-assisted surgery
CN114587593B (en) Surgical navigation positioning system and use method thereof
CN111728701A (en) Rapid registration method and device for robot-assisted spinal surgery
KR101895369B1 (en) Surgical robot system for stereotactic surgery
CN115607279A (en) Hard tissue registration method, device and system
WO2022127794A1 (en) Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant