CN112998859B - Key point space measurement control method and system in hip joint replacement surgery - Google Patents

Key point space measurement control method and system in hip joint replacement surgery Download PDF

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CN112998859B
CN112998859B CN202110175952.7A CN202110175952A CN112998859B CN 112998859 B CN112998859 B CN 112998859B CN 202110175952 A CN202110175952 A CN 202110175952A CN 112998859 B CN112998859 B CN 112998859B
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coordinate system
mechanical arm
mechanical
sander
acetabulum
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CN112998859A (en
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范衠
胡军
陈洪江
宁为博
黄文宁
蔡堉伟
朱智健
朱家祺
容毅标
袁野
谢敏冲
陈添善
许宏武
张建军
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Shantou University
First Affiliated Hospital of Shantou University Medical College
Shantou University Medical College
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First Affiliated Hospital of Shantou University Medical College
Shantou University Medical College
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    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1735—Guides or aligning means for drills, mills, pins or wires for rasps or chisels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
    • A61B17/1746—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4618—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of cartilage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B2017/1602—Mills
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery

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Abstract

The invention relates to the technical field of medical information processing, in particular to a method and a system for controlling key point space measurement in hip joint replacement surgery, wherein the method comprises the following steps: performing optical scanning on the ilium of the patient, and establishing a posture coordinate system by taking the space position of the ilium as a reference; establishing a mechanical coordinate system of a mechanical arm, setting an end effector on the mechanical arm as an acetabular sander, and determining the sanding angle of the acetabular sander in the mechanical coordinate system according to the sanding angle of the acetabular sander in an attitude coordinate system, wherein the mechanical arm is used for driving the acetabular sander to sand the acetabular cartilage of a patient; the method has the advantages that the grinding thickness value planned and set for the acetabulum cartilage before the operation is obtained, and the grinding angle of the acetabulum grinder in a mechanical coordinate system is adjusted in real time until the grinding thickness value planned and set is reached.

Description

Key point space measurement control method and system in hip joint replacement surgery
Technical Field
The invention relates to the technical field of medical information processing, in particular to a method and a system for controlling key point space measurement in hip joint replacement surgery.
Background
Total-Hip-Arthroplasty (THA) is a method of replacing the articular surface, femoral head and acetabulum damaged by diseases or injuries with an artificial Hip prosthesis by using an operation method to achieve the effects of removing focus of infection, eliminating pain, recovering the original functions of joints and the like, and is widely applicable to treating Hip joint diseases such as joint stiffness, femoral head necrosis, osteoarthritis, rheumatoid arthritis and the like. Elderly are high-risk groups of hip joint disease due to reduced bone mass in the elderly. Total hip replacement is one of the commonly used methods for treating related hip diseases. With the increasing aging of China, the demand for artificial total hip replacement will increase.
In the process of carrying out the artificial total hip joint operation, the placing position of the artificial prosthesis is the key for successful operation, the reasonable placing position is beneficial to the postoperative recovery of the patient, and the conditions of dislocation, subsidence, long and short legs and the like of the artificial prosthesis are avoided. In the prior art, the following disadvantages exist:
1. the operation process is complex, and in the Chinese patent application CN201810733924.0, namely the artificial acetabulum angle measurement system in hip joint surgery and the measurement method thereof, the posture sensor is used for measuring the posture of the related bone joint of a patient in surgery. The implementation principle of the method is that the triangulation and the angle measurement are carried out according to the posture sensor nodes which are distributed and placed at different key points, wherein the coronal plane gyroscope is installed on the bone nail, the installation handle gyroscope is installed on the artificial acetabulum installation handle, and the angle-related gyroscope is installed on the angle calibration table. Because the node needs to be arranged at the joint to be measured, the connection of a physical electrical appliance interferes with the operation, and the expansion difficulty of the node is high, so that a plurality of angle measurements cannot be simultaneously carried out for comparison;
2. the mechanical physical structure is large, various surgical instruments and medical equipment are placed in an actual hip joint operation site, the measurement instruments of the hip joint medical structure are convenient to operate, small in size and easy to fold and unfold, and the work of an operator is not affected. The existing measurement scheme of the mechanical mechanism needs to place the instrument on a specific part of a specific body of a patient for measurement, and improper operation may impact medical instruments, equipment and the like in an operation site; the operation steps provided by the scheme are relatively complicated, and the universality is not high;
3. in the existing hip joint replacement, most of the detection of key positions depends on doctors with abundant replacement, and strictly speaking, certain human errors can be generated. The treatment effect is easily influenced due to poor replacement positioning precision.
In addition, the replacement surgical robot has the problem of high price, and is inconvenient for large-scale popularization and use.
Disclosure of Invention
The present invention is directed to a method and system for controlling spatial measurements of key points in hip replacement surgery, which solves one or more of the problems of the prior art and provides at least one useful choice or creation.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for controlling spatial measurement of key points in hip replacement surgery, the method comprising the steps of:
s100, performing optical scanning on the ilium of the patient, and establishing a posture coordinate system by taking the space position of the ilium as a reference;
step S200, establishing a mechanical coordinate system of a mechanical arm, setting an end effector on the mechanical arm as an acetabular sander, and determining the sanding angle of the acetabular sander in the mechanical coordinate system according to the sanding angle of the acetabular sander in the posture coordinate system, wherein the mechanical arm is used for driving the acetabular sander to sand the acetabular cartilage of a patient;
and S300, acquiring a grinding thickness value planned and set for the acetabulum cartilage before the operation, and adjusting the grinding angle of the acetabulum grinder in a mechanical coordinate system in real time until the grinding thickness value planned and set is reached.
Further, the step S100 includes:
capturing optical markers arranged on the ilium of a patient through an optical positioning sensor deployed above an operating table, and determining a posture coordinate system of the human body according to the spatial positions of the optical markers.
Further, the step S200 includes:
s210, establishing a mechanical coordinate system, capturing 2 optical markers arranged on the mechanical arm through an optical positioning sensor deployed above an operating table, and determining coordinates of the 2 optical markers on the mechanical arm in the mechanical arm coordinate system;
s220, converting the coordinates of 2 optical markers in the mechanical arm coordinate system into an attitude coordinate system through a conversion matrix;
step S230, setting the end effector on the mechanical arm as an acetabulum sander, and determining the coordinates of the acetabulum sander in a posture coordinate system;
step S240, determining the grinding angle of the acetabulum grinder in a mechanical coordinate system according to the grinding angle of the acetabulum grinder in an attitude coordinate system, wherein the grinding angle comprises an abduction angle and an anteversion angle.
Further, the step S240 includes:
translating the acetabulum sander to the origin of coordinates of the attitude coordinate system, and translating the acetabulum sander and the x of the attitude coordinate system under the attitude coordinate system1O1y1The included angle of the planes being taken as the abduction angle alpha1The acetabulum sander and x of the posture coordinate system1O1z1The included angle of the faces being the rake angle beta1The abduction angle and the anteversion angle based on the pose coordinate system are projected into the mechanical coordinate system.
Further, the step S300 includes:
step S310, acquiring a CT image of the ilium of a patient before an operation, and determining a grinding thickness value which is planned and set according to the CT image;
and S320, planning a running path of the mechanical arm based on the polishing angle, controlling the mechanical arm to run according to the running path, and controlling the mechanical arm to stop running when the real-time thickness value polished by the acetabular polisher reaches the polishing thickness value planned and set.
Further, the real-time thickness value of the acetabular sander to be sanded is determined by:
determining first spatial coordinates of an optical marker on a robotic arm captured by an optical positioning sensor when an acetabular sander contacts acetabular cartilage; and in the operation process of the mechanical arm, determining a second space coordinate of the optical marker in the current dynamic pose in real time, and taking the relative distance between the first space coordinate and the second space coordinate as a real-time thickness value of the acetabular cartilage.
Further, the method further comprises:
the prosthesis for replacing the hip joint is determined based on the standard length obtained for the normal leg such that the difference between the standard length and the measured length is within the leg length error range.
Further, the determining a prosthesis for replacing a hip joint based on a standard length obtained from a normal leg such that a difference between the standard length and a measured length is within a leg length error range includes:
s410, respectively placing a first mark point and a second mark point on the external surface of the ilium of the normal leg and the position of the knee joint, and taking the distance between the first mark point and the second mark point as a standard length;
step S420, respectively placing a third mark point and a fourth mark point on the external surface of the ilium and the position of the knee joint on one side of the hip joint to be replaced, and taking the distance between the third mark point and the fourth mark point as a measurement length l';
and step S430, determining the prosthesis model of the replacement hip joint according to the standard length so that the difference value of the standard length and the measured length is within the leg length error range.
A computer readable storage medium, on which a program for controlling the spatial measurement of key points in hip replacement surgery is stored, which when executed by a processor implements the steps of the method for controlling the spatial measurement of key points in hip replacement surgery as set forth in any one of the above.
A keypoint spatial measurement control system in hip replacement surgery, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement any one of the above methods for controlling spatial measurements of keypoints in hip replacement surgery.
The invention has the beneficial effects that: the invention discloses a key point space measurement control method and system in hip joint replacement surgery, which can provide position and direction feedback of an optical marker in real time by acquiring accurate position information at a submillimeter level through an optical technology, capture a mark point arranged on a mechanical arm through an optical positioning technology, establish a posture coordinate system of a human body based on the optical mark point on an ilium, verify whether a polishing angle is in a safe range by combining a mechanical coordinate system of the mechanical arm, determine polishing thickness in real time, and ensure that an acetabular bone polisher polishes acetabular cartilage in a proper angle interval until the polishing thickness reaches a polishing thickness value set in a planning mode. The invention does not need complex and various mechanical equipment, occupies small space and saves hardware cost. The invention also has the advantages of simple operation and accurate positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for controlling spatial measurement of key points in hip replacement surgery according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of optical marking of a patient's ilium in an embodiment of the invention;
FIG. 3 is a schematic representation of a pose coordinate system and a machine coordinate system in an embodiment of the present invention.
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 shows a method for controlling spatial measurement of key points in hip replacement surgery according to an embodiment of the present application, where the method includes the following steps:
s100, performing optical scanning on the ilium of the patient, and establishing a posture coordinate system by taking the space position of the ilium as a reference;
step S200, establishing a mechanical coordinate system of a mechanical arm, setting an end effector on the mechanical arm as an acetabular sander, and determining the sanding angle of the acetabular sander in the mechanical coordinate system according to the sanding angle of the acetabular sander in the posture coordinate system, wherein the mechanical arm is used for driving the acetabular sander to sand the acetabular cartilage of a patient;
and S300, acquiring a grinding thickness value planned and set for the acetabulum cartilage before the operation, and adjusting the grinding angle of the acetabulum grinder in a mechanical coordinate system in real time until the grinding thickness value planned and set is reached.
In some embodiments, the spatial location of the optical marker is calculated by deploying the optical positioning sensor over the operating table and attaching the optical marker to the iliac region of the patient by comparing and analyzing the optical marker data captured by the optical positioning sensor. And (3) calculating the model posture of the rigid body formed by the optical marker based on a vision system by combining a computer vision technology and an image recognition technology, so as to obtain the posture arrangement change condition of the patient. Wherein the optical marker has an optical positioning function and can be captured in space by an optical positioning sensor; the optical positioning sensor is used for capturing the spatial position of the optical marker in real time.
In the embodiment provided by the invention, accurate position information, path shape and motion behavior data at a submillimeter level are acquired by using an optical technology, position and direction feedback of an optical marker can be provided in real time, a marker point arranged on the mechanical arm is captured according to the optical positioning technology, a posture coordinate system of a human body is established based on the optical marker on the ilium, the relative angle of the mechanical arm is calculated, whether the grinding angle is in a safe range can be verified, the grinding thickness is determined in real time, and the acetabulum cartilage is ground by the acetabulum grinder in a proper angle interval until the grinding thickness value which is set in a planning mode is reached.
Referring to fig. 2 and 3, in a preferred embodiment, the step S100 includes:
capturing an optical marker arranged on the ilium of a patient through an optical positioning sensor deployed above an operating table, and determining a posture coordinate system of the human body according to the spatial position of the optical marker;
in particular, on the iliac part of the patientRespectively setting 3 optical markers, in the embodiment, at least 3 optical markers are needed for marking, after the space position of the optical markers is determined, establishing a posture coordinate system of the human body, and in some embodiments, taking any point on the ilium as a coordinate origin O of the posture coordinate system1The spatial position is expressed as: p is a radical of1，p2，p3… …, the pose coordinate system being represented as: o is1x1y1z1。
In this embodiment, the position of the optical marker is obtained in real time by the optical positioning sensor, the real-time posture of the patient is adjusted in real time according to the change of the position of the optical marker, and the posture coordinate system is reconstructed in real time. By calibrating the body position of the patient, the angle change and the movement condition of the body position of the patient can be acquired more accurately in the operation.
In a preferred embodiment, the step S200 includes:
s210, establishing a mechanical coordinate system, capturing 2 optical markers arranged on the mechanical arm through an optical positioning sensor deployed above an operating table, and determining coordinates of the 2 optical markers on the mechanical arm in the mechanical arm coordinate system;
in this embodiment, a mechanical coordinate system is first established, and in one embodiment, any point on the mechanical arm is taken as the origin O of coordinates of the mechanical coordinate system2X with mechanical arm as mechanical coordinate system2The axes establish a mechanical coordinate system, which is expressed as: o is2x2y2z2(ii) a Then, at least 2 optical markers are respectively arranged on the mechanical arm, and the coordinates of the 2 optical markers in the coordinate system of the mechanical arm are respectively set as A (x)a，ya，za) And B (x)b，yb，zb)。
S220, converting the coordinates of 2 optical markers in the mechanical arm coordinate system into an attitude coordinate system through a conversion matrix;
wherein, a transformation matrix from the mechanical arm coordinate system to the attitude coordinate system is used
Figure BDA0002940709440000051
Coordinate A (x) in the mechanical arm coordinate systema，ya，za) And B (x)b，yb，zb) Conversion to coordinates A ' (x ' in attitude coordinate System) 'a，y′a，z′a) And B '(x'b，y′b，z′b) (ii) a That is to say that the first and second electrodes,
Figure BDA0002940709440000052
step S230, setting the end effector on the mechanical arm as an acetabulum sander, and determining the coordinates of the acetabulum sander in a posture coordinate system;
specifically, firstly, the end effector of the mechanical arm is taken as an end point C, and the end point C is determined in a mechanical arm coordinate system O2x2y2z2Coordinate of (5) is C (x)c，yc，zc) (ii) a Then, according to the transformation matrix from the mechanical arm coordinate system to the attitude coordinate system
Figure BDA0002940709440000053
And determining the coordinates of the acetabulum sander in the attitude coordinate system by converting the relationship, wherein the calculation formula is as follows:
Figure BDA0002940709440000054
wherein C' is the coordinate of the acetabulum sander in a posture coordinate system.
Step S240, determining the grinding angle of the acetabulum grinder in a mechanical coordinate system according to the grinding angle of the acetabulum grinder in an attitude coordinate system, wherein the grinding angle comprises an abduction angle and an anteversion angle.
In a preferred embodiment, the step S240 includes:
translating the acetabulum sander to the origin of coordinates of the attitude coordinate system, and translating the acetabulum sander and the x of the attitude coordinate system under the attitude coordinate system1O1y1The included angle of the planes being taken as the abduction angle alpha1The acetabulum sander and x of the posture coordinate system1O1z1The included angle of the faces being the rake angle beta1The abduction angle and the anteversion angle based on the pose coordinate system are projected into the mechanical coordinate system.
Wherein, the formula for calculating the abduction angle in the attitude coordinate system is as follows: alpha is alpha1＝fα(A ', B'), the formula for calculating the anteversion angle in the attitude coordinate system is: beta is a1＝fβ(A′，B′)；α1Representing the abduction angle, beta, in the attitude coordinate system1Representing the anteversion angle in the attitude coordinate system, function fα(A ', B') represents coordinates (A ', B') and x1O1y1Angle of plane, function fβ(A ', B') represents coordinates (A ', B') and x1O1z1Angle of surface, O1Is the origin of coordinates of the pose coordinate system.
In order to determine the grinding angle of the acetabular grinder in the mechanical coordinate system when the acetabular grinder grinds the acetabular cartilage, the grinding angle needs to be determined based on the posture coordinate system x1O1y1Abduction angle alpha of1And anteversion angle beta1The grinding angle is projected into a mechanical coordinate system, and is calculated by the following formula based on the grinding angle under the mechanical coordinate system:
Figure BDA0002940709440000061
wherein the content of the first and second substances,
Figure BDA0002940709440000062
a transformation matrix representing the mechanical coordinate system to the pose coordinate system.
Wherein the suitable angle interval of the abduction angle in the posture coordinate system is as follows: 35 degree<α1<45 degrees, and the suitable angle interval of the anteversion angle in the attitude coordinate system is as follows: 15 degree<β1<25°。
In this embodiment, because optical technology can gather accurate positional information, route shape and the motion behavior data of study object submillimeter level, in this embodiment, catch the optical marker that attaches on the arm according to optical positioning technology, under the human posture coordinate system of establishing based on the optical marker on the ilium, calculate the arm relative angle, can verify whether the angle of polishing is in safe range.
In a preferred embodiment, the step S300 includes:
step S310, acquiring a CT image of the ilium of a patient before an operation, and determining a grinding thickness value which is planned and set according to the CT image;
it should be noted that the polishing thickness value in this step is planned and set by medical staff before the operation according to the CT image. Specifically, medical personnel distinguish the acetabulum cartilage part through CT images, so that the thickness value of the acetabulum cartilage is measured, and the thickness value of the acetabulum cartilage is used as a grinding thickness value which is set in a planning mode.
And S320, planning a running path of the mechanical arm based on the polishing angle, controlling the mechanical arm to run according to the running path, and controlling the mechanical arm to stop running when the real-time thickness value polished by the acetabular polisher reaches the polishing thickness value planned and set.
It should be noted that this step is based on the grinding angle (α) in the mechanical coordinate system2，β2) And planning the path of the mechanical arm.
Step S330, when the acetabulum sander contacts the acetabulum cartilage, determining a first space coordinate of an optical marker on the mechanical arm captured by the optical positioning sensor; and in the operation process of the mechanical arm, determining a second space coordinate of the optical marker in the current dynamic pose in real time, and taking the relative distance between the first space coordinate and the second space coordinate as a real-time thickness value of the acetabular cartilage.
The real-time thickness value is calculated by the following formula:
Figure BDA0002940709440000071
wherein, | t1-t|<ε1，ε1In order to allow for tolerance in the thickness of the sanding,
Figure BDA0002940709440000072
a first spatial coordinate is represented which is,
Figure BDA0002940709440000073
representing a second spatial coordinate, t being the planned sanding thickness value, t1Is a real-time thickness value.
In a preferred embodiment, the method further comprises:
and step S400, determining the prosthesis for replacing the hip joint according to the standard length obtained by the normal leg, so that the difference value of the standard length and the measured length is within the leg length error range.
In a preferred embodiment, the step S400 includes:
s410, respectively placing a first mark point and a second mark point on the external surface of the ilium of the normal leg and the position of the knee joint, and taking the distance between the first mark point and the second mark point as a standard length;
the calculation formula of the standard length is as follows:
Figure BDA0002940709440000074
wherein l is a standard length, and M is1As a first mark point, the coordinate of the first mark point is
Figure BDA0002940709440000075
Will M2As a second mark point, the coordinates of the second mark point are
Figure BDA0002940709440000076
Step S420, respectively placing a third mark point and a fourth mark point on the external surface of the ilium and the position of the knee joint on one side of the hip joint to be replaced, and taking the distance between the third mark point and the fourth mark point as a measurement length l';
the calculation formula of the measurement length is as follows:
Figure BDA0002940709440000077
wherein l 'is standard length, and M'1As a third mark point, the coordinates of the third mark point are
Figure BDA0002940709440000078
M'2As a fourth mark point, the coordinates of the fourth mark point are
Figure BDA0002940709440000079
And step S430, determining the prosthesis model of the replacement hip joint according to the standard length so that the difference value of the standard length and the measured length is within the leg length error range.
Namely: i' -I calculation<ε2Wherein, epsilon2For an allowable error range of the two leg length,. epsilon2Is determined according to the actual situation, epsilon2The value of (a) is preset.
In this embodiment, the position of the optical markers at the internal points of the bilateral iliac and knee joints can be determined by CT scanning before surgery. The length of the lower limb implanted with the artificial prosthesis is measured by the optical positioning sensor in the operation and compared with the length of the normal lower limb planned before the operation, so that the problem of long and short legs after the operation of a patient is solved.
Corresponding to the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium, where a program for controlling spatial measurement of key points in hip replacement surgery is stored on the computer-readable storage medium, and when the program is executed by a processor, the steps of the method for controlling spatial measurement of key points in hip replacement surgery according to any one of the above embodiments are implemented.
Corresponding to the method in fig. 1, the embodiment of the invention also provides a key point space measurement control system in hip replacement surgery, which comprises:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for controlling spatial measurement of a keypoint in a hip replacement surgery according to any one of the embodiments described above.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the key point space measurement control system in the hip replacement surgery, and various interfaces and lines are utilized to connect various parts of the operable device of the key point space measurement control system in the whole hip replacement surgery.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the keypoint spatial measurement control system in the hip replacement surgery by running or executing the computer programs and/or modules stored in the memory and calling up the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.

Claims (2)

1. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the steps of a method for controlling spatial measurements of keypoints in hip replacement surgery, the method comprising the steps of:
s100, performing optical scanning on the ilium of the patient, and establishing a posture coordinate system by taking the space position of the ilium as a reference;
step S200, establishing a mechanical coordinate system of a mechanical arm, setting an end effector on the mechanical arm as an acetabular sander, and determining the sanding angle of the acetabular sander in the mechanical coordinate system according to the sanding angle of the acetabular sander in the posture coordinate system, wherein the mechanical arm is used for driving the acetabular sander to sand the acetabular cartilage of a patient;
step S300, obtaining a grinding thickness value planned and set for the acetabulum cartilage before the operation, and adjusting the grinding angle of the acetabulum grinder under a mechanical coordinate system in real time until the grinding thickness value planned and set is reached;
wherein the step S200 includes:
step S210, establishing a mechanical coordinate system, capturing 2 optical markers arranged on the mechanical arm through an optical positioning sensor deployed above the operating table, and determining that the 2 optical markers on the mechanical arm are located on the mechanical armCoordinates in a coordinate system; specifically, any point on the mechanical arm is taken as the origin of coordinates O of the mechanical coordinate system2X with mechanical arm as mechanical coordinate system2The axes establish a mechanical coordinate system, which is expressed as: o is2x2y2z2(ii) a Then, at least 2 optical markers are respectively arranged on the mechanical arm, and the coordinates of the 2 optical markers in the coordinate system of the mechanical arm are respectively set as A (x)a，ya，za) And B (x)b，yb，zb)；
S220, converting the coordinates of 2 optical markers in the mechanical arm coordinate system into an attitude coordinate system through a conversion matrix; specifically, through a conversion matrix from a mechanical arm coordinate system to an attitude coordinate system
Figure FDA0003523285290000014
Coordinate A (x) in the mechanical arm coordinate systema，ya，za) And B (x)b，yb，zb) Conversion to coordinates A ' (x ' in attitude coordinate System) 'a，y′a，z′a) And B '(x'b，y′b，z′b) (ii) a That is to say that the first and second electrodes,
Figure FDA0003523285290000011
step S230, setting the end effector on the mechanical arm as an acetabulum sander, and determining the coordinates of the acetabulum sander in a posture coordinate system; specifically, firstly, the end effector of the mechanical arm is taken as an end point C, and the end point C is determined in a mechanical arm coordinate system O2x2y2z2Coordinate of (5) is C (x)c，yc，zc) (ii) a Then, according to the transformation matrix from the mechanical arm coordinate system to the attitude coordinate system
Figure FDA0003523285290000012
And determining the coordinates of the acetabulum sander in the attitude coordinate system by converting the relationship, wherein the calculation formula is as follows:
Figure FDA0003523285290000013
wherein C' is the coordinate of the acetabulum sander in a posture coordinate system;
step S240, determining the grinding angle of the acetabulum grinder in a mechanical coordinate system according to the grinding angle of the acetabulum grinder in an attitude coordinate system, wherein the grinding angle comprises an abduction angle and an anteversion angle.
2. A system for controlling spatial measurements of key points in hip replacement surgery, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, causing the at least one processor to implement a method for controlling keypoint spatial measurements in hip replacement surgery, the method comprising the steps of:
s100, performing optical scanning on the ilium of the patient, and establishing a posture coordinate system by taking the space position of the ilium as a reference;
step S200, establishing a mechanical coordinate system of a mechanical arm, setting an end effector on the mechanical arm as an acetabular sander, and determining the sanding angle of the acetabular sander in the mechanical coordinate system according to the sanding angle of the acetabular sander in the posture coordinate system, wherein the mechanical arm is used for driving the acetabular sander to sand the acetabular cartilage of a patient;
step S300, obtaining a grinding thickness value planned and set for the acetabulum cartilage before the operation, and adjusting the grinding angle of the acetabulum grinder under a mechanical coordinate system in real time until the grinding thickness value planned and set is reached;
wherein the step S200 includes:
s210, establishing a mechanical coordinate system, capturing 2 optical markers arranged on the mechanical arm through an optical positioning sensor deployed above an operating table, and determining coordinates of the 2 optical markers on the mechanical arm in the mechanical arm coordinate system; specifically, any point on the mechanical arm is taken as the origin of coordinates O of the mechanical coordinate system2To a machineArm as x of mechanical coordinate system2The axes establish a mechanical coordinate system, which is expressed as: o is2x2y2z2(ii) a Then, at least 2 optical markers are respectively arranged on the mechanical arm, and the coordinates of the 2 optical markers in the coordinate system of the mechanical arm are respectively set as A (x)a，ya，za) And B (x)b，yb，zb)；
S220, converting the coordinates of 2 optical markers in the mechanical arm coordinate system into an attitude coordinate system through a conversion matrix; specifically, through a conversion matrix from a mechanical arm coordinate system to an attitude coordinate system
Figure FDA0003523285290000021
Coordinate A (x) in the mechanical arm coordinate systema，ya，za) And B (x)b，yb，zb) Conversion to coordinates A ' (x ' in attitude coordinate System) 'a，y′a，z′a) And B '(x'b，y′b，z′b) (ii) a That is to say that the first and second electrodes,
Figure FDA0003523285290000022
step S230, setting the end effector on the mechanical arm as an acetabulum sander, and determining the coordinates of the acetabulum sander in a posture coordinate system; specifically, firstly, the end effector of the mechanical arm is taken as an end point C, and the end point C is determined in a mechanical arm coordinate system O2x2y2z2Coordinate of (5) is C (x)c，yc，zc) (ii) a Then, according to the transformation matrix from the mechanical arm coordinate system to the attitude coordinate system
Figure FDA0003523285290000023
And determining the coordinates of the acetabulum sander in the attitude coordinate system by converting the relationship, wherein the calculation formula is as follows:
Figure FDA0003523285290000024
wherein C' is the acetabulum sanderCoordinates in the pose coordinate system;
step S240, determining the grinding angle of the acetabulum grinder in a mechanical coordinate system according to the grinding angle of the acetabulum grinder in an attitude coordinate system, wherein the grinding angle comprises an abduction angle and an anteversion angle.
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