CN113069207A - Robot-assisted hip joint replacement surgery navigation system - Google Patents
Robot-assisted hip joint replacement surgery navigation system Download PDFInfo
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- CN113069207A CN113069207A CN202110311233.3A CN202110311233A CN113069207A CN 113069207 A CN113069207 A CN 113069207A CN 202110311233 A CN202110311233 A CN 202110311233A CN 113069207 A CN113069207 A CN 113069207A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Abstract
The invention discloses a robot-assisted hip replacement surgery navigation system, which comprises a surgery scheme loading module, a navigation module and a control module, wherein the surgery scheme loading module is used for supporting surgery scheme management, surgery scheme preview and surgery scheme fine adjustment; the robot preparation module comprises robot preparation operations such as equipment connection state monitoring, tail end tool installation, tail end tool automatic calibration, connecting rod and tracker installation, mechanical arm automatic calibration and the like; the femur registration module is used for carrying out femur registration to realize registration of the point cloud data and the femur of the patient; the hip registration module is used for carrying out hip registration and realizing registration of the point cloud data and the patient hip; and the acetabulum polishing module is used for polishing the acetabulum fossa according to a plan before the operation. The robot-assisted hip joint replacement surgery navigation system is simple to operate, reduces the complexity of surgery, saves surgery time, and improves the precision of surgery and the fitting degree of actual surgery operation and surgery plan.
Description
The technical field is as follows:
the invention relates to the field of orthopedic medical robots, in particular to a robot-assisted hip joint replacement surgery navigation system.
Background art:
robot-assisted surgery navigation is a hot item in the medical field in recent years, and a hip replacement surgery navigation system is one of the items. At present, a great number of characteristic points (more than 40) need to be selected for femur registration and hip registration of a main hip replacement surgery navigation system at home and abroad, so that the operation workload of a surgeon can be increased in practical clinical application, and meanwhile, the operation process is too complicated, and the operation precision is influenced. Secondly, the main hip replacement surgery systems at home and abroad adopt a mechanical arm passive mode when the acetabulum is polished and the acetabulum cup is installed, so that the operation difficulty of a surgeon is increased, and the operation process cannot be guaranteed to be performed according to a plan before an operation, so that the operation precision cannot be guaranteed. Thirdly, at present, the main hip replacement surgery systems at home and abroad do not provide the operation guidance of the femoral side.
The invention content is as follows:
the invention aims to solve the technical problem of providing a robot-assisted hip replacement surgery navigation system which is simple to operate, reduces the complexity of a surgery and saves the surgery time, and the robot-assisted hip replacement surgery navigation system improves the precision of the surgery and the conformity between the actual surgery operation and the surgery plan.
The technical solution of the invention is to provide a robot-assisted hip replacement surgery navigation system, which comprises
The surgical plan loading module is used for supporting surgical plan management (addition/deletion), surgical plan preview and surgical plan fine adjustment, and a surgeon can perform fine adjustment on characteristic values of an anteversion angle, an abduction angle and the like planned before a surgery according to the actual situation in the surgery;
the robot preparation module comprises robot preparation operations such as equipment connection state monitoring (mechanical arm and binocular vision camera), tail end tool installation, tail end tool automatic calibration, connecting rod and tracker installation, mechanical arm automatic calibration and the like;
the femur registration module is used for carrying out femur registration to realize registration of the point cloud data and the femur of the patient;
the hip registration module is used for carrying out hip registration and realizing registration of the point cloud data and the patient hip;
the acetabulum polishing module is used for polishing the acetabulum fossa according to a preoperative plan;
the acetabular cup installation module is used for installing the acetabular cup according to a preoperative plan;
a post-operative verification module for verifying the hip length and offset before and after the operation.
As a preferred technical scheme, the femur cutting machine further comprises a femur cutting module, wherein the femur cutting module comprises a femur cutting and a femur handle installation.
As a preferred technical scheme, for a robot preparation module, after a surgeon prompts to install a tail end tool according to a page prompt of a robot-assisted hip replacement surgery navigation system, the surgeon clicks an automatic calibration button of the tail end tool of an operation page, and a mechanical arm moves 10 positions along the surface of a calibration steel ball, so that the calibration of the tail end tool is realized; after a surgeon clicks an automatic mechanical arm calibration button after installing a connecting rod and a tracker according to the prompt of a robot-assisted hip replacement surgery navigation system page, the mechanical arm actively moves 30 positions in a binocular vision camera visual field space, and therefore mechanical arm calibration is achieved.
As a preferred technical scheme, for the femur registration module, firstly, a tracker needs to be fixed on the femur of a patient by a surgeon, then, according to the page prompt of a robot-assisted hip replacement surgery navigation system, a specific probe is used for collecting a specific number of feature points on the surface of the femur of the patient, and the collected data is calculated and verified to meet a set error threshold value to allow the next operation.
As a preferred technical scheme, for the hip registration module, firstly, a tracker needs to be fixed on the patient hip by a surgeon, then, a specific probe is used for collecting a specific number of characteristic points on the surface of the patient hip according to the page prompt of a robot-assisted hip replacement surgery navigation system, and the collected data is calculated and verified to meet a set error threshold value to allow the next operation.
As a preferred technical scheme, the acetabulum polishing module adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured; for the acetabular milling module, the surgeon first needs to mount the linkage rod to the end tool and the patient-matched acetabular file to the end of the linkage rod, and then drag the mechanical arm in a passive mode near the focal region of the patient, then the mechanical arm adjusts the approach angle of the end tool to the preoperative planning set value under the active mode and actively stops moving, then the drill gun is arranged at a specific position of the end tool, at the moment, the mechanical arm starts a passive limit mode and a safety boundary, a surgeon can polish the acetabular socket by adopting three grinding modes of fixed point, alignment and freedom according to the page prompt of a navigation system for the robot-assisted hip replacement surgery, and simultaneously, the polishing effect can be real-timely rendered on a software interface, when the safety margin is reached, the page will have a corresponding warning prompt and the mechanical arm will make a corresponding feedback, preventing the surgeon from continuing to advance the mechanical arm.
As a preferred technical scheme, the acetabular cup installation module adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured; a surgeon firstly needs to replace a connecting rod of a tail end tool with an acetabulum installation connecting rod and install an acetabulum cup matched with a patient on the connecting rod, then a mechanical arm is dragged to the vicinity of a focus area of the patient in a passive mode, the mechanical arm adjusts an approach angle of the tail end tool to be a preoperative planning set value in an active mode, and the movement is actively stopped; meanwhile, a surgeon can acquire the numerical value of the anteversion angle/abduction angle of the installed acetabular cup and the relative position of the acetabular cup and a focus of a patient in real time according to the page display of the robot-assisted hip replacement surgery navigation system, and when the placing position of the acetabular cup reaches a preoperative planned value, the acetabular cup is fixed in an acetabular socket of the patient by a specific surgical tool, and the mechanical arm is withdrawn.
Furthermore, the femur cutting adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured.
Further, the surgeon firstly drags the mechanical arm to the position near the femoral bone cutting area of the patient in a passive mode, and then the mechanical arm stops moving after adjusting the pose of the guide plate according to the preoperative plan in an active mode. After the femur is cut, a surgeon independently processes the femoral medullary cavity of a patient and installs a femoral stem.
Compared with the prior art, the invention has the following advantages after adopting the scheme: the software interface of the invention is simple and clear, and the operation is simple; the software operation flow not only combines the characteristics of the self solution, but also considers the operability of the actual surgical operation. Compared with other similar products, the femur registration module and the hip registration module in the software have the advantages that the number of required feature points is less, the precision is higher, only one registration operation is needed, the complexity of an operation is greatly reduced, and the operation time is saved. The acetabulum polishing module, the acetabulum cup installation module and the femur cutting module in the software adopt a mode of actively and passively combining mechanical arms, so that the precision of the operation and the fitting degree of the actual operation and the operation plan of the operation are greatly improved. The software adds the femoral cutting module in the industry for the first time, and provides more operation options for surgeons.
Description of the drawings:
FIG. 1 is a software flowchart of a navigation system for robotic-assisted hip replacement surgery according to the present invention.
The specific implementation mode is as follows:
the invention will be further described with respect to specific embodiments in conjunction with the following drawings:
as shown in figure 1, the navigation system for the robot-assisted hip replacement surgery comprises 8 modules, which are sequentially as follows according to the flow of the surgery operation,
the surgical plan loading module is used for supporting surgical plan management (addition/deletion), surgical plan preview and surgical plan fine adjustment, and a surgeon can perform fine adjustment on characteristic values of an anteversion angle, an abduction angle and the like planned before a surgery according to actual conditions in the surgery.
The robot preparation module comprises robot preparation operations of equipment connection state monitoring (mechanical arm and binocular vision camera), terminal tool installation, terminal tool automatic calibration, connecting rod and tracker installation, mechanical arm automatic calibration and the like. After the surgeon prompts to install the tail end tool according to the page of the navigation system for the robot-assisted hip replacement surgery, the surgeon clicks an automatic calibration button of the tail end tool of the operation page, and the mechanical arm moves 10 positions along the surface of the calibration steel ball, so that the calibration of the tail end tool is realized. After a surgeon clicks an automatic mechanical arm calibration button after installing a connecting rod and a tracker according to the prompt of a robot-assisted hip replacement surgery navigation system page, the mechanical arm actively moves 30 positions in a binocular vision camera visual field space, and therefore mechanical arm calibration is achieved.
The femur registration module is used for carrying out femur registration to realize registration of the point cloud data and the femur of the patient; firstly, a surgeon is required to fix a tracker on the femur of a patient, then, according to the page prompt of a hip replacement surgery navigation system, a specific probe is used for collecting specific number (3 precise registration points and 15 rough registration points) of feature points on the surface of the femur of the patient, and the collected data is calculated and verified to meet a set error threshold value to allow the next operation;
the hip registration module is used for carrying out hip registration and realizing registration of the point cloud data and the patient hip; the method comprises the steps that firstly, a tracker is fixed on the patient hip bone by a surgeon, then, a specific probe is used for acquiring specific number (3 precise registration points and 25 rough registration points) of characteristic points on the surface of the patient hip bone according to the prompting of a hip replacement surgery navigation system page, and the acquired data are calculated and verified to meet a set error threshold value to allow the next operation.
And the acetabulum polishing module is used for polishing the acetabulum fossa according to a plan before the operation. The step adopts a mode of actively and passively combining the mechanical arms, so that the operation can be performed to the maximum extent according to the preoperative plan, and the operation precision and the operation safety can be guaranteed. The surgeon first needs to install a connecting rod to the end tool, install an acetabulum file matched with a patient to the end of the connecting rod, drag the mechanical arm to the vicinity of a lesion area of the patient in a passive mode, adjust the approach angle of the end tool to a preoperative planning setting value in an active mode, actively stop the movement, and install the drilling gun to a specific position of the end tool. At the moment, the mechanical arm starts a passive limit mode and a safety boundary, a surgeon can polish the acetabulum socket by adopting three grinding modes of fixed point, alignment and freedom according to the prompt of a robot-assisted hip replacement surgery navigation system page, the polishing effect can be rendered in real time on a software interface, when the safety boundary is reached, the page has a corresponding warning prompt, and the mechanical arm gives corresponding feedback to prevent the surgeon from continuously propelling the mechanical arm.
And the acetabular cup installation module is used for installing the acetabular cup according to a preoperative plan. The step adopts a mode of actively and passively combining the mechanical arms, so that the operation can be performed to the maximum extent according to the preoperative plan, and the operation precision and the operation safety can be guaranteed. A surgeon firstly needs to replace a connecting rod of a terminal tool with an acetabulum installation connecting rod and install an acetabulum cup matched with a patient on the connecting rod, then drags a mechanical arm to the vicinity of a focus area of the patient in a passive mode, adjusts an approach angle of the terminal tool to a preoperative planning setting value in an active mode, and actively stops movement. The surgeon can obtain the numerical value of the anteversion angle/abduction angle of the installed acetabular cup and the relative position of the acetabular cup and the focus of a patient in real time according to the page display of the hip replacement surgery navigation system. When the placing position of the acetabular cup reaches a preoperative planning value, fixing the acetabular cup in an acetabular fossa of the patient by adopting a specific surgical tool, and withdrawing the mechanical arm;
the femur cutting module comprises a femur cutting and a femur handle installation. The thighbone cutting adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety can be guaranteed. The surgeon firstly drags the mechanical arm to the position near the femoral bone cutting area of the patient in a passive mode, and then the mechanical arm stops moving after adjusting the pose of the guide plate according to the preoperative plan in an active mode. After the femur is cut, a surgeon independently processes the femoral medullary cavity of a patient and installs a femoral stem.
And the postoperative verification module verifies the hip length and the offset before/after the operation according to the characteristic points selected in the operation.
The invention has the advantages that the software interface of the invention is simple and clear, and the operation is simple; the software operation flow not only combines the characteristics of the self solution, but also considers the operability of the actual surgical operation. Compared with other similar products, the femur registration module and the hip registration module in the software have the advantages that the number of required feature points is less, the precision is higher, only one registration operation is needed, the complexity of an operation is greatly reduced, and the operation time is saved. The acetabulum polishing module, the acetabulum cup installation module and the femur cutting module in the software adopt a mode of actively and passively combining mechanical arms, so that the precision of the operation and the fitting degree of the actual operation and the operation plan of the operation are greatly improved. The software adds the femoral cutting module in the industry for the first time, and provides more operation options for surgeons.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. All the equivalent structures or equivalent process changes made by the description of the invention are included in the scope of the patent protection of the invention.
Claims (9)
1. A robot-assisted hip replacement surgery navigation system is characterized in that: comprises that
The operation scheme loading module is used for supporting operation scheme management, operation scheme preview and operation scheme fine adjustment;
the robot preparation module comprises equipment connection state monitoring, tail end tool installation, tail end tool automatic calibration, connecting rod and tracker installation and mechanical arm automatic calibration;
the femur registration module is used for carrying out femur registration to realize registration of the point cloud data and the femur of the patient;
the hip registration module is used for carrying out hip registration and realizing registration of the point cloud data and the patient hip;
the acetabulum polishing module is used for polishing the acetabulum fossa according to a preoperative plan;
the acetabular cup installation module is used for installing the acetabular cup according to a preoperative plan;
a post-operative verification module for verifying the hip length and offset before and after the operation.
2. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: still include the thighbone cutting module, the thighbone cutting module includes thighbone cutting and the installation of femoral stem.
3. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: for the robot preparation module, after a surgeon prompts to install a tail end tool according to a page of a robot-assisted hip replacement surgery navigation system, clicking an automatic calibration button of the tail end tool of the operation page, and enabling a mechanical arm to move 10 positions along the surface of a calibration steel ball, so that the calibration of the tail end tool is realized; after a surgeon clicks an automatic mechanical arm calibration button after installing a connecting rod and a tracker according to the prompt of a robot-assisted hip replacement surgery navigation system page, the mechanical arm actively moves 30 positions in a binocular vision camera visual field space, and therefore mechanical arm calibration is achieved.
4. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: for the femur registration module, firstly, a surgeon is required to fix a tracker on the femur of a patient, then, according to the page prompt of a robot-assisted hip replacement surgery navigation system, a specific probe is used for collecting a specific number of feature points on the surface of the femur of the patient, and the collected data are calculated and verified to meet a set error threshold value to allow the next operation.
5. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: for the hip registration module, firstly, a tracker needs to be fixed on the patient hip by a surgeon, then, a specific probe is used for acquiring a specific number of characteristic points on the surface of the patient hip according to the prompting of a robot-assisted hip replacement surgery navigation system page, and the acquired data is calculated and verified to meet a set error threshold value to allow the next operation.
6. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: the acetabulum polishing module adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured; for the acetabular milling module, the surgeon first needs to mount the linkage to the end tool and the patient-matched acetabular file to the end of the linkage, and then drag the mechanical arm in a passive mode near the focal region of the patient, then the mechanical arm adjusts the approach angle of the end tool to the preoperative planning set value under the active mode and actively stops moving, then the drill gun is arranged at a specific position of the end tool, at the moment, the mechanical arm starts a passive limit mode and a safety boundary, a surgeon can polish the acetabular socket by adopting three grinding modes of fixed point, alignment and freedom according to the page prompt of a navigation system for the robot-assisted hip replacement surgery, and simultaneously, the polishing effect can be real-timely rendered on a software interface, when the safety margin is reached, the page will have a corresponding warning prompt and the mechanical arm will make a corresponding feedback, preventing the surgeon from continuing to advance the mechanical arm.
7. The robotic-assisted hip replacement surgery navigation system of claim 1, wherein: the acetabulum cup installation module adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured; a surgeon firstly needs to replace a connecting rod of a tail end tool with an acetabulum installation connecting rod and install an acetabulum cup matched with a patient on the connecting rod, then a mechanical arm is dragged to the vicinity of a focus area of the patient in a passive mode, the mechanical arm adjusts an approach angle of the tail end tool to be a preoperative planning set value in an active mode, and the movement is actively stopped; meanwhile, a surgeon can acquire the numerical value of the anteversion angle/abduction angle of the installed acetabular cup and the relative position of the acetabular cup and a focus of a patient in real time according to the page display of the robot-assisted hip replacement surgery navigation system, and when the placing position of the acetabular cup reaches a preoperative planned value, the acetabular cup is fixed in an acetabular socket of the patient by a specific surgical tool, and the mechanical arm is withdrawn.
8. The robotic-assisted hip replacement surgery navigation system of claim 2, wherein: the femur cutting adopts a mode of actively and passively combining mechanical arms, so that the operation can be performed to the maximum extent according to a preoperative plan, and the operation precision and the operation safety are ensured.
9. The robotic-assisted hip replacement surgery navigation system of claim 2, wherein: the method comprises the following steps that a surgeon firstly drags a mechanical arm to the position near a femoral bone cutting area of a patient in a passive mode, then the mechanical arm stops moving after adjusting the pose of a guide plate according to a preoperative plan in an active mode, and the surgeon independently processes a femoral medullary cavity of the patient after femoral cutting is finished and installs a femoral stem.
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| WO2023280310A1 (en) * | 2021-07-09 | 2023-01-12 | 武汉联影智融医疗科技有限公司 | Surgical robot and control method therefor |
| CN115607281A (en) * | 2022-11-15 | 2023-01-17 | 北京市春立正达医疗器械股份有限公司 | Hip joint orthopedic surgery navigation system |
| WO2024032168A1 (en) * | 2022-08-10 | 2024-02-15 | 骨圣元化机器人(深圳)有限公司 | Positioning tool and system for acetabular osteotomy orthopedic surgery and computer device |
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