CN113180832A - Semi-surface short and small operation tractor positioning system based on mechanical arm - Google Patents

Semi-surface short and small operation tractor positioning system based on mechanical arm Download PDF

Info

Publication number
CN113180832A
CN113180832A CN202110427877.9A CN202110427877A CN113180832A CN 113180832 A CN113180832 A CN 113180832A CN 202110427877 A CN202110427877 A CN 202110427877A CN 113180832 A CN113180832 A CN 113180832A
Authority
CN
China
Prior art keywords
patient
mechanical arm
mandible
arm
tractor
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.)
Pending
Application number
CN202110427877.9A
Other languages
Chinese (zh)
Inventor
林力
高塬
柴岗
谢叻
石运永
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.)
Nantong Robert Medical Technology Co ltd
Original Assignee
Shanghai Panyan Robot Technology 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 Shanghai Panyan Robot Technology Co ltd filed Critical Shanghai Panyan Robot Technology Co ltd
Priority to CN202110427877.9A priority Critical patent/CN113180832A/en
Publication of CN113180832A publication Critical patent/CN113180832A/en
Pending legal-status Critical Current

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
    • A61B34/30—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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

Abstract

The invention relates to a half-surface short and small operation tractor positioning system based on a mechanical arm, which comprises the mechanical arm, a tail end registering device and a tail end executing device, wherein the mechanical arm is provided with a connector and is respectively connected with the tail end registering device and the tail end executing device through the connector; the mechanical arm comprises a control unit and a clamping unit, and the control unit is connected with the clamping unit; when registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit, and the mechanical arm and the patient are registered to the same space to obtain a registration position relation; when carrying out the tractor location, the arm passes through the clamping unit control end effector centre gripping tractor, according to registration position relation, the arm passes through the control unit control end effector and places the tractor in the planning position of patient's mandible. The tractor is placed at the planned position of the mandible through the mechanical arm, so that the manual operation error is reduced.

Description

Semi-surface short and small operation tractor positioning system based on mechanical arm
Technical Field
The invention relates to the technical field of auxiliary positioning of machines, in particular to a semi-surface short and small operation tractor positioning system based on a mechanical arm.
Background
The short and small deformity on the half side of the face is a congenital disease which is characterized by multiple dysplasia tissue structures on the half side, not only can cause serious face deformity, but also is accompanied with functional disorders and psychological disorders such as breathing, eating, language, hearing and the like, the life quality of a patient is seriously influenced, and great pain and economic burden are brought to the patient and families of the patient. Among the short and small deformities on the semi-lateral side of the face, the deformity of the mandible is the most common, affects the appearance of patients and causes the functional disorder of occlusion, and is one of the treatment focuses. The disease is mainly characterized in that the bone defect is repaired or the bone is prolonged through the mandibular distraction osteogenesis operation, namely, the bone defect is repaired or the bone is prolonged through the bone cutting and the reasonable mechanical traction force applied to the bone cutting area, and the self anti-injury regeneration capability of the body is activated.
In distraction osteogenesis, the patient is first subjected to a CT scan to develop a surgical plan that includes the location of the osteotomy and how to place the mandible retractor. The retractor consists of a fixing device and a traction device, and the fixing device part must ensure that the bone sections at the two ends of the osteotomy line have good stability. The traction device generally consists of a screw and a spiral track, and after the mandible is fixed, the screw is rotated according to a preset speed and frequency to separate and traction bones at two ends of the osteotomy surface.
Accurate mounting of the retractor on the patient's mandible is a prerequisite to ensure that the procedure can be performed safely and successfully. In conventional surgery, doctors often rely on experience to place the retractor, which can cause uncertainty in the placement position of the retractor, reduce the stability and safety of the surgery, and young doctors have less experience and greater difficulty in placement.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a semi-facial short operation tractor positioning system based on a mechanical arm, wherein the tractor is placed at the planned position of the mandible of a patient through the mechanical arm so as to reduce the error of artificial placement.
The technical scheme adopted by the invention for solving the technical problems is as follows: the half-surface short and small operation tractor positioning system based on the mechanical arm comprises the mechanical arm, a tail end registering device and a tail end executing device, wherein the mechanical arm is provided with a connector, and the mechanical arm is respectively connected with the tail end registering device and the tail end executing device through the connector; the end registration device is used for measuring the marking points of the mandible of the patient, and the end execution device is used for placing the tractor at the planned position of the mandible of the patient; the mechanical arm comprises a control unit and a clamping unit, and the control unit is connected with the clamping unit;
when the registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit, and the mechanical arm and the patient are registered to the same space, so that the position relation between the patient and the mechanical arm is obtained;
when carrying out the tractor location, the arm passes through clamping unit control end effector centre gripping tractor, according to the positional relationship of patient and arm, the arm passes through control unit control end effector places the tractor in the planning position of patient mandible.
When the registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit so as to register the patient and the mechanical arm to the same space, and the formula is as follows:
Figure BDA0003030249790000021
wherein F is a minimum error function, qiFor the patient's reference coordinate system QiThe ith point in (i) }, piRegistration criteria system for robotic arm { PiAt the ith point in the lattice, R is a rotation matrix and
Figure BDA0003030249790000022
u is the first orthogonal array, V is the second orthogonal array, TrotFor matrix transposition, T is a translation matrix and T ═ uq-Rup，uqIs qiCenter of mass of
Figure BDA0003030249790000023
upIs piCenter of mass of
Figure BDA0003030249790000024
And N is the number of registration points.
The tip registration device is provided with a probe for making marker point measurements of the patient's mandible.
The end effector is provided with a clamping device for clamping the retractor.
The connector is a rotating disc, and the mechanical arm is respectively connected with the tail end registering device and the tail end executing device through the rotating disc; when the registration is performed, the control unit controls the rotating disc to rotate the end registration device to the mandible of the patient; when the retractor is positioned, the control unit controls the rotating disc to rotate the end effector to the patient's mandible.
Still include with the fixing device that the arm links to each other, fixing device is used for fixing the base of arm on patient's mandible.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the invention automatically arranges the tractor through the mechanical arm, thereby ensuring that the tractor can be accurately arranged on the mandible of the patient according to the scheme designed before the operation; the invention can effectively avoid the error and instability of the manual operation belt; the invention reduces the uncertainty of manual operation and the dependence on operation experience, thereby better restoring the facial morphology and function of the patient.
Drawings
FIG. 1 is a block diagram view of a robotic arm based semi-lateral short surgical retractor positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a processor in a control unit in accordance with an embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a semi-surface short surgical retractor positioning system based on a mechanical arm, which comprises the mechanical arm, a tail end registering device and a tail end executing device, wherein the mechanical arm is provided with a connector and is respectively connected with the tail end registering device and the tail end executing device through the connector; the end registration device is used for measuring the marking points of the mandible of the patient, and the end execution device is used for placing the tractor at the planned position of the mandible of the patient; the mechanical arm comprises a control unit and a clamping unit, and the control unit is connected with the clamping unit; the control unit includes a processor of model number STM32F103C8T6 (see fig. 2).
When the registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit, and the mechanical arm and the patient are registered to the same space, so that the position relation between the patient and the mechanical arm is obtained; when carrying out the tractor location, the arm passes through clamping unit control end actuating device centre gripping tractor, according to the position relation of patient and arm, the arm passes through control unit control end actuating device places the tractor at the planning position of patient mandible, and the rethread screw is fixed the tractor on the bone.
When the registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit so as to register the patient and the mechanical arm to the same space. The basic principle is as follows:
suppose there are two sets of point clouds { PiAnd { Q }i}，{PiThe registration standard system of the mechanical arm, { Q }iThe patient's reference coordinate system needs to find the appropriate rotation matrix and translation matrix, if the conversion is error-free, the following formula is given:
Figure BDA0003030249790000031
where R is a rotation matrix, T is a translation matrix, qiFor the patient's reference coordinate system QiThe ith point in (i) }, piRegistration criteria system for robotic arm { PiPoint i in (j).
Because noise exists in the space identification process and an error exists actually, a minimum error function F is constructed, and the formula is as follows:
Figure BDA0003030249790000041
and calculating the optimal rotation matrix and translation matrix thereof.
First calculate piCenter of mass upAnd q isiCenter of mass uq，upAnd uqThe formula of (1) is as follows:
Figure BDA0003030249790000042
Figure BDA0003030249790000043
wherein N is the number of registration points.
After removing the center of mass, there is pi' and qi', the formula is as follows:
p′i＝pi-up
q′i＝qi-uq
constructing a matrix H:
Figure BDA0003030249790000044
solving by singular values to obtain:
H＝U∧VT
wherein, U is a first orthogonal array, and V is a second orthogonal array.
And finally obtaining the optimal rotation matrix and translation matrix, wherein the formula is as follows:
Figure BDA0003030249790000045
T＝uq-Rup
wherein, TrotRepresenting a matrix transposition.
The tip registration device is provided with a probe for making marker point measurements of the patient's mandible.
In this embodiment, the end effector needs to be responsible for clamping the retractor, which is provided with a clamping device for clamping the retractor, by means of which the retractor can be clamped accurately and securely.
Further, the connector is a rotating disc, and the mechanical arm is respectively connected with the tail end registering device and the tail end executing device through the rotating disc; when the registration is performed, the control unit controls the rotating disc to rotate the end registration device to the mandible of the patient; when the retractor is positioned, the control unit controls the rotating disc to rotate the end effector to the patient's mandible.
This embodiment still includes the fixing device who links to each other with the arm, this fixing device sets up by the bed, fixing device is used for fixing the base of arm on patient's mandible.
The invention is further illustrated by the following specific embodiments:
the method comprises the following steps: the patient is scanned using CT, a surgical plan is prepared, and the position where the retractor should be installed is designed.
Step two: the mandible of the patient is fixed with the mechanical arm base through the fixing device beside the operating bed.
Step three: the end registration device and the end effector are mounted to respective connectors at the end of the robotic arm, and the retractor is secured to the end effector.
Step four: the robotic arm is manipulated so that the probe tip touches a marking point on the patient's mandible, registering the patient with the robotic arm.
Step four: the surgeon cuts the mandible along the osteotomy line.
Step five: the tractor is fixed at a designed position through fine adjustment of the mechanical arm, and the tractor is fixed on the mandible by using screws, so that the positioning of the tractor is completed.
Therefore, the tractor is automatically arranged through the mechanical arm, so that the tractor can be accurately arranged on the mandible of the patient according to the scheme designed before the operation; the invention can effectively avoid the error and instability of the manual operation belt.

Claims (6)

1. A semi-surface short and small operation tractor positioning system based on a mechanical arm is characterized by comprising the mechanical arm, a tail end registering device and a tail end executing device, wherein the mechanical arm is provided with a connector and is respectively connected with the tail end registering device and the tail end executing device through the connector; the end registration device is used for measuring the marking points of the mandible of the patient, and the end execution device is used for placing the tractor at the planned position of the mandible of the patient; the mechanical arm comprises a control unit and a clamping unit, and the control unit is connected with the clamping unit;
when the registration is carried out, the mechanical arm controls the tail end registration device to carry out mark point measurement on the mandible of the patient through the control unit, and the mechanical arm and the patient are registered to the same space, so that the position relation between the patient and the mechanical arm is obtained;
when carrying out the tractor location, the arm passes through clamping unit control end effector centre gripping tractor, according to the positional relationship of patient and arm, the arm passes through control unit control end effector places the tractor in the planning position of patient mandible.
2. The robotic arm-based semi-facial short surgical retractor positioning system of claim 1 wherein said robotic arm, when registering, controls the tip registration device via the control unit to make mark point measurements on the patient's mandible to register the patient and robotic arm to the same space, as:
Figure FDA0003030249780000011
wherein F is a minimum error function, qiFor the patient's reference coordinate system QiThe ith point in (i) }, piRegistration criteria system for robotic arm { PiAt the ith point in the lattice, R is a rotation matrix and
Figure FDA0003030249780000012
u is the first orthogonal array, V is the second orthogonal array, TrotFor matrix transposition, T is a translation matrix and T ═ uq-Rup，uqIs qiCenter of mass of
Figure FDA0003030249780000013
upIs piCenter of mass of
Figure FDA0003030249780000014
And N is the number of registration points.
3. The robotic arm-based semi-facial short surgical retractor positioning system of claim 1 wherein said tip registration device is provided with a probe for making marker point measurements of the patient's mandible.
4. The robotic arm-based semi-planar short surgical retractor positioning system of claim 1 wherein said end effector is provided with a clamping device for clamping the retractor.
5. The robotic arm-based semi-planar short surgical retractor positioning system of claim 1 wherein said connector is a rotating disk through which said robotic arm is connected to an end registration device and an end effector, respectively; when the registration is performed, the control unit controls the rotating disc to rotate the end registration device to the mandible of the patient; when the retractor is positioned, the control unit controls the rotating disc to rotate the end effector to the patient's mandible.
6. The robotic-based semi-facial short surgical retractor positioning system of claim 1 further comprising a securing device connected to said robotic arm for securing the base of the robotic arm to the mandible of the patient.
CN202110427877.9A 2021-04-21 2021-04-21 Semi-surface short and small operation tractor positioning system based on mechanical arm Pending CN113180832A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110427877.9A CN113180832A (en) 2021-04-21 2021-04-21 Semi-surface short and small operation tractor positioning system based on mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110427877.9A CN113180832A (en) 2021-04-21 2021-04-21 Semi-surface short and small operation tractor positioning system based on mechanical arm

Publications (1)

Publication Number Publication Date
CN113180832A true CN113180832A (en) 2021-07-30

Family

ID=76978030

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110427877.9A Pending CN113180832A (en) 2021-04-21 2021-04-21 Semi-surface short and small operation tractor positioning system based on mechanical arm

Country Status (1)

Country Link
CN (1) CN113180832A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104814792A (en) * 2015-04-01 2015-08-05 上海交通大学 Separable multi-arm soft mechanical arm device
US20170258535A1 (en) * 2012-06-21 2017-09-14 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN110060331A (en) * 2019-03-14 2019-07-26 杭州电子科技大学 Three-dimensional rebuilding method outside a kind of monocular camera room based on full convolutional neural networks
WO2020041619A2 (en) * 2018-08-24 2020-02-27 Auris Health, Inc. Manually and robotically controllable medical instruments
US20200297435A1 (en) * 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
CN112304318A (en) * 2020-11-10 2021-02-02 河北工业大学 Autonomous navigation method of robot under virtual-real coupling constraint environment
CN112370163A (en) * 2020-11-11 2021-02-19 上海交通大学医学院附属第九人民医院 Fibula transplantation surgical robot for mandible reconstruction
US20210093393A1 (en) * 2019-10-01 2021-04-01 Smith & Nephew, Inc. Methods of accessing joints for arthroscopic procedures

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170258535A1 (en) * 2012-06-21 2017-09-14 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN104814792A (en) * 2015-04-01 2015-08-05 上海交通大学 Separable multi-arm soft mechanical arm device
WO2020041619A2 (en) * 2018-08-24 2020-02-27 Auris Health, Inc. Manually and robotically controllable medical instruments
CN110060331A (en) * 2019-03-14 2019-07-26 杭州电子科技大学 Three-dimensional rebuilding method outside a kind of monocular camera room based on full convolutional neural networks
US20200297435A1 (en) * 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20210093393A1 (en) * 2019-10-01 2021-04-01 Smith & Nephew, Inc. Methods of accessing joints for arthroscopic procedures
CN112304318A (en) * 2020-11-10 2021-02-02 河北工业大学 Autonomous navigation method of robot under virtual-real coupling constraint environment
CN112370163A (en) * 2020-11-11 2021-02-19 上海交通大学医学院附属第九人民医院 Fibula transplantation surgical robot for mandible reconstruction

Similar Documents

Publication Publication Date Title
US5855582A (en) Noninvasive stereotactic apparatus and method for relating data between medical devices
US4228799A (en) Method of guiding a stereotaxic instrument at an intracerebral space target point
CA2806035C (en) Method and internal apparatus for determining final position of dentate skeleton in orthognathic surgery
US5098383A (en) Device for orienting appliances, prostheses, and instrumentation in medical procedures and methods of making same
JPH021239A (en) Adjustable holder for rf surface coil for magnetic resonance image processing
US20160310227A1 (en) Apparatus and method for oral and maxillofacial surgery and preoperative modeling
CN111388088A (en) Operation guide plate, three-dimensional model, manufacturing and constructing method, computer and storage medium
CN113180832A (en) Semi-surface short and small operation tractor positioning system based on mechanical arm
CN217244760U (en) Compound mandible fracture baffle that resets
CN211023058U (en) Medical pedicle screw positioning forceps with positioning function
CN213851023U (en) Percutaneous fixing device of orthopedic surgery robot tracer
CN109700532A (en) Individuation cranium Maxillary region navigation registration guide plate and its method for registering
CN213098282U (en) Operation guide plate
CN114617608A (en) 3D printing method of osteotomy guide plate for transverse tibial bone moving operation
CN209734134U (en) Navigation registration guide plate for individualized mandible
JP3430256B2 (en) Animal head fixation device for magnetic resonance imaging
CN113143457A (en) Maxillofacial operation auxiliary system and method based on MR head-mounted equipment
CN112451077A (en) Operation guide plate for jaw surgery and manufacturing method thereof
CN208693411U (en) Integrated auxiliary fixing device for 2 odontoid fracture anterior approach of neck
CN113017764B (en) Preparation method of osteotomy extender navigation template for stretching osteogenesis treatment of skin Luo Zeng syndrome
CN219089688U (en) Novel positioner for stereotactic system
CN210811330U (en) Mandible treatment and repair device
CN215384391U (en) Integrated mandible osteotomy external fixation device
JP7450846B2 (en) Orthognathic surgical implant assembly with pre- and post-osteotomy alignment elements
CN113017765B (en) Integrated external mandible osteotomy fixing device and using method

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
TA01 Transfer of patent application right

Effective date of registration: 20230303

Address after: No. 888, Zhujiang Road, juegang Town, Rudong County, Nantong City, Jiangsu Province, 226499

Applicant after: NANTONG ROBERT MEDICAL TECHNOLOGY Co.,Ltd.

Address before: 201318 1, Lane 588, Tianxiong Road, Pudong New Area, Shanghai_ Room 402, building 10, No. 28

Applicant before: SHANGHAI PANYAN ROBOT TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right