CN113509269B - Laser cuts supplementary full hip joint replacement operation robot of bone - Google Patents
Laser cuts supplementary full hip joint replacement operation robot of bone Download PDFInfo
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- 210000000988 bone and bone Anatomy 0.000 title description 10
- 210000004394 hip joint Anatomy 0.000 title description 2
- 210000000588 acetabulum Anatomy 0.000 claims abstract description 58
- 239000012636 effector Substances 0.000 claims abstract description 40
- 238000003698 laser cutting Methods 0.000 claims abstract description 40
- 238000011541 total hip replacement Methods 0.000 claims abstract description 19
- 238000007664 blowing Methods 0.000 claims abstract description 16
- 238000005507 spraying Methods 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000001356 surgical procedure Methods 0.000 claims abstract description 8
- 238000002679 ablation Methods 0.000 claims description 270
- 238000000608 laser ablation Methods 0.000 claims description 29
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000002146 bilateral effect Effects 0.000 claims description 4
- 210000003423 ankle Anatomy 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 210000004197 pelvis Anatomy 0.000 claims description 3
- 238000005498 polishing Methods 0.000 description 4
- 238000007493 shaping process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000011164 ossification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000017423 tissue regeneration Effects 0.000 description 1
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention relates to a laser osteotomy auxiliary total hip replacement surgery robot, which relates to the technical field of medical instruments and comprises a control computer main body, wherein the front end of the top of the control computer main body is provided with a base, the top of the base is connected with the robot main body, the left side of the control computer main body is provided with a connecting wire, the front part of the control computer main body is provided with a support, the top of the support is fixed with an operating table, the other end of the connecting wire is connected with an auxiliary device, the front end of the robot main body is provided with a laser cutting end effector, the laser cutting end effector is used for cutting at a preset position according to a preset cutting amount, the right side of the laser cutting end effector is connected with an auxiliary water spraying and blowing device, and the auxiliary water spraying and blowing device is used for spraying and blowing water to acetabulum. The invention effectively avoids the potential safety hazard caused by manual grinding by adopting a laser osteotomy mode, and improves the safety of the operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a laser osteotomy-assisted total hip replacement surgery robot.
Background
At present, the acetabular bone shaping in the artificial total hip replacement depends on an acetabular file to polish the acetabular bone, the polishing depth and the polishing direction mainly depend on naked eyes and experience of an operator to judge, and the shaping mode can cause large errors.
Rely on mechanical effort to destroy the trabecula bone when the acetabular bone file is polished and realize grinding bone formation, can cause the trabecula bone structure to destroy, it is more to bleed, can reach 1000ml at most, and the fracture trabecula can increase healing time at the tissue repair in-process, is that acetabular cup prosthesis bone grows into bad potential risk factor.
The manually polished and formed acetabulum socket is not in a regular hemisphere shape and cannot be completely matched with a regular hemispherical metal acetabulum cup, a gap is formed between the acetabulum socket which is not well matched and the acetabulum cup, the gap is a potential risk factor for long-term loosening of the acetabulum cup, the acetabulum cup is extruded due to poor matching, micro deformation is generated, and the ceramic lining is difficult to place.
Disclosure of Invention
Therefore, the invention provides a laser osteotomy assisted total hip replacement surgery robot which is used for solving the problem of low surgery safety caused by the fact that the polishing shape of an acetabular bone cannot be accurately controlled in the prior art.
In order to achieve the above object, the present invention provides a laser osteotomy-assisted total hip replacement surgical robot, comprising:
the control computer main body is used for reconstructing CT data from bilateral ankles to pelvis, planning an acetabulum osteotomy angle and an osteotomy amount and generating an osteotomy path according to the reconstructed CT data, a base is installed at the front end of the top of the control computer main body, the top of the base is connected with a robot main body, the robot main body is used for controlling the angle of laser osteotomy, a connecting line is arranged on the left side of the control computer main body, a support is arranged in front of the control computer main body, an operating table is fixed at the top of the support, the other end of the connecting line is connected with an auxiliary device, and the auxiliary device is used for positioning the acetabulum osteotomy position;
the front end of the robot main body is provided with a laser cutting end effector which is used for cutting at a preset position according to a preset cutting amount, the right side of the laser cutting end effector is connected with an auxiliary water spraying and blowing device, and the auxiliary water spraying and blowing device is used for spraying and blowing air to acetabulum;
the control computer main body is internally provided with a laser ablation curve equation, the control computer main body controls the laser cutting end effector to perform primary ablation on the convex part outside the laser ablation curve equation, after the primary ablation is completed, the control computer main body compares the number of ablation points during the primary ablation with the preset number of ablation points, selects a corresponding radius regulating coefficient according to the comparison result to regulate the laser ablation curve equation, and controls the laser cutting end effector to perform secondary ablation on the convex part outside the regulated laser ablation curve equation;
when the control computer main body controls the laser cutting end effector to melt the acetabulum, the control computer main body compares the ablation height of an ablation point with a preset ablation height, selects a corresponding ablation speed according to a comparison result, compares the curvature of the ablation point with the curvature of the preset ablation point after the ablation speed is determined, selects a corresponding ablation speed adjusting coefficient according to the comparison result to adjust the ablation speed, compares the ablation angle of the ablation point with the preset ablation angle after the adjustment is completed, and selects a corresponding ablation speed correcting coefficient according to the comparison result to correct the ablation speed.
Further, the control computer main body establishes a space rectangular coordinate system by taking the maximum circle plane of the hemispherical acetabulum in the CT data as a horizontal plane, and is provided with a laser ablation curve equation x by taking the center of the maximum circle of the hemispherical acetabulum as a coordinate origin2+y2+z2＝r2In the formula, x represents an abscissa, y represents an ordinate, z represents a coordinate in a direction vertical to a horizontal plane, and r is the radius of the maximum circle of the hemispherical acetabulum;
the control computer body controls the laser cutting end effector to perform primary ablation on a convex part, located outside a laser ablation curve equation, in the hemispherical acetabulum, and the convex part located outside the laser ablation curve equation is defined as an ablation point.
Furthermore, the control computer main body is also provided with a first preset number of ablation points A1, a second preset number of ablation points A2 and a third preset number of ablation points A3, wherein A1 is more than A2 and more than A3; the control computer main body is also provided with a first preset radius adjusting coefficient a1, a second preset radius adjusting coefficient a2 and a third preset radius adjusting coefficient a3, wherein a1 is more than 0 and more than a2 and more than a3 and less than 1;
when the control computer main body controls the laser cutting end effector to perform secondary ablation on the acetabulum, the control computer main body compares the number A of ablation points during primary ablation with the number of the preset ablation points, and selects a corresponding radius adjusting coefficient according to a comparison result to adjust the radius r of the maximum circle of the hemispherical acetabulum:
when A is less than A1, the control computer main body selects a1 to adjust r;
when A is greater than or equal to A1 and is less than A2, the control computer main body selects a2 to regulate r;
when A is greater than or equal to A2 and is less than A3, the control computer main body selects A3 to regulate r;
when the control computer main body selects the ith preset radius adjustment coefficient ai to adjust r, i is set to be 1,2 and 3, the radius of the maximum circle of the adjusted hemispherical acetabulum is set to be r ', and r' is set to be r multiplied by ai.
Further, the control computer body adjusts the laser ablation curve equation to x according to the radius r' of the maximum circle of the hemispherical acetabulum obtained after adjustment2+y2+z2＝r’2And the control computer body controls the laser cutting end effector to perform secondary ablation on a convex part of the hemispherical acetabulum, which is positioned outside the adjusted laser ablation curve equation.
Further, the control computer body obtains ablation heights h of the ablation points, and when the control computer body controls the laser cutting end effector to ablate the ablation points, the control computer body controls the laser cutting end effector to sequentially ablate the ablation points in the clockwise direction according to the sequence of the ablation heights h from large to small.
Further, a first preset ablation speed V1, a second preset ablation speed V2 and a third preset ablation speed V3 are further arranged in the control computer main body, wherein V1 is more than V2 and more than V3; the control computer main body is also provided with a first preset ablation height h1, a second preset ablation height h2 and a third preset ablation height h3, wherein h1 is more than h2 and more than h 3;
when the control computer main body controls the laser cutting end effector to ablate the acetabulum, the control computer main body compares the ablation height h of an ablation point with each preset ablation height, and selects a corresponding ablation speed according to a comparison result:
when h < h1, the control computer body takes V3 as the ablation speed;
when h1 is not less than h < h2, the control computer main body takes V2 as the ablation speed;
when h2 is less than or equal to h < h3, the control computer body takes V1 as the ablation speed.
Furthermore, a first preset ablation point curvature p1, a second preset ablation point curvature p2 and a third preset ablation point curvature p3 are arranged in the control computer main body, wherein p1 is more than p2 and more than p 3; the control computer main body is also provided with a first preset ablation speed adjusting coefficient m1, a second preset ablation speed adjusting coefficient m2 and a third preset ablation speed adjusting coefficient m3, wherein m1 is more than 0 and more than m2 and more than m3 and less than 1;
when the control computer main body adjusts the selected ith preset ablation speed Vi, setting i to be 1,2 and 3, comparing the curvature p of an ablation point with the curvatures of the preset ablation points by the control computer main body, and selecting a corresponding ablation speed adjusting coefficient according to a comparison result to adjust the Vi:
when p is less than p1, the control computer main body selects m1 to regulate Vi;
when p1 is not less than p < p2, the control computer main body selects m2 to adjust Vi;
when p2 is not less than p < p3, the control computer main body selects m3 to adjust Vi;
when the control computer body selects the j-th preset ablation speed adjusting coefficient mj to adjust Vi, j is set to be 1,2 and 3, and the adjusted ablation speed is Vi ', and Vi' is set to be Vi x mj.
Furthermore, an included angle formed by two ends of the ablation point and the origin of coordinates is defined as an ablation angle, a first preset ablation angle Q1, a second preset ablation angle Q2 and a third preset ablation angle Q3 are further arranged in the control computer main body, wherein Q1 is more than Q2 and more than Q3; the control computer main body is also provided with a first preset ablation speed correction coefficient n1, a second preset ablation speed correction coefficient n2 and a third preset ablation speed correction coefficient n3, wherein n1 is more than 0 and more than n2 and more than n3 and less than 1;
when the control computer main body corrects the adjusted ablation speed Vi ', the control computer main body compares the ablation angle Q of the ablation point with each preset ablation angle, and selects a corresponding ablation speed correction coefficient to correct the Vi' according to the comparison result:
when Q1 is not less than Q < Q2, the control computer main body selects n3 to correct Vi';
when Q2 is not less than Q < Q3, the control computer main body selects n2 to correct Vi';
when Q3 is not more than Q, the control computer main body selects n1 to correct Vi';
when the control computer body selects the j-th preset ablation speed correction coefficient nj to correct Vi ', j is set to be 1,2 and 3, the corrected ablation speed is Vi ", and Vi is set to be Vi' × nj.
Compared with the prior art, the invention has the advantages that the invention effectively avoids the destruction of the trabecular bone structure caused by artificial polishing by adopting a laser osteotomy mode, improves the safety of the operation, the control computer main body carries out twice ablation on the acetabulum by setting a laser ablation curve equation, effectively improves the ablation accuracy, thereby avoiding the formation of a gap between the acetabulum fossa and the acetabulum cup, effectively improving the safety of the operation, determining the ablation speed by the control computer main body through the ablation height of the ablation point, adjusting and correcting the ablation speed, effectively improving the accuracy of the ablation speed, and then the safety of the operation is improved, the water spraying and the air blowing at a certain speed can increase the cutting efficiency, and the cutting efficiency is effectively improved by arranging the water spraying and air blowing auxiliary cutting ablation device, so that the operation efficiency is improved.
Furthermore, the control computer main body compares the number A of the ablation points during primary ablation with the number of the preset ablation points to select the corresponding radius adjustment coefficient to adjust the radius r of the maximum circle of the hemispherical acetabulum, so that the accuracy during secondary ablation is effectively improved, and the safety of the operation is further improved.
Furthermore, the control computer body controls the laser cutting end effector to sequentially ablate all ablation points in a clockwise direction according to the sequence of ablation heights h from large to small, so that the ablation accuracy is further improved, and the operation safety is further improved.
Furthermore, the control computer main body compares the ablation height h of the ablation point with each preset ablation height to select the corresponding ablation speed, so that the ablation accuracy is further improved, and the operation safety is further improved.
Furthermore, the control computer main body compares the curvatures p of the ablation points with the curvatures of the preset ablation points to select corresponding ablation speed regulating coefficients to regulate Vi, so that the accuracy of the ablation speed is effectively improved, and the safety of the operation is further improved.
Furthermore, the control computer main body compares the ablation angle Q of the ablation point with each preset ablation angle and selects a corresponding ablation speed correction coefficient to correct Vi', so that the accuracy of the ablation speed is further improved, and the safety of the operation is further improved.
Drawings
FIG. 1 is a schematic structural diagram of a laser osteotomy-assisted total hip replacement surgical robot according to the present embodiment;
FIG. 2 is a schematic structural view of a laser-cutting end effector of the laser osteotomy-assisted total hip replacement surgical robot according to the present embodiment;
FIG. 3 is a schematic structural view of an auxiliary water-jet insufflation device of the laser osteotomy auxiliary total hip replacement surgical robot of the present embodiment;
FIG. 4 is a schematic structural view of an auxiliary device of the robot for total hip replacement with laser osteotomy assistance in accordance with the present embodiment;
FIG. 5 is a flowchart illustrating the operation of the laser osteotomy-assisted total hip replacement surgical robot of the present embodiment;
fig. 6 is a system block diagram of the laser osteotomy assisted total hip replacement surgical robot of the present embodiment.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the present invention provides a laser osteotomy assisted total hip replacement surgery robot, comprising:
the robot comprises a control computer main body 1, a base 2, a robot main body 3, a connecting line 6, a support 8, an operating table 9, an auxiliary device 7 and an auxiliary device 7, wherein the control computer main body 1 is used for reconstructing CT data from bilateral ankles to pelvis, planning an acetabulum osteotomy angle and an osteotomy amount and generating an osteotomy path according to the reconstructed CT data, the base 2 is installed at the front end of the top of the control computer main body 1, the top of the base 2 is connected with the robot main body 3, the robot main body 3 is used for controlling the angle of laser osteotomy, the left side of the control computer main body 1 is provided with the connecting line 6, the front of the control computer main body 1 is provided with the support 8, the top of the support 8 is fixed with the operating table 9, the other end of the connecting line 6 is connected with the auxiliary device 7, and the auxiliary device 7 is used for positioning the acetabulum osteotomy position;
the front end of the robot body 1 is provided with a laser cutting end effector 4, the laser cutting end effector 4 is used for cutting at a preset position according to a preset cutting amount, the right side of the laser cutting end effector 4 is connected with an auxiliary water spraying and blowing device 5, and the auxiliary water spraying and blowing device 5 is used for spraying and blowing air to acetabulum.
Referring to fig. 2, the laser cutting end effector 4 includes a laser emitting end 41, the right side of the laser emitting end 41 is connected to the robot main body 3, the top of the laser emitting end 41 is connected to a cutting end 43 through a light path transmission structure 42, the back of the cutting end 43 is connected to a back plate 44, four ends of the front end surface of the back plate 44 are connected to a pressing member 45 through bolts, the front end of the back plate 44 is concave, and the cutting end 43 is embedded into the concave position of the front end of the back plate 44.
Referring to fig. 3, the auxiliary water spraying and blowing device 5 includes a fixed block 51, the left side of the fixed block is connected to the back plate 44, an air source connector 52 is installed in the middle of the top end of the fixed block 51, a water source connector 53 is installed on the right side of the fixed block 51, the back of the water source connector 53 is connected to a valve 54, the bottom of the fixed block 51 is connected to a universal pipe 55, and the other end of the universal pipe 55 is connected to a blowing head 56.
Referring to fig. 4, the auxiliary device 7 includes a bracket 71, the upper end of the outer diameter surface of which is connected with a first universal connecting frame 72 and a second universal connecting frame 73, the other end of the first universal connecting frame 72 is connected with a display 74 through a bolt, and the other end of the second universal connecting frame 73 is connected with a navigation positioner 75.
Referring to fig. 5, the working steps of the robot for the total hip replacement assisted laser osteotomy according to the present embodiment are as follows:
step a: importing bilateral ankle-pelvis CT data;
step b: reconstructing CT data, planning an acetabulum osteotomy angle and an osteotomy amount, and generating an osteotomy path;
step c: the navigation camera registers in the acetabulum to enable the mechanical arm and the human body to be registered in a three-dimensional space;
step d: carrying out acetabulum ablation shaping on the laser ablation tail end clamped by the mechanical arm;
step e: and after shaping, clamping the acetabular cup by using the mechanical arm, and placing the acetabular cup according to a planned angle.
Specifically, a laser ablation curve equation is arranged in the control computer main body, the control computer main body controls the laser cutting end effector to perform primary ablation on the convex part outside the laser ablation curve equation, after the primary ablation is completed, the control computer main body compares the number of ablation points during the primary ablation with the preset number of ablation points, selects a corresponding radius adjusting coefficient according to a comparison result to adjust the laser ablation curve equation, and controls the laser cutting end effector to perform secondary ablation on the convex part outside the adjusted laser ablation curve equation;
when the control computer main body controls the laser cutting end effector to melt the acetabulum, the control computer main body compares the ablation height of an ablation point with a preset ablation height, selects a corresponding ablation speed according to a comparison result, compares the curvature of the ablation point with the curvature of the preset ablation point after the ablation speed is determined, selects a corresponding ablation speed adjusting coefficient according to the comparison result to adjust the ablation speed, compares the ablation angle of the ablation point with the preset ablation angle after the adjustment is completed, and selects a corresponding ablation speed correcting coefficient according to the comparison result to correct the ablation speed.
Specifically, the control computer main body establishes a spatial rectangular coordinate system by taking the maximum circular plane of the hemispherical acetabulum in the CT data as a horizontal plane, and takes the hemispherical acetabulum as a reference planeThe center of the maximum circle of the acetabulum is the origin of coordinates, and a laser ablation curve equation x is arranged2+y2+z2＝r2In the formula, x represents an abscissa, y represents an ordinate, z represents a coordinate in a direction vertical to a horizontal plane, and r is the radius of the maximum circle of the hemispherical acetabulum;
the control computer body controls the laser cutting end effector to perform primary ablation on a convex part, located outside a laser ablation curve equation, in the hemispherical acetabulum, and the convex part located outside the laser ablation curve equation is defined as an ablation point.
Specifically, the control computer body is also provided with a first preset number A1 of ablation points, a second preset number A2 of ablation points and a third preset number A3 of ablation points, wherein A1 is more than A2 and more than A3; the control computer main body is also provided with a first preset radius adjusting coefficient a1, a second preset radius adjusting coefficient a2 and a third preset radius adjusting coefficient a3, wherein a1 is more than 0 and more than a2 and more than a3 and less than 1;
when the control computer main body controls the laser cutting end effector to perform secondary ablation on the acetabulum, the control computer main body compares the number A of ablation points during primary ablation with the number of the preset ablation points, and selects a corresponding radius adjusting coefficient according to a comparison result to adjust the radius r of the maximum circle of the hemispherical acetabulum:
when A is less than A1, the control computer main body selects a1 to adjust r;
when A is greater than or equal to A1 and is less than A2, the control computer main body selects a2 to regulate r;
when A is greater than or equal to A2 and is less than A3, the control computer main body selects A3 to regulate r;
when the control computer main body selects the ith preset radius adjustment coefficient ai to adjust r, i is set to be 1,2 and 3, the radius of the maximum circle of the adjusted hemispherical acetabulum is set to be r ', and r' is set to be r multiplied by ai.
Specifically, the control computer body adjusts the laser ablation curve equation to x according to the radius r' of the maximum circle of the hemispherical acetabulum obtained after adjustment2+y2+z2＝(r’)2And the control computer body controls the laser cutting end effector to perform secondary ablation on a convex part of the hemispherical acetabulum, which is positioned outside the adjusted laser ablation curve equation.
The control computer main body compares the number A of the ablation points during primary ablation with the number of the preset ablation points to select the corresponding radius adjustment coefficient to adjust the radius r of the maximum circle of the hemispherical acetabulum, so that the accuracy during secondary ablation is effectively improved, and the safety of the operation is further improved.
Specifically, the control computer body obtains ablation heights h of the ablation points, and when the control computer body controls the laser cutting end effector to ablate the ablation points, the control computer body controls the laser cutting end effector to sequentially ablate the ablation points clockwise from large to small according to the ablation heights h.
Specifically, a first preset ablation speed V1, a second preset ablation speed V2 and a third preset ablation speed V3 are further arranged in the control computer main body, wherein V1 is more than V2 and more than V3; the control computer main body is also provided with a first preset ablation height h1, a second preset ablation height h2 and a third preset ablation height h3, wherein h1 is more than h2 and more than h 3;
when the control computer main body controls the laser cutting end effector to ablate the acetabulum, the control computer main body compares the ablation height h of an ablation point with each preset ablation height, and selects a corresponding ablation speed according to a comparison result:
when h < h1, the control computer body takes V3 as the ablation speed;
when h1 is not less than h < h2, the control computer main body takes V2 as the ablation speed;
when h2 is less than or equal to h < h3, the control computer body takes V1 as the ablation speed.
The control computer main body compares the ablation height h of the ablation point with each preset ablation height to select the corresponding ablation speed, so that the ablation accuracy is further improved, and the operation safety is further improved.
Specifically, a first preset ablation point curvature p1, a second preset ablation point curvature p2 and a third preset ablation point curvature p3 are further arranged in the control computer main body, wherein p1 < p2 < p 3; the control computer main body is also provided with a first preset ablation speed adjusting coefficient m1, a second preset ablation speed adjusting coefficient m2 and a third preset ablation speed adjusting coefficient m3, wherein m1 is more than 0 and more than m2 and more than m3 and less than 1;
when the control computer main body adjusts the selected ith preset ablation speed Vi, setting i to be 1,2 and 3, comparing the curvature p of an ablation point with the curvatures of the preset ablation points by the control computer main body, and selecting a corresponding ablation speed adjusting coefficient according to a comparison result to adjust the Vi:
when p is less than p1, the control computer main body selects m1 to regulate Vi;
when p1 is not less than p < p2, the control computer main body selects m2 to adjust Vi;
when p2 is not less than p < p3, the control computer main body selects m3 to adjust Vi;
when the control computer body selects the j-th preset ablation speed adjusting coefficient mj to adjust Vi, j is set to be 1,2 and 3, and the adjusted ablation speed is Vi ', and Vi' is set to be Vi x mj.
Specifically, an included angle formed by two ends of the ablation point and the origin of coordinates is defined as an ablation angle, a first preset ablation angle Q1, a second preset ablation angle Q2 and a third preset ablation angle Q3 are further arranged in the control computer main body, wherein Q1 is more than Q2 and more than Q3; the control computer main body is also provided with a first preset ablation speed correction coefficient n1, a second preset ablation speed correction coefficient n2 and a third preset ablation speed correction coefficient n3, wherein n1 is more than 0 and more than n2 and more than n3 and less than 1;
when the control computer main body corrects the adjusted ablation speed Vi ', the control computer main body compares the ablation angle Q of the ablation point with each preset ablation angle, and selects a corresponding ablation speed correction coefficient to correct the Vi' according to the comparison result:
when Q1 is not less than Q < Q2, the control computer main body selects n3 to correct Vi';
when Q2 is not less than Q < Q3, the control computer main body selects n2 to correct Vi';
when Q3 is not more than Q, the control computer main body selects n1 to correct Vi';
when the control computer body selects the j-th preset ablation speed correction coefficient nj to correct Vi ', j is set to be 1,2 and 3, the corrected ablation speed is Vi ", and Vi is set to be Vi' × nj.
The control computer main body compares the ablation angle Q of the ablation point with each preset ablation angle and selects the corresponding ablation speed correction coefficient to correct Vi', so that the accuracy of the ablation speed is further improved, and the safety of the operation is further improved.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A laser osteotomy assisted total hip replacement surgical robot, comprising:
the control computer main body is used for reconstructing CT data from bilateral ankles to pelvis, planning an acetabulum osteotomy angle and an osteotomy amount and generating an osteotomy path according to the reconstructed CT data, a base is installed at the front end of the top of the control computer main body, the top of the base is connected with a robot main body, the robot main body is used for controlling the angle of laser osteotomy, a connecting line is arranged on the left side of the control computer main body, a support is arranged in front of the control computer main body, an operating table is fixed at the top of the support, the other end of the connecting line is connected with an auxiliary device, and the auxiliary device is used for positioning the acetabulum osteotomy position;
the front end of the robot main body is provided with a laser cutting end effector which is used for cutting at a preset position according to a preset cutting amount, the right side of the laser cutting end effector is connected with an auxiliary water spraying and blowing device, and the auxiliary water spraying and blowing device is used for spraying and blowing air to acetabulum;
the control computer main body is internally provided with a laser ablation curve equation, the control computer main body controls the laser cutting end effector to perform primary ablation on the convex part outside the laser ablation curve equation, after the primary ablation is completed, the control computer main body compares the number of ablation points during the primary ablation with the preset number of ablation points, selects a corresponding radius regulating coefficient according to the comparison result to regulate the laser ablation curve equation, and controls the laser cutting end effector to perform secondary ablation on the convex part outside the regulated laser ablation curve equation;
when the control computer main body controls the laser cutting end effector to melt the acetabulum, the ablation height of an ablation point is compared with a preset ablation height, a corresponding ablation speed is selected according to a comparison result, after the ablation speed is determined, the curvature of the ablation point is compared with the curvature of the preset ablation point by the control computer main body, a corresponding ablation speed adjusting coefficient is selected according to the comparison result to adjust the ablation speed, after the adjustment is completed, the control computer main body compares the ablation angle of the ablation point with the preset ablation angle, an included angle formed by two ends of the ablation point and an origin of coordinates is defined as an ablation angle, and the corresponding ablation speed correcting coefficient is selected according to the comparison result to correct the ablation speed.
2. The robot of claim 1, wherein the control computer body establishes a rectangular spatial coordinate system with the plane of the maximum circle of the hemispherical acetabulum in the CT data as a horizontal plane, and is provided with a laser ablation curve equation x with the center of the maximum circle of the hemispherical acetabulum as an origin of coordinates2+y2+z2＝r2In the formula, x represents an abscissa, y represents an ordinate, z represents a coordinate in a direction vertical to a horizontal plane, and r is the radius of the maximum circle of the hemispherical acetabulum;
the control computer body controls the laser cutting end effector to perform primary ablation on a convex part, located outside a laser ablation curve equation, in the hemispherical acetabulum, and the convex part located outside the laser ablation curve equation is defined as an ablation point.
3. The robot for total hip replacement surgery assisted by laser osteotomy as defined in claim 2, wherein the control computer body further comprises a first predetermined number of ablation points a1, a second predetermined number of ablation points a2, and a third predetermined number of ablation points A3, wherein a1 < a2 < A3; the control computer main body is also provided with a first preset radius adjusting coefficient a1, a second preset radius adjusting coefficient a2 and a third preset radius adjusting coefficient a3, wherein a1 is more than 0 and more than a2 and more than a3 and less than 1;
when the control computer main body controls the laser cutting end effector to perform secondary ablation on the acetabulum, the control computer main body compares the number A of ablation points during primary ablation with the number of the preset ablation points, and selects a corresponding radius adjusting coefficient according to a comparison result to adjust the radius r of the maximum circle of the hemispherical acetabulum:
when A is less than A1, the control computer main body selects a1 to adjust r;
when A is greater than or equal to A1 and is less than A2, the control computer main body selects a2 to regulate r;
when A is greater than or equal to A2 and is less than A3, the control computer main body selects A3 to regulate r;
when the control computer main body selects the ith preset radius adjustment coefficient ai to adjust r, i is set to be 1,2 and 3, the radius of the maximum circle of the adjusted hemispherical acetabulum is set to be r ', and r' is set to be r multiplied by ai.
4. The robot of claim 3, wherein the control computer body adjusts the laser ablation curve equation to x according to the adjusted radius r' of the maximum circle of the hemispherical acetabulum2+y2+z2＝(r’)2And the control computer body controls the laser cutting end effector to perform secondary ablation on a convex part of the hemispherical acetabulum, which is positioned outside the adjusted laser ablation curve equation.
5. The robot for the total hip replacement surgery assisted by laser osteotomy as defined in claim 4, wherein the control computer body obtains ablation heights h of the respective ablation points, and when the control computer body controls the laser cutting end effector to ablate the ablation points, the control computer body controls the laser cutting end effector to sequentially ablate the respective ablation points clockwise in an order from a larger ablation height h to a smaller ablation height h.
6. The robot for total hip replacement surgery assisted by laser osteotomy as defined in claim 5, wherein the control computer body further has a first preset ablation speed V1, a second preset ablation speed V2, and a third preset ablation speed V3 set therein, wherein V1 < V2 < V3; the control computer main body is also provided with a first preset ablation height h1, a second preset ablation height h2 and a third preset ablation height h3, wherein h1 is more than h2 and more than h 3;
when the control computer main body controls the laser cutting end effector to ablate the acetabulum, the control computer main body compares the ablation height h of an ablation point with each preset ablation height, and selects a corresponding ablation speed according to a comparison result:
when h < h1, the control computer body takes V3 as the ablation speed;
when h1 is not less than h < h2, the control computer main body takes V2 as the ablation speed;
when h2 is less than or equal to h < h3, the control computer body takes V1 as the ablation speed.
7. The laser osteotomy assisted total hip replacement surgical robot of claim 6, further disposed in said control computer body is a first preset ablation point curvature p1, a second preset ablation point curvature p2, a third preset ablation point curvature p3, wherein p1 < p2 < p 3; the control computer main body is also provided with a first preset ablation speed adjusting coefficient m1, a second preset ablation speed adjusting coefficient m2 and a third preset ablation speed adjusting coefficient m3, wherein m1 is more than 0 and more than m2 and more than m3 and less than 1;
when the control computer main body adjusts the selected ith preset ablation speed Vi, setting i to be 1,2 and 3, comparing the curvature p of an ablation point with the curvatures of the preset ablation points by the control computer main body, and selecting a corresponding ablation speed adjusting coefficient according to a comparison result to adjust the Vi:
when p is less than p1, the control computer main body selects m1 to regulate Vi;
when p1 is not less than p < p2, the control computer main body selects m2 to adjust Vi;
when p2 is not less than p < p3, the control computer main body selects m3 to adjust Vi;
when the control computer body selects the j-th preset ablation speed adjusting coefficient mj to adjust Vi, j is set to be 1,2 and 3, and the adjusted ablation speed is Vi ', and Vi' is set to be Vi x mj.
8. The laser osteotomy assisted total hip replacement surgical robot of claim 7, further comprising a first predetermined ablation angle Q1, a second predetermined ablation angle Q2, a third predetermined ablation angle Q3, wherein Q1 < Q2 < Q3; the control computer main body is also provided with a first preset ablation speed correction coefficient n1, a second preset ablation speed correction coefficient n2 and a third preset ablation speed correction coefficient n3, wherein n1 is more than 0 and more than n2 and more than n3 and less than 1;
when the control computer main body corrects the adjusted ablation speed Vi ', the control computer main body compares the ablation angle Q of the ablation point with each preset ablation angle, and selects a corresponding ablation speed correction coefficient to correct the Vi' according to the comparison result:
when Q1 is not less than Q < Q2, the control computer main body selects n3 to correct Vi';
when Q2 is not less than Q < Q3, the control computer main body selects n2 to correct Vi';
when Q3 is not more than Q, the control computer main body selects n1 to correct Vi';
when the control computer body selects the j-th preset ablation speed correction coefficient nj to correct Vi ', j is set to be 1,2 and 3, the corrected ablation speed is Vi ", and Vi is set to be Vi' × nj.
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| CN109803600A (en) * | 2016-08-10 | 2019-05-24 | 澳大利亚机器人骨科学院有限公司 | The laser surgery system of robot assisted |
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