CN113768624B - Working face positioning control method, device, computer equipment and readable storage medium - Google Patents
Working face positioning control method, device, computer equipment and readable storage medium Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- 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
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- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B2034/2055—Optical tracking systems
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention discloses a working face positioning control method, a device, computer equipment and a readable storage medium, wherein an object to be operated, which is provided with a reflective marker ball, is scanned to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and first position information of each marker point in the three-dimensional model of the object to be operated is determined; determining a planning operation surface of the object to be operated in the three-dimensional model of the object to be operated; determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device; determining a matching relation between the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first and second position information; determining an actual planning operation surface in an optical positioning coordinate system and a first normal vector of the actual planning operation surface according to the matching relation; determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device; and determining pose adjustment information of the saw teeth of the mechanical arm according to the first normal vector and the second normal vector, and adjusting the pose of the saw teeth of the mechanical arm.
Description
Technical Field
The present invention relates to the field of medical apparatuses, and in particular, to a method and apparatus for controlling job surface positioning, a computer device, and a readable storage medium.
Background
For the current knee joint replacement operation, the mechanical arm saw teeth for cutting the knee joint are required to be manually adjusted by a doctor in the operation process, and the personal state, the positioning precision, the measurement error and other factors of the doctor during the operation can directly influence the operation effect due to the excessive dependence of the doctor.
Therefore, the current knee joint replacement surgery cannot realize high-precision surgical positioning and surgical cutting control, surgical operation errors caused by human factors cannot be avoided, and surgical stability and precision cannot be ensured.
Disclosure of Invention
In view of the prior art, the application provides a working face positioning control method, a device, computer equipment and a readable storage medium, so that the automatic pose adjustment of the saw teeth of the mechanical arm is realized, and the saw teeth are positioned on a surgical cutting face.
In a first aspect, the present application provides a method for controlling positioning of a working surface, where the method includes:
scanning an object to be operated, which is provided with a first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and determining first position information of each marker point on the three-dimensional model of the object to be operated;
determining an object to be operated planning working surface in the three-dimensional model of the object to be operated;
determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device;
determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information;
determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation, and determining a first normal vector of the actual planning working surface;
determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device;
and determining pose adjustment information of the mechanical arm saw teeth according to the first normal vector and the second normal vector, and adjusting the pose of the mechanical arm saw teeth according to the pose adjustment information.
Optionally, the method further comprises:
acquiring the center point coordinates of the sawtooth edge of the mechanical arm;
determining the vertical distance from the center point coordinate to the actual planning operation surface;
the robotic arm saw tooth is translated the vertical distance in the direction of the first normal vector.
Optionally, the scanning the object to be operated equipped with the first group of reflective marker balls to obtain a three-dimensional model of the object to be operated including a plurality of marker points includes:
three-dimensionally scanning the object to be operated, which is provided with the first group of reflective marking balls, to obtain a plurality of preoperative images of the object to be operated, wherein at least one preoperative image of the plurality of preoperative images of the object to be operated comprises marking points corresponding to the reflective marking balls;
and establishing the three-dimensional model of the object to be operated according to the preoperative images of the plurality of objects to be operated.
Optionally, the determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated includes:
determining the model of the prosthesis according to the three-dimensional model of the object to be operated;
and determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated according to the prosthesis model number.
Optionally, the determining the first normal vector of the actual planning work surface includes:
selecting any three planning point coordinates on the actual planning operation surface of the optical positioning coordinate system;
and determining the first normal vector according to the three planning point coordinates.
Optionally, the determining, by the optical positioning device, a second normal vector of the arm saw tooth in the optical positioning coordinate system includes:
positioning the mechanical arm saw teeth equipped with a second set of reflective marker balls by the optical positioning device to determine third position information of the mechanical arm saw teeth in the optical positioning coordinate system;
selecting any three saw tooth coordinates on the saw teeth of the mechanical arm according to the third position information;
and determining the second normal vector according to the three sawtooth coordinates.
Optionally, the determining pose adjustment information of the saw teeth of the mechanical arm according to the first normal vector and the second normal vector includes:
determining a rotation angle and a rotation axis according to the first normal vector and the second normal vector;
determining a rotation matrix from the rotation angle and the rotation axis;
determining the pose adjustment angle of the saw teeth of the mechanical arm according to the rotation matrix;
and generating the pose adjustment information of the mechanical arm saw teeth according to the pose adjustment angle.
In a second aspect, the present application provides a working surface positioning control method apparatus, where the apparatus includes:
the first position information determining module is used for scanning an object to be operated, which is provided with a first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and determining first position information of each marker point on the three-dimensional model of the object to be operated;
the planning surface determining module is used for determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated;
the second position information determining module is used for determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device;
the matching relation determining module is used for determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information;
the first normal vector determining module is used for determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation and determining a first normal vector of the actual planning working surface;
the second normal vector determining module is used for determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device;
and the adjusting module is used for determining pose adjusting information of the saw teeth of the mechanical arm according to the first normal vector and the second normal vector, and adjusting the pose of the saw teeth of the mechanical arm according to the pose adjusting information.
In a third aspect, the present application provides a computer device comprising a processor and a memory, the memory storing a computer program which, when executed by the processor, performs a work surface positioning control method as claimed in any one of the preceding claims.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program which, when run on a processor, performs a work surface positioning control method as set out in any one of the preceding claims.
The application provides a working face positioning control method, a working face positioning control device, computer equipment and a readable storage medium, wherein an object to be operated, which is provided with a first group of reflective marker balls, is scanned to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and first position information of each marker point on the three-dimensional model of the object to be operated is determined; determining an object to be operated planning working surface in the three-dimensional model of the object to be operated; determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device; determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information; determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation, and determining a first normal vector of the actual planning working surface; determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device; and determining pose adjustment information of the mechanical arm saw teeth according to the first normal vector and the second normal vector, and adjusting the pose of the mechanical arm saw teeth according to the pose adjustment information. Like this, combine with the arm through optical positioning device for the arm sawtooth realizes automatic adjustment position appearance, and accurate location to the operation cutting surface, shortens the time that the regulation consumes, improves operation efficiency and has guaranteed the accuracy of cutting surface.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope of the present invention. Like elements are numbered alike in the various figures.
FIG. 1 is a schematic flow diagram of a method of work surface positioning control;
FIG. 2 illustrates a cut schematic of a work surface positioning control method;
fig. 3 shows a schematic structure of a work surface positioning control device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present invention, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
Example 1
The embodiment of the application provides a working face positioning control method, which comprises the following steps of:
s101, scanning an object to be operated, which is provided with a first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and determining first position information of each marker point on the three-dimensional model of the object to be operated.
Specifically, the object to be operated in the present embodiment is an object for implementing a job, including but not limited to: knee joints, elbow joints and the like are objects that need to control the manipulation of the manipulator serrations. In this embodiment, the knee joint is marked by installing a plurality of reflective marker balls on the knee joint in advance, the reflective marker balls are respectively installed on the femur and the tibia of the knee joint, and the plurality of reflective marker balls are respectively installed on the femur and the tibia. The marked knee joint is scanned three-dimensionally, and an alternative scanning mode can be electronic computer tomography (Computed Tomography, CT). And obtaining a three-dimensional model of the knee joint after CT scanning, wherein the three-dimensional model of the knee joint is a three-dimensional simulation of an actual knee joint. Correspondingly, in the knee joint three-dimensional model, the positions of the femur and the tibia display a plurality of marking points, and the positions of the marking points are the positions where the actual reflection marking balls on the knee joint are installed.
And the position information of the mark points on the three-dimensional model is acquired, so that the three-dimensional model and the actual knee joint of the human body can be registered conveniently.
S102, determining an object to be operated planning working surface in the three-dimensional model of the object to be operated;
specifically, taking a knee joint as an example, the knee joint condition of a patient, such as the damage condition, the pathological change condition and the like of the knee joint, can be known through a three-dimensional model of the knee joint. And then performing preoperative planning according to the knee joint condition of the patient, and planning a section to be cut by the operation, namely planning a working surface.
S103, determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device;
taking knee joints as an example, the optical positioning device can perform 3D position tracking on the reflective marker balls attached to the knee joints of an actual human body, and determine three-dimensional position coordinates of the reflective marker balls in a three-dimensional coordinate system of the optical positioning device. The optical positioning device of this embodiment is optionally an NDI polar optical positioning tracking system.
S104, determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information;
taking knee joint as an example, coordinate information of a marking point in a knee joint three-dimensional model is obtained through S101, and coordinate information of a marking point on an actual human knee joint in an optical positioning coordinate system is obtained through S103. The reflective marker balls represented by the marker points are identical, and the marker points representing the same reflective marker balls are in one-to-one correspondence under different coordinate systems, for example, the reflective marker ball A, B, C on the actual knee joint of the human body, and the position information of the marker point corresponding to the reflective marker ball under the optical positioning coordinate system is A 1 、B 1 、C 1 The position information of the marking point corresponding to the reflective marking ball in the three-dimensional model is A 2 、B 2 、C 2 . Matching the three-dimensional model with the coordinates in the optical positioning coordinate system, then A 1 And A is a 2 Correspondingly, B 1 And B is connected with 2 Correspondingly, C 1 And C 2 Corresponding to the above. Determining a knee joint three-dimensional model according to one-to-one corresponding mark pointsMatching relation with the actual knee joint in an optical positioning coordinate system.
S105, determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation, and determining a first normal vector of the actual planning working surface;
taking the knee joint as an example, the matching relationship between the three-dimensional model and the coordinates under the optical positioning coordinate system is obtained through the above S104, and the planned working surface planned on the three-dimensional model can be converted into the actual planned working surface under the optical positioning coordinate system where the actual knee joint is located, that is, the actual surgical cutting surface. As in fig. 2, the planar normal vector of the actual surgical cutting plane in the optical positioning coordinate system is then calculated
S106, determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device;
taking knee joint as an example, under an optical positioning coordinate system, a reflective marker ball is fixed on a plane of a saw tooth of the mechanical arm in advance, and the reflective marker ball fixed on the saw tooth of the mechanical arm is positioned by an NDI polar optical positioning tracking system so as to determine the coordinate information of the plane of the saw tooth of the mechanical arm, as shown in figure 2, and calculate the normal vector of the plane
And S107, determining pose adjustment information of the saw teeth of the mechanical arm according to the first normal vector and the second normal vector, and adjusting the pose of the saw teeth of the mechanical arm according to the pose adjustment information.
Taking knee joints as an example, specifically, by actually planning normal vectors of the working surface
And normal vector of sawtooth plane at end of mechanical arm +.>
The Euler angle required by rotation of the tail end of the mechanical arm can be obtained, wherein the Euler angle is the rotation angle of the object around the three-dimensional coordinate axis of the coordinate system, and the motion equation corresponding to the posture change of the tail end of the mechanical arm. After the motion equation is obtained, the upper computer can correspondingly rotate the saw teeth of the mechanical arm according to the motion equation, so that the normal vector of the saw tooth plane of the mechanical arm is +.>
Normal vector to the actual planning plane +.>
Parallel.
In a specific embodiment, the method further comprises:
acquiring the center point coordinates of the sawtooth edge of the mechanical arm;
determining the vertical distance from the center point coordinate to the actual planning operation surface;
the robotic arm saw tooth is translated the vertical distance in the direction of the first normal vector.
Specifically, the present embodiment also needs to calculate the distance between the saw teeth of the mechanical arm and the actual planning work surface of the surgery, so as to accurately position the saw teeth on the actual planning work surface of the surgery. First, the center point coordinate A= (x) of the sawtooth edge of the mechanical arm is determined 1 ,y 1 ,z 1 ) And coordinates b= (x) of any point on the actual planning work surface 2 ,y 2 ,z 2 ) Combining with the normal vector of the actual planning working surface
And (5) solving the vertical distance from the center of the tail end edge of the saw tooth of the mechanical arm to the actual planning plane.
Formula (1):
after the vertical distance d is obtained, the normal vector is obtained
After the vertical distance d is translated in the positive direction, the tail end of the saw tooth of the mechanical arm can be automatically and accurately positioned on the actual cutting surface of the operation. Automatic accurate location can shorten adjustment time, guarantees the accuracy of cutting face.
In a specific embodiment, the scanning the object to be operated, which is equipped with the first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which includes a plurality of marker points, includes:
three-dimensionally scanning the object to be operated, which is provided with the first group of reflective marking balls, to obtain a plurality of preoperative images of the object to be operated, wherein at least one preoperative image of the plurality of preoperative images of the object to be operated comprises marking points corresponding to the reflective marking balls;
and establishing the three-dimensional model of the object to be operated according to the preoperative images of the plurality of objects to be operated.
Taking knee joint as an example, if the three-dimensional scanning mode is CT scanning, obtaining preoperative CT images of a plurality of patients after three-dimensional scanning, and constructing a three-dimensional model of the knee joint of the patient according to the CT images after scanning.
In a specific embodiment, the determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated includes:
determining the model of the prosthesis according to the three-dimensional model of the object to be operated;
and determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated according to the prosthesis model number.
Specifically, taking a knee joint as an example, after a three-dimensional model of the knee joint is obtained, the model number of the prosthesis required by the operation of the patient can be determined according to the damage condition of the knee joint of the patient and the condition of the knee joint of the patient, which are displayed on the three-dimensional model, and the working face can be planned according to the model of the prosthesis.
In a specific embodiment, the determining the first normal vector of the actual planned working surface includes:
selecting any three planning point coordinates on the actual planning operation surface of the optical positioning coordinate system;
and determining the first normal vector according to the three planning point coordinates.
Specifically, three points c= (x) are optionally selected on the actual planning work surface 3 ,y 3 ,z 3 )，D＝(x 4 ,y 4 ,z 4 ) E= (x) 5 ,y 5 ,z 5 ). These three points may constitute three vectors, e.g
The expression is:
defining formulas (2) to (4) according to normal vectors:
formula (2): (x) 4 -x 3 )·x+(y 4 -y 3 )·y+(z 4 -z 3 )·z＝0
Equation (3): (x) 5 -x 3 )·x+(y 5 -y 3 )·y+(z 5 -z 3 )·z＝0
Equation (4): (x) 5 -x 4 )·x+(y 5 -y 4 )·y+(z 5 -z 4 )·z＝0
Solving the values of x, y and z, wherein the values of x, y and z are the normal vectors of the actual planning working surface, as shown in figure 2
Is set in the coordinate value of (a).
In a specific embodiment, the determining, by the optical positioning device, the second normal vector of the manipulator saw tooth in the optical positioning coordinate system includes:
positioning the mechanical arm saw teeth equipped with a second set of reflective marker balls by the optical positioning device to determine third position information of the mechanical arm saw teeth in the optical positioning coordinate system;
selecting any three saw tooth coordinates on the saw teeth of the mechanical arm according to the third position information;
and determining the second normal vector according to the three sawtooth coordinates.
Specifically, any three coordinate points, such as f= (x), are selected on a plane on which the mechanical arm saw teeth are located 6 ,y 6 ,z 6 )，G＝(x 7 ,y 7 ,z 7 ) K= (x) 8 ,y 8 ,z 8 ) Likewise three vectors are composed, e.g
Then, the normal vector of the saw tooth plane of the mechanical arm is calculated according to the three vectors, wherein the normal vector of the saw tooth plane of the mechanical arm is shown as the figure 2>
In a specific embodiment, the determining pose adjustment information of the saw tooth of the mechanical arm according to the first normal vector and the second normal vector includes:
determining a rotation angle and a rotation axis according to the first normal vector and the second normal vector;
determining a rotation matrix from the rotation angle and the rotation axis;
determining the pose adjustment angle of the saw teeth of the mechanical arm according to the rotation matrix;
and generating the pose adjustment information of the mechanical arm saw teeth according to the pose adjustment angle.
Specifically, as shown in FIG. 2, the normal vector of the arm saw tooth plane
(p 1 P2, p 3) and the normal vector of the actual planning plane +.>
According to the normal vector of the arm saw tooth plane>
Normal vector to the actual planning plane +.>
Calculating a rotation angle θ, and calculating the rotation angle θ according to formula (5):
equation (5):
in addition, the saw teeth of the mechanical arm change in real time, and the normal vector of the plane where the saw teeth of the mechanical arm are positioned
Is changed in real time, whether the normal is required to be reversed or not is judged according to the calculation result of the rotation angle theta, and the value theta is a negative number and represents the normal vector of the saw tooth plane of the mechanical arm
Normal vector to the actual planning plane +.>
If the directions of the planes are opposite, the normal vector is required to be reversed, and the normal vector of the plane of the saw teeth of the mechanical arm is changed +.>
Is a direction of (2).
The plane in which the rotation angle is located is a plane formed by two normal vectors, and the rotation axis must be perpendicular to the plane. Calculated from equation (6)
And->
Is the following:
equation (6):
from the above-mentioned cross product, the rotation axis can be obtained
Equation (7):
i is an identity matrix, the corresponding rotation matrix can be obtained by rotating the I by an angle theta according to the Rodrigo rotation formula, and A is a rotation axis
Is an antisymmetric matrix of (2)
Equation (8):
calculating a rotation matrix R according to A:
equation (9):
rotating the matrix:
equation (10):
euler angles can be obtained according to the rotation matrix, wherein the Euler angles are rotation angles of an object around x-axis, y-axis and z-axis of three coordinate axes of a coordinate system:
equation (11): θ 1 ＝atan2(R 32 ,R 33 )
Equation (12):
equation (13): θ 3 ＝a tan 2(R 21 ,R 11 )
According to theta 1 、θ 2 、θ 3 The angle of Euler angles of the rotating mechanical arm saw teeth determines an attitude change motion equation of the saw teeth at the tail end of the mechanical arm:
equation (14): euler (θ) 1 ,θ 2 ,θ 3 )＝Rot(z,θ 1 )Rot(y,θ 2 )Rot(x,θ 3 )
After the attitude change motion equation is obtained through calculation, the upper computer controls the mechanical arm saw teeth to enable the normal vector of the mechanical arm saw tooth plane
Normal vector to the actual planning plane +.>
Parallel.
According to the embodiment 1, the optical positioning device is combined with the mechanical arm, the three-dimensional model coordinates of the object to be operated are obtained to be matched with the optical positioning coordinate system of the optical positioning device, the pose change motion equation of the mechanical arm saw teeth required by the mechanical arm saw teeth relative to the actual planning operation surface of the operation is calculated through the coordinate information obtained by the optical positioning coordinate system, the mechanical arm saw teeth are rotated by the upper computer through the motion equation, the vertical distance from the mechanical arm saw teeth to the planning surface is adjusted, the mechanical arm saw teeth are automatically positioned to the actual planning operation surface of the operation, and the problems that the mechanical arm saw teeth of the traditional operation need to be manually adjusted in the operation, the consumed time is long and the error is large are solved. The embodiment greatly shortens the adjustment time and ensures the accuracy of positioning the surgical cutting surface.
Example 2
An embodiment of the present application provides a working surface positioning control device, as in fig. 3, the working surface positioning control device 300 includes:
a first position information determining module 301, configured to scan an object to be operated equipped with a first set of reflective marker balls, obtain a three-dimensional model of the object to be operated including a plurality of marker points, and determine first position information of each marker point on the three-dimensional model of the object to be operated;
a planning surface determining module 302, configured to determine an object to be operated planning working surface in the three-dimensional model of the object to be operated;
a second position information determining module 303, configured to determine, by using an optical positioning device, second position information of the reflective marker ball in an optical positioning coordinate system;
a matching relationship determining module 304, configured to determine a matching relationship between coordinates of the three-dimensional model of the object to be operated and coordinates of the optical positioning coordinate system according to the first position information and the second position information;
a first normal vector determining module 305, configured to determine an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relationship, and determine a first normal vector of the actual planning working surface;
a second normal vector determination module 306, configured to determine, by the optical positioning device, a second normal vector of the manipulator saw tooth in the optical positioning coordinate system;
and the adjusting module 307 is configured to determine pose adjusting information of the mechanical arm saw teeth according to the first normal vector and the second normal vector, and adjust the pose of the mechanical arm saw teeth according to the pose adjusting information.
In this embodiment, the apparatus further includes a translation module, configured to obtain a center point coordinate of a sawtooth edge of the mechanical arm; determining the vertical distance from the center point coordinate to the actual planning operation surface; the robotic arm saw tooth is translated the vertical distance in the direction of the first normal vector.
In this embodiment, a first position information determining module 301 is configured to obtain a plurality of preoperative images of the to-be-operated object after three-dimensionally scanning the to-be-operated object equipped with the first set of reflective marker balls, where at least one preoperative image of the plurality of preoperative images of the to-be-operated object includes a marker point corresponding to the reflective marker ball; and establishing the three-dimensional model of the object to be operated according to the preoperative images of the plurality of objects to be operated.
In this embodiment, the planning surface determining module 302 is configured to determine a model of the prosthesis according to the three-dimensional model of the object to be operated; and determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated according to the prosthesis model number.
A first normal vector determining module 305, configured to select any three planning point coordinates on the actual planning working surface of the optical positioning coordinate system; and determining the first normal vector according to the three planning point coordinates.
A second normal vector determination module 306 for positioning the robotic arm saw tooth equipped with a second set of reflective marker balls by the optical positioning device to determine third positional information of the robotic arm saw tooth in the optical positioning coordinate system; selecting any three saw tooth coordinates on the saw teeth of the mechanical arm according to the third position information; and determining the second normal vector according to the three sawtooth coordinates.
In this embodiment, the adjusting module 307 is configured to determine a rotation angle and a rotation axis according to the first normal vector and the second normal vector; determining a rotation matrix from the rotation angle and the rotation axis; determining the pose adjustment angle of the saw teeth of the mechanical arm according to the rotation matrix; and generating the pose adjustment information of the mechanical arm saw teeth according to the pose adjustment angle.
The working face positioning control device of the embodiment 2 realizes that the mechanical arm saw teeth are automatically positioned to the actual planning working face of the operation, and solves the problems that the mechanical arm saw teeth of the traditional operation need to be manually adjusted in the operation, and are long in time consumption and large in error. The embodiment greatly shortens the adjustment time and ensures the accuracy of positioning the surgical cutting surface.
Example 3
An embodiment of the present application provides a computer device, including a processor and a memory, where the memory stores a computer program that, when executed by the processor, performs the work surface positioning control method of any one of the above embodiments 1.
Specific implementation steps may refer to the description of the operation plane positioning control method provided in the above embodiment 1, and in order to avoid repetition, description is omitted here.
Example 4
The present application provides a computer-readable storage medium storing a computer program that, when executed on a processor, performs the work surface positioning control method according to any one of the above-described embodiments 1.
Specific implementation steps may refer to the description of the operation plane positioning control method provided in the above embodiment 1, and in order to avoid repetition, description is omitted here.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.
Claims (8)
1. A work surface positioning control method, the method comprising:
scanning an object to be operated, which is provided with a first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and determining first position information of each marker point on the three-dimensional model of the object to be operated;
determining an object to be operated planning working surface in the three-dimensional model of the object to be operated;
determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device;
determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information;
determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation, and determining a first normal vector of the actual planning working surface;
determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device;
determining pose adjustment information of the mechanical arm saw teeth according to the first normal vector and the second normal vector, and adjusting the pose of the mechanical arm saw teeth according to the pose adjustment information:
the method further comprises the steps of:
acquiring the center point coordinates of the sawtooth edge of the mechanical arm;
determining the vertical distance from the center point coordinate to the actual planning operation surface;
translating the robotic arm saw tooth the vertical distance in the direction of the first normal vector;
the determining, by the optical positioning device, a second normal vector of the manipulator saw tooth in the optical positioning coordinate system includes:
positioning the mechanical arm saw teeth equipped with a second set of reflective marker balls by the optical positioning device to determine third position information of the mechanical arm saw teeth in the optical positioning coordinate system;
selecting any three saw tooth coordinates on the saw teeth of the mechanical arm according to the third position information;
and determining the second normal vector according to the three sawtooth coordinates.
2. The method according to claim 1, wherein scanning the object to be operated equipped with the first set of retroreflective marker balls results in a three-dimensional model of the object to be operated comprising a plurality of marker points, comprising:
three-dimensionally scanning the object to be operated, which is provided with the first group of reflective marker balls, to obtain a plurality of images of the object to be operated, wherein at least one image of the images of the object to be operated comprises marking points corresponding to the reflective marker balls;
and establishing the three-dimensional model of the object to be operated according to the plurality of images of the object to be operated.
3. The method according to claim 1, wherein determining an object to be operated planning work surface in the three-dimensional model of the object to be operated comprises:
determining the model of the prosthesis according to the three-dimensional model of the object to be operated;
and determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated according to the prosthesis model number.
4. The method of claim 1, wherein the determining the first normal vector of the actual planned work surface comprises:
selecting any three planning point coordinates on the actual planning operation surface of the optical positioning coordinate system;
and determining the first normal vector according to the three planning point coordinates.
5. The method of claim 1, wherein the determining pose adjustment information for the robotic arm saw tooth from the first normal vector and the second normal vector comprises:
determining a rotation angle and a rotation axis according to the first normal vector and the second normal vector;
determining a rotation matrix from the rotation angle and the rotation axis;
determining the pose adjustment angle of the saw teeth of the mechanical arm according to the rotation matrix;
and generating the pose adjustment information of the mechanical arm saw teeth according to the pose adjustment angle.
6. A work surface positioning control device, the device comprising:
the first position information determining module is used for scanning an object to be operated, which is provided with a first group of reflective marker balls, to obtain a three-dimensional model of the object to be operated, which comprises a plurality of marker points, and determining first position information of each marker point on the three-dimensional model of the object to be operated;
the planning surface determining module is used for determining the planning working surface of the object to be operated in the three-dimensional model of the object to be operated;
the second position information determining module is used for determining second position information of the reflective marker ball in an optical positioning coordinate system through an optical positioning device;
the matching relation determining module is used for determining a matching relation between the coordinates of the three-dimensional model of the object to be operated and the coordinates of the optical positioning coordinate system according to the first position information and the second position information;
the first normal vector determining module is used for determining an actual planning working surface of the object to be operated on the optical positioning coordinate system according to the matching relation and determining a first normal vector of the actual planning working surface;
the second normal vector determining module is used for determining a second normal vector of the mechanical arm saw tooth in the optical positioning coordinate system through the optical positioning device;
the adjusting module is used for determining pose adjusting information of the saw teeth of the mechanical arm according to the first normal vector and the second normal vector, and adjusting the pose of the saw teeth of the mechanical arm according to the pose adjusting information;
the translation module is used for acquiring the center point coordinates of the sawtooth edge of the mechanical arm; determining the vertical distance from the center point coordinate to the actual planning operation surface; translating the robotic arm saw tooth the vertical distance in the direction of the first normal vector;
the second normal vector determining module is further used for positioning the mechanical arm saw teeth assembled with a second group of reflective marker balls through the optical positioning device to determine third position information of the mechanical arm saw teeth in the optical positioning coordinate system;
selecting any three saw tooth coordinates on the saw teeth of the mechanical arm according to the third position information;
and determining the second normal vector according to the three sawtooth coordinates.
7. A computer device comprising a processor and a memory, the memory storing a computer program which, when executed by the processor, performs a work surface positioning control method as claimed in any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs a work surface positioning control method according to any one of claims 1 to 5.
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| CN114280923A (en) * | 2021-12-31 | 2022-04-05 | 杭州柳叶刀机器人有限公司 | Method, device, terminal and storage medium for controlling sawtooth |
| CN114612536B (en) * | 2022-03-22 | 2022-11-04 | 北京诺亦腾科技有限公司 | Method, device and equipment for identifying three-dimensional model of object and readable storage medium |
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| CN110811832A (en) * | 2019-11-21 | 2020-02-21 | 苏州微创畅行机器人有限公司 | Osteotomy checking method, checking equipment, readable storage medium and orthopedic surgery system |
| CN112155734A (en) * | 2020-09-29 | 2021-01-01 | 苏州微创畅行机器人有限公司 | Readable storage medium, bone modeling and registering system and bone surgery system |
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