CN113768628B - Bone grinding quantity safety range determining method and electronic device - Google Patents

Bone grinding quantity safety range determining method and electronic device Download PDF

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Publication number
CN113768628B
CN113768628B CN202111138145.4A CN202111138145A CN113768628B CN 113768628 B CN113768628 B CN 113768628B CN 202111138145 A CN202111138145 A CN 202111138145A CN 113768628 B CN113768628 B CN 113768628B
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bone
image
grinding
module
ultrasonic
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CN113768628A (en
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张雪晴
陈超民
吴博
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Wuhan United Imaging Zhirong Medical Technology Co Ltd
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Wuhan United Imaging Zhirong Medical Technology Co Ltd
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1659—Surgical rasps, files, planes, or scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
    • A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1735—Guides or aligning means for drills, mills, pins or wires for rasps or chisels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
    • A61B17/1746—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0875—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of bone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

Abstract

The application relates to a bone grinding amount safety range determining method, a joint replacement surgery robot system, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring a CT image corresponding to a joint part of a target object; acquiring bone mineral density information and bone strength information of a joint part by using a bone mineral density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and obtaining the current bone grinding quantity; and calculating according to the bone grinding parameters and the current bone grinding quantity to obtain the bone grinding quantity safety range. The application solves the problem of low reliability of real-time monitoring of the bone grinding amount in the joint replacement operation in the related art, and achieves the technical effect of improving the reliability of the real-time monitoring of the bone grinding amount.

Description

Bone grinding quantity safety range determining method and electronic device
Technical Field
The application relates to the technical field of medical instruments, in particular to a bone grinding amount safety range determining method, a joint replacement operation robot system, an electronic device and a storage medium.
Background
The joint replacement operation is to use metal, high molecular polyethylene, ceramic and other materials to prepare artificial joint prosthesis according to the shape, structure and function of human joint, and to implant the artificial joint prosthesis into human body through surgical technique to replace diseased joint function, thereby achieving the purposes of relieving joint pain and recovering joint function.
In the conventional joint replacement operation, the doctor performs the grinding and contusion operation on the bad bone by experience and hand, and judges whether the grinding amount is proper by naked eyes, so that the grinding and contusion of the good bone and the bad bone of the patient are difficult to avoid, even healthy soft tissues such as cruciate ligaments and the like cannot be reserved, and the patient needs to bear the wound caused by a larger wound and has a recovery time of 1 to 2 years.
In the current joint replacement operation, the MAKO robot system can be adopted to monitor the bone milling quantity in the operation process in real time and present the bone milling quantity to doctors in a digital interface mode, tracking arrays installed at the tail end of the mechanical arm and the joint part of the patient are monitored in real time through a navigation instrument, and further pose information of an electric drill at the tail end of the mechanical arm is obtained, so that the real-time monitoring of the bone milling quantity is realized. However, in the technical scheme, the visual field area of the navigation instrument is easily shielded in the use process, the navigation tracking precision is greatly interfered by the outside, the process of installing the tracking array is complex, the preoperative workload is increased, the navigation precision is reduced due to the fact that the tracking array is easy to move, and the reliability of real-time monitoring of the bone grinding quantity in the joint replacement operation is further reduced.
At present, no effective solution is proposed for the problem of low reliability of real-time monitoring of bone grinding amount in joint replacement operation in the related art.
Disclosure of Invention
The embodiment of the application provides a method for determining the safe range of bone milling quantity, a joint replacement operation robot system, an electronic device and a storage medium, which at least solve the problem of low reliability of real-time monitoring of the bone milling quantity in joint replacement operation in the related art.
In a first aspect, an embodiment of the present application provides a method for determining a safe range of bone grinding amount, the method including: acquiring a CT image corresponding to a joint part of a target object; acquiring bone mineral density information and bone mineral strength information of the joint part by using a bone mineral density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding quantity; and calculating according to the bone grinding parameters and the current bone grinding quantity to obtain a bone grinding quantity safety range.
In some of these embodiments, the method further comprises: and determining whether to send a navigation calibration instruction to a mechanical arm module driving the bone grinding module in the robot system according to the current bone grinding amount and the bone grinding amount safety range.
In some of these embodiments, the method further comprises: and drawing a bone strength safety line corresponding to the bone grinding quantity safety range on the corrected CT image, and displaying the sum of the bone strength safety line and the current bone grinding quantity by utilizing a display module in the robot system.
In some of these embodiments, real-time correction of the CT image from the ultrasound image comprises: registering the ultrasound image with the CT image; reconstructing an ultrasonic image in real time according to ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.
In some embodiments, correcting the CT image in real time from the ultrasound image and obtaining the current bone mass comprises: and comparing and analyzing the corrected CT image with the CT image before correction to obtain the current bone grinding quantity.
In some embodiments, the bone grinding parameters include bone grinding feed, bone grinding rotational speed, bone grinding force.
In a second aspect, embodiments of the present application provide a joint replacement surgical robotic system, the system comprising: the device comprises a bone grinding module, a mechanical arm module, a control module, an ultrasonic detection module and a bone density detection module, wherein the bone grinding module is fixedly connected with the tail end of the mechanical arm module and is used for performing bone grinding operation on a joint part of a target object; the mechanical arm module is in communication connection with the control module; the ultrasonic detection module is arranged at the joint part of the target object, is in communication connection with the control module and is used for carrying out ultrasonic scanning on the joint part of the target object; the bone mineral density detection module is arranged at a joint part of the target object, is in communication connection with the control module and is used for acquiring bone mineral density information and bone strength information of the joint part; the control module is configured to perform the method for determining a safe range of bone loss according to the first aspect.
In a third aspect, an embodiment of the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to run the computer program to perform the method for determining a safe range of bone grinding amount according to the first aspect.
In a fourth aspect, an embodiment of the present application further provides a storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the method for determining a safe range of bone grinding amount according to the first aspect above.
Compared with the related art, the bone grinding amount safety range determination method, the joint replacement surgery robot system, the electronic device and the storage medium provided by the embodiment of the application are characterized in that CT images corresponding to the joint part of a target object are acquired; acquiring bone mineral density information and bone strength information of a joint part by using a bone mineral density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and obtaining the current bone grinding quantity; and calculating according to the bone grinding parameters and the current bone grinding quantity to obtain the bone grinding quantity safety range. The problem of low reliability of real-time monitoring of the bone grinding amount in the joint replacement operation in the related art is solved, and the technical effect of improving the reliability of the real-time monitoring of the bone grinding amount in the joint replacement operation is realized.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method for determining a safe range of bone loss according to an embodiment of the present application;
FIG. 2 is a block diagram of a joint replacement surgical robotic system according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the described embodiments of the application can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," and similar referents in the context of the application are not to be construed as limiting the quantity, but rather as singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in connection with the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
The present embodiment provides a method for determining a safe range of bone grinding amount, and fig. 1 is a flowchart of a method for determining a safe range of bone grinding amount according to an embodiment of the present application, as shown in fig. 1, and the method includes:
step S101, a CT image corresponding to a joint portion of a target object is acquired.
In this embodiment, the CT image may be a two-dimensional image or a three-dimensional image, where the CT image is used to show the joint portion to be operated, and in order to perform the auxiliary positioning, the CT image of the joint portion is obtained in advance, and the identifier of the CT image in the corresponding coordinate system is obtained. For example, a 3D model of bone anatomy for displaying a surgical site is created from a CT (computed tomography, computed Tomography, abbreviated as CT) scan image of a joint site, then a spatial coordinate system display is created for the 3D model, corresponding coordinates are provided for each point on the 3D model, and a preoperative planning is performed based on the 3D model to determine a surgical plan.
Step S102, acquiring bone mineral density information and bone strength information of the joint part by using the bone mineral density detection module.
In this embodiment, the bone mineral density detection module may be an ultrasonic bone mineral density detector, and the ultrasonic bone mineral density detection module is fixedly disposed in a peripheral area of a joint portion of the target object, and performs ultrasonic scanning on the joint portion in real time, and obtains bone mineral density information and bone mineral strength information of the joint portion.
Step S103, obtaining bone grinding parameters according to the bone density information and the bone strength information.
In this embodiment, the bone grinding module may be disposed at an end of the mechanical arm module in the robot system, and the bone grinding module may include a driving unit and an executing unit, where the driving unit is fixedly connected with the end of the mechanical arm module, and the executing unit includes an acetabular file for grinding and filing bone, i.e. a drill bit.
In the above embodiment, the force feedback information of the bone grinding module when the bone grinding module performs the grinding and filing operation on the joint portion of the target object of the bone grinding module may be obtained in real time, and the bone grinding parameters may be configured according to the force feedback information, where the force feedback information in the joint portion may be obtained by devices such as a pressure sensor disposed on the bone grinding module and/or on the mechanical arm module.
Step S104, an ultrasonic image corresponding to the joint part is acquired by utilizing an ultrasonic detection module.
In this embodiment, the ultrasonic detection module may be disposed at a joint portion of the target object, and when the bone grinding module performs grinding operation on the joint portion of the target object, the ultrasonic detection module may be used to perform ultrasonic scanning on the joint portion of the target object in real time, and perform ultrasonic imaging processing on the joint portion of the target object based on the transmitted ultrasonic waves and the received reflected ultrasonic waves, so as to obtain an ultrasonic image of the joint portion in real time, where the ultrasonic image may be a three-dimensional ultrasonic image.
Step S105, correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding quantity.
In this embodiment, based on the acquired real-time ultrasound image, the CT image obtained before the operation may be corrected in real time, and the corrected CT image and the CT image before the correction may be compared, so as to obtain the real-time bone grinding amount of the joint portion of the target object, where the CT image before the correction is the initial CT image obtained before the operation and corresponding to the joint portion of the target object.
And S106, calculating to obtain the bone grinding quantity safety range according to the bone grinding parameters and the current bone grinding quantity.
In this embodiment, based on the bone grinding parameter and the current bone grinding amount, the bone grinding amount safety range and the like can be comprehensively calculated, the current bone grinding amount and the bone grinding amount safety range are displayed on the display module of the robot system in real time, a bone density safety barrier is provided, and safer guarantee is provided for a doctor to perform joint replacement operation.
In the above embodiment, the bone grinding amount safety range may include a boundary of the bone grinding parameter and a boundary of the bone grinding amount.
In the above embodiments, the bone grinding parameters may include, but are not limited to, at least one of: bone grinding feeding amount, bone grinding rotating speed and bone grinding force; the bone grinding amount safety range can be plotted on the corrected CT image in the form of a bone strength safety line.
In the above-described embodiment, the joint replacement operation may include knee joint replacement operation, hip joint replacement operation, or joint replacement operation such as shoulder joint, elbow joint, ankle joint, or the like, and in this embodiment, the hip joint replacement operation is taken as an example.
In joint replacement surgery adopting a MAKO robot system, CT scanning is carried out on a joint part of a target object to be operated before surgery, a navigation system is registered and registered with a mechanical arm, a tracking array arranged at the tail end of the mechanical arm and at the hip joint and other positions of the target object is monitored in real time by using the navigation system, pose information of an electric drill at the tail end of the mechanical arm is obtained in real time, and monitoring of bone grinding quantity is achieved. However, in such a technical solution, the tracking array is easy to move, resulting in reduced navigation accuracy; meanwhile, the visual field area of the navigation system is easy to be blocked in the use process, so that the operation efficiency is affected.
Ultrasonic bone density probes are miniaturized versions of bone density detectors. The bone density measuring system is a special technology in the category of ultrasonic diagnosis, mainly uses the change of ultrasonic attenuation and sound velocity of bone mass to carry out noninvasive, nondestructive and non-radiative detection on physiological parameters such as the bone density and bone strength of a human body, and is commonly used for diagnosis of osteoporosis diseases.
In the embodiment, by arranging the ultrasonic bone mineral density detector and the ultrasonic detection module, the real-time monitoring of bone mineral quantity is realized by comparing CT images before and during operation without installing various tracking arrays, the pre-operation workload is reduced, and the operation efficiency is improved; meanwhile, the device is compatible with a navigation system, and can timely compensate related bone grinding information when the navigation system fails (for example, when a visual field area is blocked), so that the reliability of joint replacement operation is ensured.
Through the above steps S101 to S106, a CT image corresponding to the joint portion of the target object is acquired; acquiring bone mineral density information and bone strength information of a joint part by using a bone mineral density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and obtaining the current bone grinding quantity; and calculating according to the bone grinding parameters and the current bone grinding quantity to obtain the bone grinding quantity safety range. The application solves the problem of low reliability of real-time monitoring of the bone grinding amount in the joint replacement operation in the related technology, and achieves the technical effect of improving the reliability of real-time monitoring of the bone grinding amount in the joint replacement operation.
In some of these embodiments, the method further comprises: and determining whether to send a navigation calibration instruction to a mechanical arm module driving the bone grinding module in the robot system according to the current bone grinding quantity and the bone grinding quantity safety range.
In this embodiment, the bone grinding amount safety range may be drawn on the corrected CT image in the form of a bone strength safety line, and is visually displayed to the user by using the display module in the robot system, where the user may determine whether the bone grinding in the current operation is in place according to the current bone grinding amount and the bone grinding amount safety range, for example, when the current bone grinding amount exceeds the bone grinding amount safety range, a navigation calibration instruction is sent to the mechanical arm module driving the bone grinding module in the robot system, so as to prevent the bone grinding module from grinding the bone or other soft tissues, and ensure the safety of the joint replacement operation.
In some of these embodiments, the method further comprises: and drawing a bone strength safety line corresponding to the bone grinding quantity safety range on the corrected CT image, and displaying the bone strength safety line and the current bone grinding quantity by utilizing a display module in the robot system.
In this embodiment, the bone grinding amount safety range may be displayed on the joint real-time model in a visual manner, for example, a bone strength safety line is displayed on the joint real-time model, a user may determine whether the current bone grinding amount exceeds the bone strength safety line, and when the current bone grinding amount exceeds the bone strength safety line, a navigation calibration instruction is sent to a mechanical arm module driving the bone grinding module in the robot system, so as to prevent the bone grinding module from grinding and holding bones or other soft tissues, thereby ensuring the safety of joint replacement operation, providing a bone density safety barrier in real time, providing a visual function for a doctor, and providing safer guarantee for the doctor to perform surgery.
In the above embodiment, the display module of the robot system may display the CT image before correction and the CT image after correction, and the bone strength safety line may be drawn on the CT image before correction (i.e., the CT image before operation) or on the CT image after correction (i.e., the CT image after operation), and the current bone grinding amount may be displayed in a numerical form or in a graphic form on the CT image, so as to provide a visual function for a doctor to intuitively determine whether the bone grinding is in place.
In some of these embodiments the bone mineral density detection module comprises a detection unit and a processing unit; the bone mineral density detection module is used for acquiring bone mineral density information and bone mineral strength information of the joint part, and the bone mineral density detection module is realized through the following steps:
step 1, the detection unit transmits ultrasonic waves to the joint part and receives the ultrasonic waves reflected by the joint part.
And 2, generating bone density information and bone strength information of the joint part by the processing unit according to the transmitted ultrasonic wave and the reflected ultrasonic wave.
In this embodiment, the probe unit may be an ultrasonic probe, which may include a transmitting portion and a receiving portion, and the ultrasonic probe may be in contact with a measured bone (e.g., hip bone) of the target object, and a medical ultrasonic couplant may be filled or coated between contact surfaces of the two to reduce interface loss of ultrasonic waves between air and the measured bone of the target object, so that the ultrasonic waves are effectively transmitted between the transmitting portion and the receiving portion and the hip bone of the target object.
The transmitting part of the ultrasonic probe transmits ultrasonic waves to the joint part of the target object, the ultrasonic waves are transmitted to human tissues and bones, and a part of energy returns to the probe; the receiving section of the ultrasonic probe is capable of receiving ultrasonic waves reflected by the joint portion and performing acoustic-electric conversion of echoes including a sound velocity signal into an electric signal to generate a received signal.
The processing unit may generate bone density data from the received signal, the bone density data including, but not limited to, at least one of: bone density information, bone strength information, osteoporosis status information, and the like.
In some embodiments, the processing unit may further perform ultrasound imaging according to the received signal, for example, the bone density detection module may be used to obtain an ultrasound image corresponding to the joint region, including:
step 1, the detection unit transmits ultrasonic waves to the joint part and receives the ultrasonic waves reflected by the joint part.
And 2, generating an ultrasonic image of the joint part according to the emitted ultrasonic waves and the reflected ultrasonic waves by the processing unit.
In this embodiment, the detection unit of the bone mineral density detection module may be used to perform ultrasonic scanning on the joint portion, so as to perform ultrasonic imaging, and generate an ultrasonic image of the joint portion, or the ultrasonic detection module may be used to perform ultrasonic scanning on the joint portion, so as to generate an ultrasonic image of the joint portion.
In some of these embodiments, acquiring a CT image corresponding to a joint region of a target object is accomplished by:
step 1, acquiring medical image data corresponding to a joint part of a target object.
And 2, dividing and reconstructing the joint part of the target object according to the medical image data, determining a first three-dimensional model corresponding to the joint part of the target object, and taking the first three-dimensional model as a CT image corresponding to the joint part of the target object.
In the above embodiments, the CT image may be image registered from the ultrasound image; reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, correcting the CT image in real time according to the ultrasonic image, dividing and reconstructing the joint part of the target object according to the corrected CT image, and determining a second three-dimensional model corresponding to the joint part of the target object.
In this embodiment, by performing image registration on the ultrasound image and the CT image, the accuracy of the second three-dimensional model generated based on the corrected CT image may be improved, and thus, in the process of performing navigation positioning on the bone grinding module based on the second three-dimensional model or calculating the bone grinding amount based on the second three-dimensional model, the accuracy of navigation positioning and/or real-time monitoring of the bone grinding amount may be improved.
In some of these embodiments, the method further comprises: and determining the osteoporosis state of the joint part of the target object according to the bone density information and the bone strength information.
In this embodiment, the bone grinding module may be further configured according to the bone mineral density information, the bone strength information and the osteoporosis state to obtain bone grinding parameters corresponding to the bone mineral density information, the bone strength information and the osteoporosis state.
In the above embodiment, since the target object may have an osteoporosis problem, it is necessary to detect whether the target object has an osteoporosis at the joint portion, and correct the bone grinding parameter according to the osteoporosis state of the joint portion of the target object, so as to prevent the problem of injury in the hand of the joint portion caused by the osteoporosis, and ensure the reliability of the joint replacement operation.
The present embodiment provides a joint replacement surgery robot system, and fig. 2 is a block diagram of the joint replacement surgery robot system according to an embodiment of the present application, as shown in fig. 2, the system includes: the device comprises a bone grinding module 20, a mechanical arm module 21, a control module 22, an ultrasonic detection module 23 and a bone density detection module 24, wherein the bone grinding module 20 is fixedly connected with the tail end of the mechanical arm module 21 and is used for performing bone grinding operation on a joint part of a target object; the mechanical arm module 21 is in communication connection with the control module 22, and is used for receiving the navigation instruction sent by the control module 22 and moving the bone grinding module 20 to the joint part of the target object according to the navigation instruction; the ultrasonic detection module 23 is arranged at the joint part of the target object, is in communication connection with the control module 22 and is used for carrying out ultrasonic scanning on the joint part of the target object; the bone mineral density detection module 24 is disposed at a joint portion of the target object, and is in communication connection with the control module 22, for obtaining bone mineral density information and bone mineral strength information of the joint portion; the control module 22 is used in the bone grinding amount safety range determination method of the above-described embodiment.
In this embodiment, the bone grinding module 20 may include an electric drill handle, an electric drill main body mechanism and a drill bit, wherein the electric drill handle may support a doctor to hold an electric drill, the electric drill main body mechanism includes a motor for driving the electric drill and a driving mechanism, the driving mechanism is connected with the drill bit, the drill bit includes an acetabular bone file for grinding bone, and the bone grinding module 20 may be fixedly connected with the end of the mechanical arm module 21 through the adapting module 25.
In the above embodiment, the bone mineral density detecting module 24 may be an ultrasonic bone mineral density detector, wherein the ultrasonic bone mineral density detector includes a detecting unit 241 and a processing unit 242, the detecting unit 241 may include a micro sensor (ultrasonic diagnostic apparatus) for transmitting ultrasonic waves to a preset site and receiving ultrasonic waves reflected by the preset site, and the processing unit 242 may include a micro circuit board for performing operations such as processing and amplifying data collected by the detecting unit 241 and transmitting the same to the control module 22, so that the control module 22 may perform calculation of the current bone mineral amount based on the data collected by the detecting unit 241.
In the above embodiment, the system further includes a display module 24 communicatively connected to the control module 22 for displaying the current bone grinding amount, the safe range of bone grinding amount, the CT image, and the like calculated by the control module 22.
In some of these embodiments, the control module 22 is further configured for acquiring a CT image corresponding to a joint region of the target object; acquiring bone mineral density information and bone strength information of the joint region by using the bone mineral density detection module 24; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module 23; correcting the CT image in real time according to the ultrasonic image, and obtaining the current bone grinding quantity; and calculating according to the bone grinding parameters and the current bone grinding quantity to obtain the bone grinding quantity safety range.
In some of these embodiments, the control module 22 is further configured to determine whether to send a navigational calibration instruction to the robotic arm module 21 driving the bone grinding module 20 in the robotic system based on the current bone grinding amount and the bone grinding amount safety range.
In some of these embodiments, the control module 22 is further configured to map a bone strength safety line corresponding to the safe range of bone loss on the corrected CT image and display the bone strength safety line and the current bone loss using a display module in the robotic system.
In some of these embodiments, the control module 22 is further configured for registering the ultrasound image with the CT image; reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.
In some of these embodiments, the control module 22 is further configured to compare the corrected CT image with the CT image before correction to obtain the current bone mass.
In some embodiments, the bone grinding parameters include bone grinding feed, bone grinding rotational speed, bone grinding force.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
The present embodiment also provides an electronic device, fig. 3 is a schematic diagram of a hardware structure of the electronic device according to an embodiment of the present application, and as shown in fig. 3, the electronic device includes a memory 304 and a processor 302, where the memory 304 stores a computer program, and the processor 302 is configured to execute the computer program to perform steps in any one of the method embodiments described above.
In particular, the processor 302 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 304 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 304 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, solid state Drive (Solid State Drive, SSD), flash memory, optical Disk, magneto-optical Disk, tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. Memory 304 may include removable or non-removable (or fixed) media, where appropriate. The memory 304 may be internal or external to the joint replacement surgical robotic system, where appropriate. In a particular embodiment, the memory 304 is a Non-Volatile (Non-Volatile) memory. In a particular embodiment, the Memory 304 includes Read-Only Memory (ROM) and random access Memory (Random Access Memory, RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, abbreviated PROM), an erasable PROM (Erasable Programmable Read-Only Memory, abbreviated EPROM), an electrically erasable PROM (Electrically Erasable Programmable Read-Only Memory, abbreviated EEPROM), an electrically rewritable ROM (Electrically Alterable Read-Only Memory, abbreviated EAROM), or a FLASH Memory (FLASH), or a combination of two or more of these. The RAM may be Static Random-Access Memory (SRAM) or dynamic Random-Access Memory (Dynamic Random Access Memory DRAM), where the DRAM may be a fast page mode dynamic Random-Access Memory (Fast Page Mode Dynamic Random Access Memory FPMDRAM), extended data output dynamic Random-Access Memory (Extended Date Out Dynamic Random Access Memory EDODRAM), synchronous dynamic Random-Access Memory (Synchronous Dynamic Random-Access Memory SDRAM), or the like, as appropriate.
Memory 304 may be used to store or cache various data files that need to be processed and/or communicated, as well as possible computer program instructions for execution by processor 302.
The processor 302 implements any of the bone grinding amount safety range determination methods of the above embodiments by reading and executing computer program instructions stored in the memory 304.
Optionally, the electronic apparatus may further include a transmission device 306 and an input/output device 308, where the transmission device 306 is connected to the processor 302, and the input/output device 308 is connected to the processor 302.
Alternatively, in the present embodiment, the above-mentioned processor 302 may be configured to execute the following steps by a computer program:
s1, acquiring a CT image corresponding to a joint part of a target object.
S2, acquiring bone mineral density information and bone mineral strength information of the joint part by using the bone mineral density detection module.
S3, obtaining bone grinding parameters according to the bone density information and the bone strength information.
S4, acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module.
S5, correcting the CT image in real time according to the ultrasonic image, and obtaining the current bone grinding quantity.
S6, calculating according to the bone grinding parameters and the current bone grinding quantity to obtain a bone grinding quantity safety range.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
In addition, in combination with the method for determining the safe range of the bone grinding amount in the above embodiment, the embodiment of the application can be realized by providing a storage medium. The storage medium has a computer program stored thereon; the computer program, when executed by a processor, implements any of the bone grinding amount safety range determination methods of the above embodiments.
It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The foregoing examples illustrate only a few embodiments of the application, which are described in greater detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims (7)

1. A joint replacement surgical robotic system, the system comprising: the device comprises a bone grinding module, a mechanical arm module, a control module, an ultrasonic detection module and a bone density detection module, wherein,
the bone grinding module is fixedly connected with the tail end of the mechanical arm module and is used for performing bone grinding operation on the joint part of the target object;
the mechanical arm module is in communication connection with the control module;
the ultrasonic detection module is arranged at the joint part of the target object, is in communication connection with the control module and is used for carrying out ultrasonic scanning on the joint part of the target object;
the bone mineral density detection module is arranged at a joint part of the target object, is in communication connection with the control module and is used for acquiring bone mineral density information and bone strength information of the joint part;
the control module is configured to acquire a CT image corresponding to a joint portion of a target object; acquiring bone mineral density information and bone mineral strength information of the joint part by using a bone mineral density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding quantity; according to the bone grinding parameters and the current bone grinding quantity, calculating to obtain a bone grinding quantity safety range; the safe range of bone grinding amount includes a boundary of a bone grinding parameter and a boundary of bone grinding amount.
2. The joint replacement surgical robotic system of claim 1, wherein the bone density detection module comprises at least one bone density probe disposed within tissue of a joint portion of the target object or affixed to a skin surface of the joint portion of the target object.
3. The joint replacement surgical robot system of claim 1, wherein the control module is further configured to determine whether to send a navigational calibration command to a robotic arm module driving the bone milling module in the robot system based on the current bone milling amount and a bone milling amount safety range.
4. The joint replacement surgical robot system of claim 3, wherein the control module is further configured to map a bone strength safety line corresponding to a safe range of bone grinding amount on the corrected CT image and display the bone strength safety line and the current bone grinding amount with a display module in the robot system.
5. The joint replacement surgical robotic system of claim 1, wherein the control module is further configured to register the ultrasound image with the CT image; reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.
6. The joint replacement surgical robot system of claim 5, wherein the control module is further configured to compare the corrected CT image with the pre-corrected CT image to obtain a current bone mass.
7. The joint replacement surgical robot system of claim 1, wherein the bone milling parameters include bone milling feed, bone milling rotational speed, bone milling force.
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