CN113850851A

CN113850851A - Surgical robot bone registration method and system

Info

Publication number: CN113850851A
Application number: CN202111035711.9A
Authority: CN
Inventors: 张逸凌; 刘星宇
Original assignee: Longwood Valley Medtech Co Ltd
Current assignee: Zhang Yiling; Longwood Valley Medtech Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2021-12-28
Anticipated expiration: 2041-09-03
Also published as: CN113850851B

Abstract

The application discloses a method and a system for registering bones of a surgical robot. The method comprises the following steps: acquiring the space position of a preoperative planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate and the space position of an intraoperative marker point on an entity skeleton under a world coordinate system; carrying out coarse registration on the spatial position of the preoperative planning point in a three-dimensional model coordinate system and the spatial position of the intraoperative marker point in a world coordinate system to obtain a coarse registration matrix; acquiring the space position of a scribing point set on the skeleton of an entity under a world coordinate system; and carrying out fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result. The bone registration accuracy can be improved.

Description

Surgical robot bone registration method and system

Technical Field

The application relates to the technical field of computers, in particular to a method and a system for registering bones of a surgical robot.

Background

Registration refers to the alignment of different images of the same object at spatial locations. Currently, when bone surgery is performed, for example, TKA surgery (total knee replacement), a surgical robot may be used to assist in performing knee replacement. In order to ensure that the position of the surgical robot during movement is matched with the position of the knee joint of the patient, bone registration is required, and the traditional bone registration method needs to be performed by a third-party instrument, so that the accuracy of the bone registration is low.

Disclosure of Invention

The main object of the present application is to provide a surgical robot bone registration method and system capable of improving accuracy of bone registration.

To achieve the above object, according to one aspect of the present application, there is provided a registration method of a surgical robot bone.

The registration method of the surgical robot bone according to the application comprises the following steps:

acquiring the space position of a preoperative planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate and the space position of an intraoperative marker point on an entity skeleton under a world coordinate system;

carrying out coarse registration on the spatial position of the preoperative planning point in a three-dimensional model coordinate system and the spatial position of the intraoperative marker point in a world coordinate system to obtain a coarse registration matrix;

acquiring the space position of a scribing point set on the skeleton of an entity under a world coordinate system;

and carrying out fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result.

Further, the fine registration of the spatial position of the set of line drawing points in the world coordinate system with the three-dimensional model according to the coarse registration matrix includes:

reflecting the space position of the scribing point set under the world coordinate system back to three according to the coarse registration matrix

Obtaining the position of a scribing point set in a three-dimensional model coordinate system in the dimensional model coordinate system;

performing neighborhood space search on the three-dimensional model according to the position of the scribing point set under a three-dimensional model coordinate system to obtain a first neighborhood space point set;

correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the space position of the scribing point set under the world coordinate system to obtain a corrected scribing point set;

and registering the corrected scribing point set with the space position of the scribing point set under the world coordinate system.

Further, the correcting the spatial position of the ruled point set in the three-dimensional model coordinate system according to the first neighborhood space point set and the spatial position of the ruled point set in the world coordinate system includes:

carrying out triangular pairing on the points in the scribing point set according to the space position of the scribing point set in the world coordinate system to obtain a paired triangular sequence;

and correcting the space position of the scribing point set under a three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangular sequence.

Further, the correcting the spatial position of the scribing point set in the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence includes:

screening out a first target point set from the first neighborhood space point set;

and correcting the space position of the scribing point set under a three-dimensional model coordinate system to the position of the first target point set according to the pairing triangular sequence.

Further, the coarsely registering the spatial position of the preoperative planning point in the three-dimensional model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system comprises:

performing triangulation processing on preoperative planning points according to the spatial positions of the preoperative planning points under a three-dimensional model coordinate system by a preset three-dimensional space point cloud searching mode, and performing triangulation processing on intraoperative marking points according to the spatial positions of the intraoperative marking points under a world coordinate system to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points;

correcting the spatial position of the preoperative planning point under a three-dimensional model coordinate system according to the planning triangular sequence in a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point;

and registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points.

Further, the obtaining of the actual operation triangle sequence corresponding to the intraoperative marker points and the planning triangle sequence corresponding to the preoperative planning points by presetting a three-dimensional space point cloud search mode, triangulating the preoperative planning points according to the spatial positions of the preoperative planning points in the three-dimensional model coordinate system, and triangulating the intraoperative marker points according to the spatial positions of the intraoperative marker points in the world coordinate system includes:

forming a triangle by the first three points of the preoperative planning points according to the spatial position of the preoperative planning points under a three-dimensional model coordinate system and forming a triangle by the first three points of the intraoperative marking points according to the spatial position of the intraoperative marking points under a world coordinate system by a preset three-dimensional space point cloud searching mode;

respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same.

Further, the correcting the spatial position of the preoperative planning point in the three-dimensional model coordinate system according to the planning triangular sequence by a preset three-dimensional space point cloud searching mode comprises:

determining a second neighborhood space point set on the three-dimensional model according to the space position of the preoperative planning point under a three-dimensional model coordinate system in a preset three-dimensional space point cloud searching mode;

screening out a second target point set from the second neighborhood space point set;

and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position of the second target point set according to the planning triangular sequence.

To achieve the above object, according to another aspect of the present application, there is provided a registration system for a surgical robotic bone.

A registration system for a surgical robotic bone according to the present application includes:

the first position module is used for acquiring the spatial position of a preoperative planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate and the spatial position of an intraoperative marking point on an entity skeleton under a world coordinate system;

the rough registration module is used for carrying out rough registration on the space position of the preoperative planning point under a three-dimensional model coordinate system and the space position of the intraoperative marking point under a world coordinate system to obtain a rough registration matrix;

the second position acquisition module is used for acquiring the spatial position of a scribing point set on each skeleton of the entity under a world coordinate system;

and the fine registration module is used for performing fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result.

A computer device comprising a memory and a processor, the memory storing a computer program operable on the processor, the processor implementing the steps in the various method embodiments described above when executing the computer program.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the respective method embodiment described above.

According to the method and the system for registering the bones of the surgical robot, the space positions of the lineation point sets on the bones of the entity under the world coordinate system are obtained through lineation operation, so that the space positions of the lineation point sets under the world coordinate system and the three-dimensional model are precisely registered according to the rough registration matrix.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic flow chart of a method for registration of a surgical robotic bone according to one embodiment;

FIG. 2 is a schematic diagram of a three-dimensional femoral model in one embodiment;

FIG. 3 is a schematic diagram of a three-dimensional tibial model according to one embodiment;

FIG. 4 is a schematic diagram illustrating the rough registration of the spatial locations of the preoperative planning points in the three-dimensional model coordinate system and the spatial locations of the intraoperative marker points in the world coordinate system in one embodiment;

FIG. 5 is a schematic view of a line drawn from a line drawing operation performed on the tibial surface according to one embodiment;

FIG. 6 is a schematic diagram illustrating a distribution of a set of scribe lines resulting from a scribe operation performed on a line in one embodiment;

FIG. 7 is a block diagram of a registration system for a surgical robotic bone in one embodiment;

FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The surgical robot bone registration method and system can be applied to bone surgery, such as knee joint replacement surgery, hip joint replacement surgery, spine surgery and the like.

The surgical robot comprises an upper computer main control system, a mechanical arm system and an optical navigation positioning system, wherein the upper computer main control system is respectively communicated with the mechanical arm system and the optical navigation positioning system through a network, and the mechanical arm system is communicated with the optical navigation positioning system through the network. The upper computer main control system mainly comprises an upper computer and a display screen. The upper computer is used for carrying out various operation processing on the images, and a prosthesis library is further stored in the upper computer and used for planning and selecting types before operation. The mechanical arm system comprises a mechanical arm control unit and a mechanical arm, wherein the mechanical arm control unit is used for receiving a bone cutting starting signal sent by the upper computer main control system and controlling the mechanical arm to move. The optical navigation positioning system comprises a tracking camera, a tracer and a display screen; the upper computer tracks the positions of the optical balls through a tracking camera (a binocular infrared camera) to determine the target area of the skeleton and the spatial position of an actuator at the tail end of the mechanical arm under a world coordinate system. The display screen is used to display a three-dimensional model of a patient's anatomy.

Specifically, the upper computer obtains the spatial position of the preoperative planning point on the skeleton in the three-dimensional model of the skeleton under the three-dimensional model coordinate through the optical navigation positioning system, and the spatial position of the intraoperative marker point on the solid skeleton under the world coordinate system, and roughly registers the spatial position of the preoperative planning point under the three-dimensional model coordinate system and the spatial position of the intraoperative marker point under the world coordinate system to obtain a rough registration matrix. The upper computer also obtains the space position of the lineation point set on the skeleton of the entity (patient) under the world coordinate system through the optical navigation positioning system, and carries out fine registration on the space position of the lineation point set under the world coordinate system and the three-dimensional model according to the rough registration matrix to obtain a registration result.

The intraoperative marker points are a plurality of points marked on the bone by a doctor in an operation by using an operation probe, the marking point set is determined by marking on the bone by the doctor in the operation by using the operation probe, the operation probe is provided with a plurality of optical pellets, and the upper computer determines the spatial positions of the intraoperative marker points and the marking point set under a world coordinate system according to the positions of the optical pellets tracked by the tracking camera.

In one embodiment, as shown in fig. 1, there is provided a method of registration of a surgical robotic bone, comprising the steps of:

step 102, acquiring the spatial position of a preoperative planning point on the skeleton in the three-dimensional model of the skeleton under the three-dimensional model coordinates, and the spatial position of an intraoperative marker point on the solid skeleton under a world coordinate system.

A three-dimensional model refers to a three-dimensional model of a bone. The preoperative planned points are points planned in advance in the three-dimensional model for registration. The intraoperative marker points are points marked on the surface of the bone by a surgical probe during the operation by a doctor.

Preoperatively, preoperative planning points are determined on the bone in a three-dimensional model of the bone. In particular, the three-dimensional model for the bone of the knee joint may particularly comprise a three-dimensional femoral model and a three-dimensional tibial model. In the process of knee joint replacement surgery, a patient adopts a supine position, a doctor can implant fixing nails on each bone of the knee joint of the patient respectively, and a tracer is installed on each bone. And then taking the inner side of the knee joint to enter, incising the skin and subcutaneous tissues, entering the joint to fully expose the tibial plateau, and sequentially registering and registering each bone of the knee joint.

In the bone registration process, the optical navigation positioning system acquires the spatial position of a preoperative planning point on a bone in a three-dimensional model of the bone under a three-dimensional model coordinate system and the spatial position of an intraoperative marker point on a solid bone under a world coordinate system. For example, 40 bone anchor points may be acquired as intraoperative marker points.

And 104, carrying out coarse registration on the spatial position of the preoperative planning point in the three-dimensional model coordinate system and the spatial position of the intraoperative marker point in the world coordinate system to obtain a coarse registration matrix.

The registration process for a three-dimensional model can be divided into two phases: a coarse registration stage and a fine registration stage. In the coarse registration stage, a preset three-dimensional space point cloud searching mode can be adopted for coarse registration.

In an alternative manner of this embodiment, the coarsely registering the spatial position of the preoperative planning point in the three-dimensional model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system includes: performing triangulation processing on preoperative planning points according to spatial positions of the preoperative planning points under a three-dimensional model coordinate system and performing triangulation processing on the intraoperative marking points according to spatial positions of the intraoperative marking points under a world coordinate system by a preset three-dimensional space point cloud searching mode to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points; correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate system according to a planning triangular sequence by a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point; and registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points.

The intraoperative marker points and the preoperative planning points are point sets. The preoperative planning points can be triangulated according to the spatial positions of the preoperative planning points in the three-dimensional model coordinate system, and the intraoperative marking points are triangulated according to the spatial positions of the intraoperative marking points in the world coordinate system. Triangularization processing means that every three points form a triangle, the forming principle of the triangle is that the perimeter is the largest, and points in the triangles can be overlapped, so that an actual operation triangular sequence corresponding to the mark points in the operation and a planning triangular sequence corresponding to the planning points before the operation are obtained. Further, by presetting a three-dimensional space point cloud search mode, triangularizing the preoperative planning points according to the spatial positions of the preoperative planning points under the three-dimensional model coordinate system, and triangularizing the intraoperative marking points according to the spatial positions of the intraoperative marking points under the world coordinate system, and obtaining an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points comprises: forming the first three points of the preoperative planning points into a triangle according to the spatial position of the preoperative planning points under the three-dimensional model coordinate system, and forming the first three points of the intraoperative marking points into a triangle according to the spatial position of the intraoperative marking points under the world coordinate system; respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same. The intra-operative marker points are triangulated in the same manner as the pre-operative planning points.

For example, for the preoperative planning points, assuming that the point cloud arrangement order in the preoperative planning points is P1, P2, P3,. and Pn, the first three points automatically form a triangle, two points from the previous points need to be selected from the fourth point to form a triangle with the current point, and the selection principle is that the perimeter of the triangle formed after the selection is the largest. Several triangle sequences are obtained according to this principle. The way in which the intraoperative marker points generate a triangular sequence is the same as the way in which the preoperative planning points.

In this optional implementation manner, the correcting the spatial position of the preoperative planning point in the three-dimensional model coordinate system according to the planning triangular sequence by presetting a three-dimensional space point cloud search manner includes: determining a second neighborhood space point set on the three-dimensional model according to the spatial position of the preoperative planning point under the three-dimensional model coordinate system in a preset three-dimensional space point cloud searching mode; screening out a second target point set from the second neighborhood space point set; and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position of the second target point set according to the planning triangle sequence.

Specifically, a second neighborhood space point set of preoperative planning points of a system under the three-dimensional model coordinates on the three-dimensional model is determined through a preset three-dimensional space point cloud searching mode. The second neighborhood space set of points includes a large number of points.

And for the current triangle, screening a target point corresponding to each triangle point of the current triangle in the second neighborhood space point set according to a preset screening strategy to obtain a first target point set. The preset screening strategy is that the triangle formed by the screened three target points and the triangle in the actual operation triangle sequence are congruent triangles. Because the congruent triangle has extremely small error, the spatial positions of three triangular points of the current triangle under the three-dimensional model coordinate can be respectively corrected to the positions of corresponding target points, the correction process is repeated, the spatial positions of preoperative planning points under the three-dimensional model coordinate are continuously corrected through a large number of triangles in the planning triangular sequence, and then the corrected preoperative planning points which are most similar to intraoperative marker points are obtained.

And then, registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points through a registration algorithm to obtain a registration result. For example, the registration algorithm may be ICP (Iterative Closest Point algorithm). When the registration is complete, the preoperative planning point may become transparent. For example, the three-dimensional model of the preoperative plan may include a three-dimensional femoral model as shown in fig. 2, the points of which are femoral marker points, and a three-dimensional tibial model as shown in fig. 3, the points of which are tibial marker points. And registering the femur marking points in the intraoperative marking points with the femur planning points, wherein the registration points become transparent after the registration is finished. Correspondingly, the tibia mark points in the intraoperative mark points are registered with the tibia planning points, and after the registration is completed, the registration points become transparent.

Illustratively, as shown in fig. 4, a schematic diagram of the rough registration of the spatial position of the preoperative planning point in the coordinate system of the three-dimensional model and the spatial position of the intraoperative marker point in the coordinate system of the world is shown. Wherein, the points in A represent intraoperative marker points; points in a represent preoperative planning points; b represents triangular points which can form a triangle in the mark points in the operation; b represents triangle points of which the preoperative planning points can form a triangle; c, representing the process of screening out a target point from the neighborhood space point set corresponding to the preoperative planning point, wherein the small points represent the target point; d represents a process of correcting the position of the triangular point in b to the position of the target point; e represents the corrected triangular points obtained after correcting the positions of the triangular points in the b; f represents the registration process of the triangle points in B and the triangle points after correction in e by a classical ICP registration algorithm.

In the embodiment, the preoperative planning points are corrected according to the planning triangle sequence by triangularizing the intraoperative marker points and the preoperative planning points, so that the corrected preoperative planning points are obtained.

And 106, acquiring the space position of the scribing point set on the skeleton of the entity under the world coordinate system.

After the coarse registration is completed, a second stage of fine registration is required. In the fine registration stage, preoperative planning is not required, scribing operation can be performed on the surface of the solid bone by using surface calibration equipment such as an operation probe and the like in the operation, and a scribing point set of the surface of the bone is acquired through the scribing operation. The scribe areas where scribing operations are required are critical bone areas of the bone surface, i.e., areas containing critical bone points.

Illustratively, the position of a tracer on a surgical probe is tracked through a tracking camera in an optical navigation positioning system, and the spatial position of a scribing point set on a solid skeleton under world coordinates is determined according to the spatial position of the tracer on the surgical probe under a world coordinate system in the scribing process, which is acquired by the tracking camera, so as to obtain the scribing point set. Fig. 5 is a schematic drawing of a score line obtained by performing a score line operation on the tibial surface. Wherein A, B, C are each lines drawn on the tibial surface.

In an optional manner of this embodiment, in the scribing operation, sampling may be performed by the surgical probe at the frequency S, a point sampling operation is performed on the line, and the whole line segment is subdivided into a plurality of point sets, so as to obtain a scribing point set. Fig. 6 is a schematic diagram showing the distribution of the set of scribe lines obtained by performing the scribing operation on the line. Wherein the segments A, B, C correspond to A, B, C in fig. 5, respectively.

And 108, carrying out fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result.

In the fine registration process, a neighborhood space point set of the scribing point set on the three-dimensional model can be determined firstly, so that the space position of the scribing point set under the coordinate system of the three-dimensional model is corrected according to the neighborhood space point set and the space position of the scribing point set under the world coordinate system, and the corrected space positions of the scribing point set and the scribing point set under the world coordinate system are registered.

In an alternative manner of this embodiment, the performing, according to the coarse bone registration matrix, a fine registration of the spatial position of each set of bone scribe lines in the world coordinate system with each three-dimensional bone model includes: reflecting the space position of each skeleton marking point set under the world coordinate system back to the three-dimensional model coordinate system according to each skeleton coarse registration matrix to obtain the position of the marking point set under the three-dimensional model coordinate system; performing neighborhood space search on each skeleton three-dimensional model according to the position of each skeleton scribing point set under a three-dimensional model coordinate system to obtain a first neighborhood space point set; correcting the space position of each skeleton scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set of each skeleton and the space position of each skeleton scribing point set under the world coordinate system to obtain a corrected scribing point set; and registering the marking point set after each skeleton correction with the space position of each skeleton marking point set in a world coordinate system.

And the coarse registration matrix represents the conversion relation between the world coordinate system and the three-dimensional model coordinate system obtained by coarse registration. According to the rough registration matrix, the space position of the scribing point set under the world coordinate system can be reflected back to the three-dimensional model coordinate system, and therefore the position of the scribing point set under the three-dimensional model coordinate system is obtained. Because the three-dimensional model corresponds to the three-dimensional model coordinate system, the neighborhood space search can be carried out on the three-dimensional model according to the position of the scribing point set under the three-dimensional model coordinate system, and the first neighborhood space point set is obtained. The first neighborhood space point set is a neighborhood space point set corresponding to the scribing point set under the three-dimensional model coordinate system.

In an optional manner, the correcting the spatial position of the scribe point set in the three-dimensional model coordinate system according to the first neighborhood space point set and the spatial position of the scribe point set in the world coordinate system includes: carrying out triangular pairing on the points in the scribing point set according to the space position of the scribing point set in the world coordinate system to obtain a paired triangular sequence; and correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence.

The set of scribe points is made up of points on a plurality of line segments, and may include points in three line segments, for example. And carrying out triangular pairing on the points in the scribing point set, respectively selecting one point in each line segment, forming a triangle by every three points according to the principle that the perimeter of the triangle is the largest, and obtaining a paired triangle sequence according to the triangular pairing mode. The paired triangle sequence includes a plurality of triangles.

And correcting the spatial position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence by adopting a mode of correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate through the second neighborhood space point set in the rough registration.

Further, the correcting the spatial position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence comprises: screening out a first target point set from the first neighborhood space point set; and correcting the space position of the scribing point set under the three-dimensional model coordinate system to the position of the first target point set according to the pairing triangular sequence.

The first neighborhood space set of points includes a large number of points. The matching triangle sequence comprises a plurality of triangles, each triangle comprises three triangle points, and for the current triangle, a target point corresponding to each triangle point of the current triangle can be screened in the second neighborhood space point set according to the matching triangle sequence to obtain a first target point set. The preset screening strategy is that the triangle formed by the screened three target points and the triangle in the matched triangle sequence are congruent triangles. Because the congruent triangle has extremely small error, the space positions of the three triangular points of the current triangle under the three-dimensional model coordinate can be respectively corrected to the positions of the corresponding target points in the first target point set, and the correction process is repeated, so that the space positions of the scribing point set under the three-dimensional model coordinate are continuously corrected through a large number of triangles in the paired triangular sequence, and the space positions of the scribing point set reflected into the three-dimensional model coordinate system are more accurate.

And then, registering the corrected space positions of the scribing point set and the scribing point set under the world coordinate system through a registration algorithm to obtain a registration result. For example, the registration algorithm may be ICP (Iterative Closest Point algorithm). The registration result can be a transformation relation between a finally obtained world coordinate system and the three-dimensional coordinate, and the precision of the operation in the operation can be improved through the registration result.

In the embodiment, the space positions of the scribing point sets on all bones of the entity under the world coordinate system are obtained through scribing operation, so that the space positions of the scribing point sets under the world coordinate system and the three-dimensional model are subjected to fine registration according to the rough registration matrix.

In a second aspect, prior to the registration, the present embodiment further provides a method of preoperative planning, the method of preoperative planning comprising:

after a medical image of a bone is obtained, the medical image is segmented and three-dimensionally reconstructed to obtain a three-dimensional model of the bone; determining key parameters of the skeleton based on the three-dimensional model; determining the type and model of the three-dimensional prosthesis model based on the skeleton key parameters; implanting the selected three-dimensional prosthesis model into the three-dimensional model; and adjusting the placement position and the placement angle of the three-dimensional prosthesis model based on the bone key parameters and the type and the model of the three-dimensional prosthesis model.

In this embodiment, after obtaining bone CT or nuclear magnetic image data of a target user, image segmentation may be performed on a scanned image through a neural network model, and the scanned image may be segmented into regions with different particle sizes as required, for example, a bone CT image obtained of a knee joint is segmented to obtain a femoral region and a tibial region, or may be segmented into a femoral region, a tibial region, a fibula region and a patellar region as required; and then, performing three-dimensional reconstruction on the segmented images of each region to obtain a three-dimensional model of each bone region.

The bone key parameters may include bone key anatomical points, bone key axes, and bone size parameters, which may be identified based on a deep learning algorithm, such as a neural network model, and the identified bone key anatomical points labeled on a three-dimensional bone model.

The bone dimensions may include the lateral diameter of the femur, the anteroposterior diameter of the femur, the lateral diameter of the tibia, and the anteroposterior diameter of the tibia, the lateral diameter of the femur being determined from a line connecting the medial and lateral edges of the femur, the anteroposterior diameter of the femur being determined from a line connecting the anterior cortex of the femur and the posterior condyles of the femur, the lateral diameter of the tibia being determined from a line connecting the medial and lateral edges of the tibia, and the anteroposterior diameter of the tibia being determined from a line connecting the anterior and posterior edges of the tibia.

The bone key axes are determined based on the bone key anatomical points, and the bone key angles are determined based on the bone key axes. And the determination of the type and model of the three-dimensional bone prosthesis model is facilitated based on the bone key axis and the bone key angle. Three-dimensional skeletal prosthesis models of knee joints generally include a three-dimensional femoral prosthesis model, a three-dimensional tibial prosthesis, and a shim model connecting the three-dimensional tibial prosthesis model and the three-dimensional femoral prosthesis model.

The three-dimensional bone prosthesis model can be a prosthesis model for total knee replacement in the existing market, the three-dimensional bone prosthesis model has multiple types, and each type of three-dimensional bone prosthesis model has multiple types. For example, the types of three-dimensional femoral prosthesis models are ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc., and the types of ATTUNE-PS are 1, 2, 3N, 4N, 5N, 6N.

In the embodiment, the selected three-dimensional bone prosthesis model is implanted into the three-dimensional bone model, and the placement position and the placement angle of the three-dimensional prosthesis model are adjusted based on the bone key parameters and the type and the model of the three-dimensional prosthesis model. In the embodiment, the matching adjustment process and the matching effect of the bone and the prosthesis are displayed in a three-dimensional visualization mode. After the three-dimensional model implanted with the three-dimensional prosthesis model is obtained, whether the femoral prosthesis model is installed and adapted to the three-dimensional femoral model or not can be determined based on the femoral valgus angle, the femoral varus angle, the femoral supination angle, the femoral internal rotation angle, the femoral left-right diameter and the femoral anteroposterior diameter.

Whether the tibial prosthesis model is installed and matched with the three-dimensional tibial model can be determined based on the tibial varus angle, the femoral valgus angle, the tibial left-right diameter and the tibial anteroposterior diameter.

As an optional implementation manner of this embodiment, the three-dimensional model includes a three-dimensional femoral prosthesis model, the three-dimensional prosthesis model includes a three-dimensional femoral prosthesis model, the bone key parameters include femoral key parameters, and the femoral key parameters include a femoral mechanical axis, a femoral condyle communicating line, a posterior condyle connecting line, a femoral left-right diameter, and a femoral anterior-posterior diameter; the step of adjusting the placement position and the placement angle of the three-dimensional prosthesis model based on the bone key parameters and the type and model of the three-dimensional prosthesis model comprises the following steps: adjusting the placement position of the three-dimensional femoral prosthesis model based on the left-right diameter of the femur and the anterior-posterior diameter of the femur; adjusting the varus angle or valgus angle of the three-dimensional femoral prosthesis model to ensure that the cross section of the three-dimensional femoral prosthesis model is vertical to the mechanical axis of the femur; adjusting the internal rotation angle or the external rotation angle of the three-dimensional femoral prosthesis to enable the femoral posterior condylar angle PCA (included angle between projection lines of the femoral condyle through line and the posterior condylar connecting line on the cross section) to be within a preset range.

In this optional implementation manner, when the placement position of the femoral prosthesis model satisfies that the femoral prosthesis model can cover the left and right sides of the femur, and the front and back of the femur, the installation position is appropriate.

Determining a femur valgus angle and a femur varus angle according to the relative angles of a central axis of the femur prosthesis model in the up-down direction of the coronal plane and a femur force line based on the current position of the femur prosthesis model, and determining a supination angle and an internal rotation angle according to the relative angles of a transverse axis of the femur prosthesis model and a through condyle line; the femoral flexion angle is determined by the angle of the mechanical axis of the femur and the central axis of the femoral prosthesis model in the anterior-posterior direction of the sagittal plane. By adjusting the above-mentioned angles, it is possible to determine whether the installation angle of the three-dimensional femoral prosthesis model is proper, for example, when the varus/valgus angle is adjusted to 0 ° and the PCA is generally adjusted to 3 °, it is determined that the placement position and placement angle of the femoral prosthesis model are adjusted to the proper positions.

As an optional implementation manner of this embodiment, the three-dimensional model further includes a three-dimensional tibia model, and the three-dimensional femoral prosthesis model further includes a three-dimensional tibia prosthesis model; the bone key parameters also comprise tibia key parameters, and the tibia key parameters comprise a tibia mechanical axis, a tibia left-right diameter and a tibia front-back diameter; the step of adjusting the placement position and the placement angle of the three-dimensional prosthesis model based on the bone key parameters and the type and model of the three-dimensional prosthesis model comprises the following steps: adjusting the placement position of the three-dimensional tibial prosthesis model based on the left-right diameter of the tibia and the anterior-posterior diameter of the tibia; and adjusting the varus angle or valgus angle of the three-dimensional tibial prosthesis to ensure that the mechanical tibial axis is vertical to the cross section of the three-dimensional tibial prosthesis.

In this optional implementation manner, in addition to determining the installation position and the angle in the above manner, the back tilt angle of the tibial prosthesis may be determined according to the design principle of the tibial prosthesis, and the adjustment size of the flexion angle of the tibial prosthesis may be determined based on the physiological characteristics of the patient and adjusted to 0 ° or other, so as to avoid notch and Over.

As an optional implementation manner of this embodiment, after the step of adjusting the placement position and the placement angle of the three-dimensional prosthesis model, the method further includes: performing simulated osteotomy based on the matching relationship between the three-dimensional prosthesis model and the three-dimensional prosthesis model to obtain a three-dimensional skeleton postoperative simulation model; performing motion simulation including a straightening position and a bending position on the three-dimensional femoral postoperative simulation model; determining a straightening gap in a straightening state and a buckling gap in a buckling state; and comparing the extension gap with the flexion gap, and verifying the matching of the three-dimensional prosthesis model.

In this alternative implementation, the thickness of the femoral resection is determined according to the femoral prosthesis design principle, and different femoral prostheses may correspond to different resection thicknesses; after the osteotomy thickness is determined based on the prosthesis and the prosthesis is matched to the bone, the osteotomy plane may be determined.

The osteotomy planes may include a femoral osteotomy plane and a tibial osteotomy plane, the tibial osteotomy plane being a tibial plateau, the femoral osteotomy planes including a femoral anterior osteotomy plane, a femoral anterior oblique osteotomy plane, a femoral posterior condylar osteotomy plane, a femoral posterior oblique osteotomy plane, a femoral distal osteotomy plane.

After the placement position and the placement angle of the three-dimensional skeleton prosthesis model are adjusted, simulation osteotomy is performed based on the matching relationship between the three-dimensional skeleton prosthesis model and the three-dimensional skeleton model, and a three-dimensional skeleton postoperative simulation model is obtained.

After the three-dimensional bone postoperative simulation model is obtained, motion simulation is carried out, and the extension gap and the flexion gap can be determined through the extension position simulation diagram and the flexion position simulation diagram. And determining whether the three-dimensional prosthesis model is matched with the three-dimensional model after osteotomy or not based on the extension gap and the flexion gap. Whether the size and the position of the prosthesis are proper or not can be observed from different angles through simulating the installation effect of the prosthesis, whether collision and dislocation of the prosthesis occur or not can be observed, and whether the prosthesis is matched with bones or not can be accurately determined. The user can determine whether the bone prosthesis model needs to be adjusted through the final simulation image, and if the type and the model of the bone prosthesis are replaced, the prosthesis library can be called again, and the replaced three-dimensional bone postoperative simulation model is generated based on the new bone prosthesis model. By simulating the expected effect after surgery, the final bone prosthesis model can be made to more closely match the knee joint of the patient. In one embodiment, the preoperative planning method further comprises: determining three-dimensional coordinates of a femoral medullary cavity center point based on the three-dimensional femoral model; creating an intramedullary positioning simulation rod through a circle fitting method; determining a femoral intramedullary opening point from the intramedullary positioning simulation rod.

In an alternative implementation, the position of the needle insertion point of the simulated rod in the femoral bone marrow is determined in the knee replacement, wherein the vertex of the intercondylar notch can be used as the position of the needle insertion point of the simulated rod in the femoral bone marrow, and the position of the needle insertion point can be used as the femoral medullary opening point. In operation, the intramedullary positioning simulation rod and the femur marrow opening point are visually displayed on the three-dimensional bone model to guide a doctor to open the marrow.

After the preoperative planning and the intraoperative registration are completed, the present embodiment further provides a method for controlling a mechanical arm of a surgical robot, specifically including:

in the operation process of an actuator at the tail end of a mechanical arm, determining the offset of the actuator relative to a current target area according to the current spatial position of the actuator and the spatial position of the current target area of a skeleton;

and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the target area.

The tail end of the mechanical arm and the actual bone cutting region (such as a femur region and a tibia region of a knee joint) can be pre-provided with tracers, each tracer comprises a light sensing ball capable of emitting infrared rays, the position of the light sensing ball arranged at the tail end of the mechanical arm is tracked in real time through a binocular infrared camera, the position of the light sensing ball in the femur region and the position of the light sensing ball in the tibia region can determine the current spatial position of an actuator at the tail end of the mechanical arm and the current spatial position of a target region, so that the spatial position of the actuator and the spatial position of the current target region can be determined in real time, and further the offset of the actuator relative to the current target region can be determined based on the spatial position of the actuator and the spatial position of the current target region.

In the application of the surgical robot to knee joint replacement surgery, the actuator can be a saw blade used for osteotomy. The target area may be the osteotomy plane described above.

The three-dimensional model displays a preplanned sequence of operations for a plurality of target areas, the current target area being a target area selected from the plurality of target areas in response to an operator.

As an optional implementation manner of this embodiment, before the actuator is operated, when the manipulator is operated to the bone, a position difference between the spatial position of the current target region and the current spatial position of the actuator is determined according to the planned spatial position of the current target region of the bone in the three-dimensional model coordinate system and the current spatial position of the actuator; determining the operated displacement of the mechanical arm according to the position difference; and displaying indication adjustment information corresponding to the displacement in the three-dimensional model so that an operator operates the mechanical arm according to the indication adjustment information, and thus, the actuator is adjusted to enable the plane of the actuator to be coplanar with the current target area. It is understood that the plane of the actuator is coplanar with the target area, meaning that the actuator is at the outer edge of the current target area, and the plane of the actuator is substantially coplanar with the current target area.

The indicated adjustment information corresponding to the amount of displacement may include an enlarged display of the adjustment path corresponding to the amount of displacement, which guides the surgeon in holding the robotic arm and adjusting the actuator to align with the target area (the actuator is at the outer edge of the target area, and the actuator is substantially coplanar with the target area).

In one embodiment, the step of controlling the robotic arm to define the movement of the actuator within the target area based on the offset comprises:

when the actuator operates, a Cartesian damping control mode taking the virtual springs and the dampers as models is started, and the mechanical arm outputs a feedback force F opposite to the operated direction based on the preset stiffness value C of each virtual spring in the multiple freedom degrees and the offset quantity delta x in the multiple freedom degrees, wherein the F is delta x C, so that the motion of the actuator is limited in the current target area.

In this alternative implementation, the stiffness-damping model of the virtual spring, also referred to as Cartesian damping Control Mode (CICM). In the damping control mode the robot is compliance sensitive and can react to external influences, such as obstacles or process forces. Application of an external force may cause the robot to move away from the planned orbital path.

Illustratively, in any one target area, a relatively large rigidity value is set in a direction perpendicular to the current target area, and the rigidity value is larger than a predetermined threshold value so as to limit the actuator to move in the direction perpendicular to the current target area, thereby effectively avoiding the actuator from deviating from the current target area.

In specific implementation, after the actuator is aligned with the current target area, the actuator is operated, and at the moment, the control robot enters a state of a virtual spring damping model, in the state, the whole mechanical arm can be regarded as an approximate virtual spring, and after force is applied in any direction, the virtual spring follows hooke's law. In the direction perpendicular to the current target area, if the rigidity of the direction is large, the deviation of the actuator in the direction is small, so that the actuator can be stably limited on the current target area, the actuator is prevented from moving in the direction perpendicular to the current target area, the actuator exceeds the target area to the maximum extent, and the mistaken injury to a patient is reduced.

In one embodiment, the direction in which the actuator cuts into the current target area is recorded as a depth direction, the direction perpendicular to the cutting direction in the current target area is recorded as a transverse direction, and the direction perpendicular to the current target area is recorded as a vertical direction; the offset direction comprises an offset value in the depth direction, a transverse offset value and an offset value in the vertical direction;

illustratively, the preset stiffness value of the virtual spring in the depth direction and the preset stiffness value of the virtual spring in the transverse direction both range from 0N/m to 500N/m. According to hooke's law, the smaller the stiffness, the greater the amount of spring deflection when the force is constant. Therefore, the rigidity in the depth direction is set as small as possible, and displacement of the actuator in this direction can be facilitated. In the transverse direction, the stiffness provided is also relatively low, also to facilitate movement of the actuator in that direction to make the cut.

The value range of the preset rigidity value of the virtual spring in the vertical direction is 4000N/m-5000N/m. According to hooke's law, the greater the stiffness, the smaller the amount of spring deflection when the force is constant. Therefore, the stiffness in the Z direction is set to be as large as possible, which can help to avoid the actuator from being displaced in the Z direction, because if the actuator is directly caused to be out of the current target area after the displacement in the Z direction, it is not allowed to easily cause injury to the patient.

The value range of the preset rigidity value of the virtual spring taking the vertical direction as the axis rotation direction is 0 Nm/rad-20 Nm/rad, so that the actuator can rotate in the current target area by taking the vertical direction Z as the axis.

The value ranges of the preset rigidity value of the virtual spring taking the depth direction as the shaft rotation direction and the rigidity value of the virtual spring taking the transverse direction as the shaft rotation direction are both 200 Nm/rad-300 Nm/rad, the displacement of the actuator taking the depth direction as the shaft rotation and the transverse direction as the shaft rotation is limited, the actuator is further prevented from being separated from the current target area, and the safety of osteotomy is ensured.

Of course, the value range may be other range values. Specifically, when the spring rates in the different degrees of freedom are set, the setting can be performed using a function setstifness (…) (type: double).

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

In one embodiment, as shown in fig. 7, there is provided a surgical robotic bone registration system comprising: a first location acquisition module 702, a coarse registration module 704, a second location acquisition module 706, a fine registration module 708, wherein:

a first position obtaining module 702, configured to obtain a spatial position of a preoperative planning point on a skeleton in a three-dimensional model of the skeleton under coordinates of the three-dimensional model, and a spatial position of an intraoperative marker point on a solid skeleton under a world coordinate system.

And a coarse registration module 704, configured to perform coarse registration on the spatial position of the preoperative planning point in the three-dimensional model coordinate system and the spatial position of the intraoperative marker point in the world coordinate system, so as to obtain a coarse registration matrix.

And a second position obtaining module 706, configured to obtain spatial positions of the set of scribe points on each skeleton of the entity in the world coordinate system.

And the fine registration module 708 is configured to perform fine registration on the spatial position of the scribe-line point set in the world coordinate system and the three-dimensional model according to the coarse registration matrix, so as to obtain a registration result.

In one embodiment, the fine registration module 708 is further configured to reflect the spatial position of the ruled-point set in the world coordinate system back to the three-dimensional model coordinate system according to the coarse registration matrix, so as to obtain the position of the ruled-point set in the three-dimensional model coordinate system; performing neighborhood space search on the three-dimensional model according to the position of the scribing point set under the coordinate system of the three-dimensional model to obtain a first neighborhood space point set; correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the space position of the scribing point set under the world coordinate system to obtain a corrected scribing point set; and registering the corrected space positions of the scribing point set and the scribing point set under the world coordinate system.

In one embodiment, the fine registration module 708 is further configured to perform triangle pairing on the points in the scribe point set according to the spatial positions of the scribe point set in the world coordinate system, so as to obtain a paired triangle sequence; and correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence.

In one embodiment, the fine registration module 708 is further configured to screen out a first set of target points in the first set of neighborhood space points; and correcting the space position of the scribing point set under the three-dimensional model coordinate system to the position of the first target point set according to the pairing triangular sequence.

In one embodiment, the coarse registration module 704 is further configured to perform triangulation processing on the preoperative planning points according to the spatial positions of the preoperative planning points in the three-dimensional model coordinate system and perform triangulation processing on the intraoperative marking points according to the spatial positions of the intraoperative marking points in the world coordinate system by using a preset three-dimensional spatial point cloud search manner, so as to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points; correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate system according to a planning triangular sequence by a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point; and registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points.

In one embodiment, the coarse registration module 704 is further configured to form a triangle from the first three points of the preoperative planned point according to the spatial position of the preoperative planned point in the three-dimensional model coordinate system and form a triangle from the first three points of the intraoperative marked point according to the spatial position of the intraoperative marked point in the world coordinate system by means of a preset three-dimensional point cloud search; respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same.

In one embodiment, the coarse registration module 704 is further configured to determine a second neighborhood space point set on the three-dimensional model according to the spatial position of the preoperative planning point in the three-dimensional model coordinate system by presetting a three-dimensional space point cloud search mode; screening out a second target point set from the second neighborhood space point set; and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position of the second target point set according to the planning triangle sequence.

The first position acquisition module 702, the coarse registration module 704, the second position acquisition module 706 and the fine registration module 708 are all located in the upper computer main control system.

For specific definition of the registration system of the surgical robot bone, reference may be made to the above definition of the registration method of the surgical robot bone, and details are not described here. The various modules in the above-described surgical robotic bone registration system may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data of a registration method of a surgical robotic bone. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of registration of a surgical robotic bone.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the various embodiments described above when the processor executes the computer program.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the respective embodiments described above.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of registration of a surgical robotic bone, comprising:

2. The method of claim 1, wherein the fine registering the spatial locations of the set of scribed points in the world coordinate system with the three-dimensional model according to the coarse registration matrix comprises:

reflecting the space position of the scribing point set under the world coordinate system back to the three-dimensional model coordinate system according to the rough registration matrix to obtain the position of the scribing point set under the three-dimensional model coordinate system;

3. The method of claim 2, wherein the correcting the spatial position of the scribed point set in the three-dimensional model coordinate system according to the first neighborhood spatial point set and the spatial position of the scribed point set in the world coordinate system comprises:

4. The method of claim 3, wherein the spatial positions of the set of scribe-lines in a three-dimensional model coordinate system according to the first neighborhood set of spatial points and the sequence of paired triangles

The correcting comprises the following steps:

5. The method of claim 1, wherein the coarsely registering the spatial location of the preoperative plan point in the three-dimensional model coordinate system with the spatial location of the intraoperative marker point in the world coordinate system comprises:

6. The method according to claim 5, wherein the obtaining of the real operation triangle sequence corresponding to the intraoperative marker point and the planning triangle sequence corresponding to the preoperative planning point by performing triangulation processing on the preoperative planning point according to the spatial position of the preoperative planning point in the three-dimensional model coordinate system and performing triangulation processing on the intraoperative marker point according to the spatial position of the intraoperative marker point in the world coordinate system through a preset three-dimensional spatial point cloud search mode comprises:

7. The method of claim 5, wherein the correcting the spatial position of the preoperative planning point in the three-dimensional model coordinate system according to the planning triangle sequence by a preset three-dimensional space point cloud searching mode comprises:

8. A registration system for a surgical robotic bone, the system comprising:

the system comprises a first position acquisition module, a second position acquisition module and a third position acquisition module, wherein the first position acquisition module is used for acquiring the spatial position of a preoperative planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate and the spatial position of an intraoperative marking point on the solid skeleton under a world coordinate system;

the second position acquisition module is used for acquiring the spatial position of a scribing point set on the skeleton of the entity under a world coordinate system;

9. A computer device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.