CN113876429B

CN113876429B - Path planning system of spine surgery robot and robot system

Info

Publication number: CN113876429B
Application number: CN202110700532.6A
Authority: CN
Inventors: 吕飞舟; 邵明昊; 唐文彬; 宓海; 蔡宁; 钱进; 姜建元
Original assignee: Shanghai Jirui Medical Technology Co ltd
Current assignee: Shanghai Jirui Medical Technology Co ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2023-01-20
Anticipated expiration: 2041-06-23
Also published as: CN113876429A

Abstract

The invention provides a path planning system of a spinal surgery robot and the spinal surgery robot system. The path planning system includes: the modeling unit is used for establishing a three-dimensional model of a working skeleton of a surgical object according to a preoperative three-dimensional image of the working skeleton; and a path planning unit, which is used for forming a planned operation path of the spinal surgery on the three-dimensional model, wherein the planned operation path comprises at least one three-dimensional curve in a three-dimensional space where the operation bone is located, and the spinal surgery robot is suitable for cutting out at least one complete target bone from the operation bone according to the planned operation path. According to the invention, the complete target bone can be cut out in the spinal osteotomy decompression operation, and the subsequent recovery of a patient is facilitated.

Description

Path planning system of spine surgery robot and robot system

Technical Field

The invention mainly relates to the field of surgical robots, in particular to a path planning system of a spinal surgical robot and a spinal surgical robot system.

Background

The spine plays a role in bearing weight, protecting the spinal cord and moving within a small range in a human body, and the function of keeping the stability of the spine structure is very important to play. With the aging, the incidence of diseases in the spine field is higher and higher, and spine diseases such as spine tumor, spine trauma, degenerative changes, spine deformity and the like do not harm the health of human bodies and show a trend of youthfulness. Spinal osteotomy decompression is commonly used for treating spinal nerve compression diseases caused by upper intervertebral disc protrusion, spinal stenosis and the like. The principle is to excise the lamina that circumscribes the vertebral canal, releasing the compressed vessels and nerves. At present, the traditional 'free-hand operation' mode is mostly adopted in the spinal osteotomy decompression operation process, and an operating doctor needs to use surgical instruments such as rongeurs and the like to resect the articular process and the vertebral plate. Because the structure of the spine is complex and important structures such as spinal cords, blood vessels, nerve roots, ligamentum flavum and the like are fully distributed around the spine, the risk of bare-handed operation is large, and the test on the technical level, physical strength, psychological quality and the like of an operator is great. In addition, in spinal surgery, especially in spinal minimally invasive surgery, a large number of X-ray film shots need to be taken, so that surgeons and patients are exposed to radiation for a long time and are easily damaged by the radiation.

With the development of medical device technology, automated surgical devices are increasingly being introduced to clinically assist surgeons in performing surgery. For the spine osteotomy decompression type, a doctor can complete the excision of the vertebral processes and vertebral plates by adopting instruments such as a high-speed abrasive drill, an ultrasonic osteotome and the like, and the physical load of the surgeon in the operation is effectively reduced. With the development of surgical robotics, surgical robots having robotic arms can also be employed to assist in performing spinal surgery. In a spinal osteotomy decompression procedure, the bone removed by the rongeur is usually backfilled into the intervertebral disc of the patient as a bone graft, which is beneficial to subsequent bone fusion and restoration of the patient. However, regardless of the way that a doctor carries out a grinding drill or an ultrasonic osteotome to cut bones, or adopts a laminectomy robot to assist in bone cutting, the bone to be cut is completely crushed or burnt during the operation. This approach completely destroys the patient's own bone, which could otherwise be used for subsequent bone fusion, and does not serve as a backfill material, without the benefit of the patient's subsequent recovery.

Disclosure of Invention

The invention aims to provide a path planning system of a spinal surgery robot and a spinal surgery robot system, which can completely intercept a target bone.

In order to solve the above technical problem, the present invention provides a path planning system for a spinal surgery robot, comprising: the modeling unit is used for establishing a three-dimensional model of a working skeleton of a surgical object according to a preoperative three-dimensional image of the working skeleton; and a path planning unit, which is used for forming a planned operation path of the spinal surgery on the three-dimensional model, wherein the planned operation path comprises at least one three-dimensional curve in a three-dimensional space where the operation bone is located, and the spinal surgery robot is suitable for cutting out at least one complete target bone from the operation bone according to the planned operation path.

In an embodiment of the present invention, the target bone includes a joint surface connected to the operative bone, and the at least one three-dimensional curve is located on the joint surface.

In an embodiment of the invention, the connecting surface has a first boundary and a second boundary, and the three-dimensional curve comprises a continuous curve, the continuous curve goes around between the first boundary and the second boundary, and the continuous curve does not intersect with itself.

In an embodiment of the present invention, the continuous curve includes a plurality of sections of curves extending in the first direction between the first boundary and the second boundary, and distances between two adjacent curves in the plurality of sections of curves are not equal to each other.

In an embodiment of the present invention, the distance between two adjacent curves in the plurality of sections of curves gradually increases or decreases along a second direction, and the second direction is perpendicular to the first direction.

In an embodiment of the present invention, each of the three-dimensional curves extends along the third direction and passes through the connecting surface, and the three-dimensional curves do not intersect with each other.

In an embodiment of the invention, distances between two adjacent three-dimensional curves in the plurality of three-dimensional curves are not equal.

In an embodiment of the present invention, a distance between two adjacent three-dimensional curves in the plurality of three-dimensional curves gradually increases or decreases along a fourth direction, and the fourth direction is perpendicular to the third direction.

The present invention further provides a spinal surgery robot system for solving the above technical problems, which is characterized by comprising: the path planning module is used for generating a surgical operation path of the spinal surgery according to a working bone of a surgical object, wherein the surgical operation path comprises at least one three-dimensional curve in a three-dimensional space where the working bone is located; the execution module is used for executing the operation of osteotomy; and the control module is used for controlling the execution module to execute the osteotomy operation according to the operation path and intercepting at least one complete target bone from the operation bone.

In an embodiment of the invention, the connecting surface has a first boundary and a second boundary, and the three-dimensional curve comprises a continuous curve which goes around between the first boundary and the second boundary, and the continuous curve does not intersect itself.

In an embodiment of the present invention, each of the three-dimensional curves extends along a third direction and penetrates the connection plane, and the three-dimensional curves do not intersect with each other.

In an embodiment of the present invention, the path planning module includes: the modeling unit is used for establishing a three-dimensional model of the operation skeleton according to the preoperative three-dimensional image of the operation skeleton; a path planning unit for forming a planning operation path on the three-dimensional model; the control module is further used for generating the operation path according to the planning operation path.

In an embodiment of the present invention, the method further includes: the navigation positioning module is used for obtaining the spatial pose of the operation skeleton and the spatial pose of an execution arm of the spine surgery robot and establishing a spatial mapping relation between the operation skeleton and the execution arm; the control module further comprises: the image registration unit is used for registering the three-dimensional model and the intraoperative two-dimensional image of the operation object to obtain registration image space information; a spatial mapping unit for mapping the registered image spatial information, the spatial pose of the working skeleton and the spatial pose of the executing arm in a unified spatial coordinate; and the path conversion unit is used for converting the planning operation path into the operation path in the unified space coordinate.

In an embodiment of the invention, the surgical operation system further comprises a safety module for monitoring the acting force of the executing arm from the operation bone in real time, and when the acting force exceeds a safety range, the safety module controls the executing arm to stop the surgical operation.

In one embodiment of the invention, the execution arm comprises a surgical manipulator and a mechanical sensor, wherein the surgical manipulator is arranged at the tail end of the execution arm and is used for executing the osteotomy surgical operation in the spinal surgery; the mechanical sensor is disposed in the surgical manipulator for detecting the applied force.

In an embodiment of the present invention, the method further includes: and the human-computer interaction module is used for generating a simulation acting force according to the acting force, so that an operator receives the simulation acting force and controls the movement of the execution arm through the control module.

According to the path planning system of the spinal surgery robot and the spinal surgery robot system, at least one three-dimensional curve is formed in the three-dimensional space where the operation skeleton is located to serve as a surgery operation path, so that the complete target skeleton can be intercepted in the spinal osteotomy decompression surgery, the target skeleton can be used for refilling the intervertebral disc of a patient subsequently, and the subsequent recovery of the patient is facilitated; according to the spine surgery robot, the bone cutting operation is automatically or manually executed, the surgery efficiency and the surgery precision are improved, the burden of a doctor is greatly reduced, and the radiation risk of the doctor in the surgery is reduced.

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 application, illustrate embodiment(s) of the application and together with the description serve to explain the principle of the invention. In the drawings:

FIG. 1A is a schematic view of a vertebra prior to laminectomy;

FIG. 1B is a schematic view of a vertebra after laminectomy;

FIG. 2A is a block diagram of a path planning system for a spinal surgical robot in accordance with an embodiment of the present invention;

FIG. 2B is a block diagram of a modeling unit in a path planning system of a spinal surgical robot in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a planned operation path formed in a working skeleton by the path planning system according to an embodiment of the invention;

FIG. 4 is a schematic top view of a planned operation path formed in a working skeleton by the path planning system according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a planned operation path in a working skeleton formed by a path planning system according to another embodiment of the present invention;

FIG. 6 is a schematic side view of a planned operative path formed in a working bone by the path planning system according to an embodiment of the present invention;

FIG. 7 is a block diagram of a spinal surgical robotic system in accordance with an embodiment of the present invention;

FIG. 8 is a block diagram of a path planning module in a spinal surgical robotic system in accordance with an embodiment of the present invention;

FIG. 9 is a block diagram of a control module in a spinal surgical robotic system in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of a robotic spinal surgical system according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited. Further, although the terms used in the present application are selected from publicly known and used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Further, it is required that the present application is understood not only by the actual terms used but also by the meaning of each term lying within.

FIG. 1A is a schematic view of a vertebra prior to laminectomy. Referring to fig. 1A, the vertebra represents any of 26 vertebrae in the human spine for representing a working bone for which a spinal osteotomy decompression procedure is to be performed. Referring to FIG. 1A, the vertebra includes a cone 110, a lamina 120, and

transverse processes

131, 132. Fig. 1A is intended to be illustrative only and not to limit the specific configuration and location of the operative bone.

FIG. 1B is a schematic view of a vertebra after laminectomy. Comparing fig. 1A and 1B, after a spinal osteotomy decompression procedure, the lamina 120 and a substantial portion of the transverse process 132 are removed and a space 140 is created. During subsequent procedures, the space 140 is filled with a filling material, which may be bone removed or a synthetic material. Ideally, the patient's own bone tissue is used to fill the entire volume, resulting in better post-operative recovery.

Fig. 2A is a block diagram of a path planning system of a spinal surgical robot in accordance with an embodiment of the present invention. Referring to fig. 2A, the path planning system 200 of this embodiment includes a modeling unit 210 and a path planning unit 220. Wherein the modeling unit 210 is configured to establish a three-dimensional model of a working bone according to a preoperative three-dimensional image of the working bone of the surgical object; the path planning unit 220 is configured to form a planned operation path of the spinal surgery on the three-dimensional model, where the planned operation path includes at least one three-dimensional curve in a three-dimensional space where the operation bone is located, and the spinal surgery robot is adapted to intercept at least one complete target bone from the operation bone according to the planned operation path.

The present invention refers to the vertebra of the subject to be operated as the working bone, and the present invention does not limit the specific location and number of the working bones.

The three-dimensional curve described in the present invention means that the three-dimensional curve can be any curve in a three-dimensional space, including a plane curve located on a plane, and also including a three-dimensional curve in a three-dimensional space that cannot be defined by a plane.

Fig. 2B is a block diagram of a modeling unit in a path planning system of a spinal surgical robot according to an embodiment of the present invention. A block diagram of specific modules that the modeling unit 210 in the embodiment shown in fig. 1 may comprise is shown. Referring to fig. 2B, in some embodiments, the modeling unit 210 includes an image acquisition unit 211, an image segmentation unit 212, and a three-dimensional reconstruction unit 213. The image acquisition unit 211 is configured to acquire a medical tomographic image of the spine of the surgical object. The present invention is not limited to a specific source of the image, and may include, but is not limited to, CT, MRI, and the like. The image segmentation unit 212 is configured to receive the medical tomographic images, and segment the obtained multiple medical tomographic images to obtain two-dimensional images of different layers of the operative bone of the surgical object. The invention is not limited to methods specifically used for image segmentation. Preferably, the image segmentation is performed using a deep learning algorithm, which may include, but is not limited to, a U-Net network algorithm, and the like. The three-dimensional reconstruction unit 213 receives the two-dimensional images of different layers of the operation skeleton, and performs three-dimensional reconstruction of the images according to the two-dimensional images to obtain a three-dimensional model of the operation skeleton. The surgeon may select a lesion area on the three-dimensional model and generate a planned operation path through the path planning unit 220.

The path planning unit 220 may provide a display and operation interface for the physician. An image of the operative skeleton may be displayed on the display and operation interface, and the planned operative path may be displayed on the image. The doctor can select the focus area on the three-dimensional model through the display and operation interface, and edit and adjust the displayed planning operation path in a man-machine interaction mode.

It is understood that the planned operation path is automatically formed by the path planning unit 220 according to the lesion area, and may be edited and modified by a doctor. The planned operative path may be different from the operative path actually performed by the spinal surgical robot. The spinal surgical robot performs an osteotomy procedure in accordance with a surgical manipulation path generated from the planned manipulation path.

The planned operation path formed by the path planning system is at least one three-dimensional curve in a three-dimensional space where the operation skeleton is located, so that when the spine surgical robot performs the bone cutting operation according to the planned operation path, at least one complete target skeleton can be cut from the operation skeleton instead of crushing the cut skeleton, and the cut target skeleton can be used for backfilling, thereby being beneficial to postoperative recovery of the surgical object.

Fig. 3 is a schematic diagram of a planned operation path formed in a working skeleton by the path planning system according to an embodiment of the present invention. Referring to fig. 3, a portion of a spinal vertebra of a subject including a operative bone 310 is shown. It is desirable to intercept the target bone 320 from the working bone 310 by a spinal osteotomy decompression procedure.

In some embodiments, target bone 320 comprises a lamina.

Referring to fig. 3, in some embodiments, the target bone 320 includes a joint surface 330 joined to the working bone 310, and the at least one three-dimensional curve is located on the joint surface 330.

In the embodiment shown in fig. 3, the planned operation path is a continuous three-dimensional curve 340. It will be appreciated that fig. 3 shows the outer contour of the working bone 310, including some non-bony structures inside the working bone 310 in addition to the peripheral bony structures. Therefore, the interface between the target bone 320 and the operative bone 310 may include both bony structures and non-bony structures, and the connecting surface 330 is used to represent the connecting surface 330 between the target bone 320 and the operative bone 310 in terms of spatial structure, and does not represent a plane or a curved surface with complete structure. Similarly, the at least one three-dimensional curve also represents at least one three-dimensional curve existing on the connection surface 330 in a three-dimensional space. When an osteotomy is performed according to the three-dimensional curve, the three-dimensional curve may be located on bony structures, on non-bony structures, and possibly in space, without passing through the actual structure.

The present invention is not limited to the specific shape and size of the connecting surface 330. In general, the connecting surface 330 is an irregular curved surface.

In an osteotomy procedure, to remove the target bone 320 from the working bone 310, the surgical manipulator cuts back and forth along the three-dimensional curve 340 at the joint surface 330, thereby completely detaching the target bone 320 from the working bone 310.

For embodiments in which more than one target bone may be intercepted, the planned operative path may include a plurality of continuous three-dimensional curves.

In some embodiments, the connecting surface 330 has a first boundary 331 and a second boundary 332, and the three-dimensional curve 340 includes a continuous curve that wraps around between the first boundary 331 and the second boundary 332 without intersecting itself.

In some embodiments, the first boundary 331 and the second boundary 332 are disposed opposite, and do not intersect.

Referring to fig. 3, the connecting surface 330 has a substantially quadrangular contour, and two

boundaries

331 and 332 located at opposite positions are selected as a first boundary 331 and a second boundary 332, respectively. In other embodiments, the oppositely located

boundaries

333, 334 may be selected as the first boundary and the second boundary, respectively.

Referring to fig. 3, the first boundary 331 and the second boundary 332 are three-dimensional curves in space.

In performing an osteotomy procedure, the surgical object is typically in a recumbent position, such that the osteotomy procedure begins at the top of working bone 310. As shown in fig. 3, a starting point S is selected at the top of the operation bone 310 as a starting point of the three-dimensional curve 340. The starting point S is located on the first boundary or the second boundary. In fig. 3, the starting point S is located on the second boundary 332. Starting from the starting point S, the three-dimensional curve 340 goes around between the first boundary 331 and the second boundary 332 and does not intersect itself. Accordingly, the end point E of the three-dimensional curve 340 may be located on the first boundary 331 or the second boundary 332. In the embodiment shown in fig. 3, the end point E is located on the second boundary 332.

In some embodiments, the continuous curve 340 includes a plurality of curves extending along the first direction D1 between the first boundary 331 and the second boundary 332, and distances between two adjacent curves in the plurality of curves are not equal.

Referring to fig. 3, the extending direction of the three-dimensional curve 340 extending from the first boundary 331 to the second boundary 332 and the extending direction extending from the second boundary 332 to the first boundary 331 are set to be the first direction D1. The three-dimensional curve 340 is wrapped back and forth between the first boundary 331 and the second boundary 332 to form a plurality of curves 341-345 extending along the first direction D1, it being understood that these curves 341-345 are continuous. For ease of illustration, only the curves 341-345 are labeled in FIG. 3, and are not intended to limit the number of times the three-dimensional curve 340 makes a round trip between the first boundary 331 and the second boundary 332, as well as the number, spacing, etc. of the curves formed.

As shown in fig. 3, in the curves 341 to 345, the two curves connected to each other may have equal or unequal intervals in the second direction D2, and the second direction D2 is perpendicular to the first direction D1. For example, the

curves

341 and 342 have a spacing s1 in the second direction D2, the

curves

342 and 343 have a spacing s2 in the second direction D2, and so on. As the end point E is approached, the

curves

344 and 345 have a spacing s3 along the second direction D2. s1, s2, \ 8230;, s3 may be equal or different. The space between several curves between the curve 343 and the curve 344 is omitted in the middle.

It will be appreciated that there may be a plurality of different spacings between the two curves, where the spacing may be an average, maximum, etc. of all spacings between the two curves.

In some embodiments, the spacing between the curves gradually increases or decreases along the second direction D2. For example, s1> s2> \8230; > s3, or s1< s2< \8230; < s3.

According to the above embodiment, when performing the osteotomy, the movement direction and the cutting depth of the surgical manipulator may be set first, and the surgical manipulator may move from the second boundary 332 to the first boundary 331 along the curve 341 from the starting point S, thereby forming a cut along the curve 341 on the working bone 310. Assume that the initial value of the cutting depth is s0, i.e., the distance of the curve 341 from the boundary 334. When the first boundary 331 is reached, the moving direction and the cutting depth of the surgical manipulator are changed according to the set surgical operation path, and the cutting action is continuously performed along the curve 342. And so on until the surgical manipulator moves to end point E of the surgical manipulation path.

According to the above operation, the spinal surgery robot can perform an osteotomy operation according to the surgical operation path generated by the planned operation path, and the target bone 320 is completely cut out from the operation bone 310.

Fig. 4 is a schematic top view illustrating a planned operation path formed in a working skeleton by the path planning system according to an embodiment of the invention. Referring to fig. 3 and 4, the top view may be a view from the top of the working bone 310 downward in the second direction D2. The dashed lines in fig. 4 are used to indicate the connecting surface 330, and it is apparent that the connecting surface 330 is a curved surface. The operative bone 310 has a contour 410, and the interface of the connecting surface 330 and the contour 410 is a first boundary 331 and a second boundary 332, corresponding to those shown in fig. 3.

Fig. 5 is a schematic diagram of a planned operation path formed in a working skeleton by the path planning system according to another embodiment of the present invention. The working bone 310, the target bone 320, etc. of this embodiment are the same as the embodiment shown in fig. 3, and therefore the same reference numerals are used. The embodiment shown in fig. 5 differs from the embodiment shown in fig. 3 in that the operation path is planned differently. In the embodiment shown in fig. 5, the at least one three-dimensional curve in the planned operation path is a plurality of three-dimensional curves, i.e., the plurality of independent three-dimensional curves.

In some embodiments, each of the plurality of three-dimensional curves extends in a third direction and intersects the joint plane, the plurality of three-dimensional curves not intersecting one another.

Referring to FIG. 5, the connecting surface 330 includes a plurality of three-dimensional curves 511-515. Each of the three-dimensional curves extends along the third direction D3 and extends through the connecting surface 330. The joint surface 330 has a contour 510, and the start point and the end point of each three-dimensional curve are located on the contour 510 so as to extend through the joint surface 330. The distances between two adjacent three-dimensional curves in the plurality of three-dimensional curves may be equal or different.

The illustration of fig. 5 is merely illustrative and is not intended to limit the length, number, spacing, etc. of the three-dimensional curves. The third direction D3 in the figure is also illustrative and is not intended to limit the actual direction of the third direction D3. In other embodiments, the third direction D3 may be any direction.

In some embodiments, each of the plurality of three-dimensional curves extends between the first boundary 331 and the second boundary 332 shown in FIG. 3, the plurality of three-dimensional curves not intersecting each other.

In some embodiments, the distances between adjacent two of the plurality of three-dimensional curves shown in fig. 5 are each unequal. Referring to fig. 5, a distance between the three-dimensional curve 511 and the three-dimensional curve 512 is set to s51, a distance between the three-dimensional curve 512 and the three-dimensional curve 513 is set to s52, a distance between the three-dimensional curve 513 and the three-dimensional curve 514 is set to s53, and a distance between the three-dimensional curve 514 and the three-dimensional curve 515 is set to s54. Similar to the embodiment shown in fig. 3, the average, maximum, etc. of all the intervals between the two curves may be used as the distance between the two curves.

In some embodiments, the distance between two adjacent three-dimensional curves in the plurality of three-dimensional curves gradually increases or decreases along a fourth direction D4, and the fourth direction D4 is perpendicular to the third direction D3. As the distance gradually increases in the fourth direction D4, s51< s52< s53< s54; when the distance is gradually decreased in the fourth direction D4, s51> s52> s53> s54.

In a preferred embodiment, the distance between two adjacent three-dimensional curves in the plurality of three-dimensional curves gradually decreases along the fourth direction D4. According to these embodiments, the depth of cut is greater early in the osteotomy operation and less toward the end of the osteotomy operation.

According to the above-described embodiment, when performing an osteotomy operation, the moving direction and the cutting depth of the surgical manipulator may be set first. Assume that the surgical operator performs the osteotomy operation from the top of the working bone 310 in the fourth direction D4, and sets the initial value of the cutting depth to s50, i.e., the distance of the three-dimensional curve 511 from the closest contour line 510 to s50. First, the surgical manipulator starts from the starting point S1 of the three-dimensional curve 511, moves along the three-dimensional curve 511, and reaches the end point E1 of the three-dimensional curve 511, thereby forming a cut at the working bone 310, and the depth of the cut is S50. It will be appreciated that the starting point S1 and the end point E1 are both located on the contour 510 of the connection surface 330. Since there may be a plurality of distances between the three-dimensional curve 511 and the contour line 510, the depth s50 may refer to an average depth of the incisions or a maximum value of the depth, or the like.

After the surgical manipulator reaches the end point E1 of the three-dimensional curve 511, the surgical manipulator is controlled to return to the start point S2 of the three-dimensional curve 512, and the moving direction and the cutting depth of the surgical manipulator are set again according to the surgical manipulation path, so that the surgical manipulator moves to the end point E2 along the three-dimensional curve 512, and the depth of the cut obtained in the front is increased. After this cut, the depth of the kerf is s50+ s51. And so on. And so on until the surgical manipulator moves along all three-dimensional curves to complete the osteotomy of the target bone 320.

According to the above-described operation, the target bone 320 can be completely cut out of the operation bone 310.

Fig. 6 is a schematic side view of a planned operation path formed in a working skeleton by the path planning system according to an embodiment of the invention. In conjunction with fig. 5 and 6, the viewing angle of the side view is the viewing angle in the direction perpendicular to the paper surface in fig. 5. From this perspective, the outline 610 of the working bone 310 is seen. The dashed lines in fig. 6 are used to represent the plurality of three-dimensional curves 511-515. The dashed line extending beyond the outline 610 indicates that the surgical manipulator has moved outside the working bone 310 after performing a cutting task along one three-dimensional curve, and the surgical manipulator is controlled to move to the beginning of the next three-dimensional curve for the next cut.

FIG. 7 is a block diagram of a spinal surgical robotic system according to an embodiment of the invention. Referring to fig. 7, a spine surgical robotic system 700 of this embodiment includes a path planning module 710, an execution module 720, and a control module 730. The path planning module 710 is configured to generate a surgical operation path of the spinal surgery according to the operative bone of the surgical object, where the surgical operation path includes at least one three-dimensional curve in a three-dimensional space in which the operative bone is located; an execution module 720 for performing an osteotomy procedure; the control module 730 is used for controlling the execution module 720 to execute the osteotomy operation according to the operation path and to intercept at least one complete target bone from the operation bone.

In some embodiments, the execution module 720 includes an execution arm of the spinal surgical robot, and a surgical manipulator, among other components, included on the execution arm. The surgical manipulator may include an osteotomy burr or the like.

FIG. 8 is a block diagram of a path planning module in a spinal surgical robotic system in accordance with an embodiment of the present invention. Referring to fig. 8, the path planning module 710 in this embodiment includes a modeling unit 711 and a path planning unit 712. The modeling unit 711 is configured to establish a three-dimensional model of a working bone according to a preoperative three-dimensional image of the working bone; the path planning unit 712 is configured to form a planned operation path on the three-dimensional model. In these embodiments, the control module 730 is further configured to generate a surgical operation path according to the planned operation path. The surgical operation path is a path actually performed by the spinal surgical robot when performing an osteotomy operation.

The path planning module 710 in the embodiment shown in fig. 8 is similar to the path planning system 200 shown in fig. 2A, and both fig. 2A and the description thereof can be used to describe the path planning module 710 in the spine surgical robot system 700 of the present invention, and the same contents will not be expanded.

Referring to fig. 7, in some embodiments, the spine surgical robotic system 700 of this embodiment further comprises a navigation positioning module 740 configured to obtain a spatial pose of the working bone and a spatial pose of the execution arm of the spine surgical robot, and establish a spatial mapping relationship between the working bone and the execution arm.

In some embodiments, the navigation positioning module 740 may include an intraoperative image acquisition unit, a real-time tracking unit, and a position calibration unit. Specifically, the intraoperative image acquisition unit may be an imaging device, such as an infrared imaging device, disposed in the surgical environment. The real-time tracking unit is arranged on an executing arm of the spine surgery robot and used for acquiring the spatial pose of the executing arm. The position calibration unit is arranged on the operation skeleton and used for acquiring the space pose of the operation skeleton. The navigation positioning module 740 can acquire the spatial poses of the execution arm and the operation skeleton in real time.

FIG. 9 is a block diagram of a control module in a spinal surgical robotic system in accordance with an embodiment of the present invention. In these embodiments, the control module 730 further includes an image registration unit 731, a spatial mapping unit 732, and a path conversion unit 733. The image registration unit 731 is configured to register the three-dimensional model with the intraoperative two-dimensional image of the surgical object, so as to obtain registration image space information; the spatial mapping unit 732 is configured to map the registered image spatial information, the spatial pose of the working skeleton, and the spatial pose of the actuator arm in uniform spatial coordinates; the path conversion unit 733 is configured to convert the planned operation path into a surgical operation path in unified spatial coordinates.

In some embodiments, the spinal surgical robotic system of the invention may further include a control mode selection unit for selecting an automatic control mode or a manual control mode. In the automatic control mode, the execution arm can execute the surgical operation according to the obtained surgical operation path. In the manual control mode, the operator such as a doctor can control the actuator arm to perform the surgical operation according to the surgical operation path. Whether the automatic control or the manual control is adopted, the operation manipulator is driven by the execution arm to execute the osteotomy operation, so that the operation efficiency and the accuracy can be improved, and the risk of radiation to a doctor in the operation can be reduced.

Referring to fig. 7, in some embodiments, the spine surgery robot system 700 of this embodiment further includes a safety module 750 for monitoring the force applied to the execution arm from the working bone in real time, and when the force exceeds a safety range, the safety module 750 controls the execution arm to stop the surgical operation. In these embodiments, the execution arm includes a surgical manipulator and a mechanical sensor, the surgical manipulator being disposed at a distal end of the execution arm for performing a surgical operation of osteotomy in a spinal surgery; a mechanical sensor is disposed in the surgical manipulator for detecting the applied force.

In actual operation, special conditions, such as the operation bone is extremely hard, or the operation object shakes, are met, and the operation needs to be adjusted. In the case of an executing arm automatically executing a surgical operation, the force obtained from the operation skeleton can be used for feeding back the specific stress condition of the operation skeleton. The safety range can be set as desired. When the force exceeds the safe range, the safety module 750 sends a signal to the control module 730, and the control module 730 controls the execution module 720, i.e., the execution arm stops the surgical operation.

Referring to fig. 7, in some embodiments, the spine surgical robotic system 700 of this embodiment further comprises a human-machine interaction module 760 for generating a simulated force based on the force obtained by the mechanical sensors, allowing the operator to receive the simulated force and control the movement of the actuator arm via the control module 730. In the manual control mode, the operator can control the movement of the actuator arm through the human machine interaction module 760.

In some embodiments, human-machine interaction module 760 may be a master-slave hand device, a sensory glove, or the like. According to these embodiments, the operator can directly and manually control the execution arm, directly sense the reaction force of the operation bone, and control the movement of the operation execution arm in real time according to the reaction force.

FIG. 10 is a schematic view of a spinal surgical robotic system according to an embodiment of the present invention. Referring to FIG. 10, a console 1010, an executing arm 1020, a navigation and positioning device 1030, and an intraoperative imaging device 1040 are included. The surgical subject is disposed on the surgical bed 1050. In connection with the embodiments illustrated in fig. 7-9, the path planning module 710, the control module 730, the security module 750, and the human-machine interaction module 760 may all be included in the console 1010. The performance module 720 may include a performance arm 1020 and a surgical manipulator 1021 at an end of the performance arm 1020. The navigation positioning module 740 may include a navigation positioning device 1030, disposed in the surgical environment, for acquiring the spatial pose of the working skeleton 1001 and the effector arm 1020 in real-time. The intraoperative imaging device 1040 is used to acquire an intraoperative two-dimensional image of the surgical object and send to the image registration unit 731 for obtaining the registered image spatial information. In some embodiments, the intraoperative imaging device 1040 is a C-arm machine or an O-arm machine.

Referring to fig. 10, the console 1010 may include a display device and an input device, and the physician may perform operations such as selecting a lesion area, editing and planning an operation path, etc. on the three-dimensional model of the operation skeleton through the path planning module 710. In some embodiments, the console 1010 further includes a lever 1011 through which the surgeon can directly control the movement of the surgical manipulator 1021. In the embodiment shown in fig. 10, the control rod 1011 is a pen-holding device, which meets the ergonomic design requirements and is convenient for the doctor to use. In some embodiments, the control rod 1011 may belong to the human-machine interaction module 760, and the force is fed back to the operator through the control rod 1011, so that the operator can sense the reaction force from the operation bone received by the surgical operation device in real time.

According to the spine surgery robot system, the bone cutting operation can be automatically executed by the execution arm, so that the surgery efficiency and the surgery precision are improved, the burden of a doctor is greatly reduced, and the radiation risk of the doctor in the surgery is reduced; the complete target bone can be cut out in the spine osteotomy decompression operation, so that the target bone can be used for refilling the intervertebral disc of the patient subsequently, and the subsequent recovery of the patient is facilitated; and the mechanical sensor is adopted to feed back the reaction force from the operation skeleton in real time, so that the safety of the operation is ensured.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing disclosure is by way of example only, and is not intended to limit the present application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, though not expressly described herein. Such alterations, modifications, and improvements are intended to be suggested herein and are intended to be within the spirit and scope of the exemplary embodiments of this application.

Also, the present application uses specific words to describe embodiments of the application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means a feature, structure, or characteristic described in connection with at least one embodiment of the application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, certain features, structures, or characteristics may be combined as suitable in one or more embodiments of the application.

Similarly, it should be noted that in the preceding description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Where numerals describing the number of components, attributes or the like are used in some embodiments, it is to be understood that such numerals used in the description of the embodiments are modified in some instances by the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by a particular embodiment. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

Claims

1. A path planning system for a spinal surgical robot, comprising:

the modeling unit is used for establishing a three-dimensional model of a working skeleton of a surgical object according to a preoperative three-dimensional image of the working skeleton; and

and the path planning unit is used for forming a planned operation path of the spinal surgery on the three-dimensional model, the planned operation path comprises at least one three-dimensional curve in a three-dimensional space where the operation bone is positioned, and the spinal surgery robot is suitable for intercepting at least one complete target bone from the operation bone according to the planned operation path.

2. The path planning system according to claim 1, wherein the target bone includes a joint surface to which the working bone is joined, the at least one three-dimensional curve being located on the joint surface.

3. The path planning system according to claim 2 wherein said junction plane has a first boundary and a second boundary, said three-dimensional curve comprising a continuous curve that bypasses between said first boundary and said second boundary, said continuous curve not intersecting itself.

4. A path-planning system according to claim 3 wherein the continuous curve comprises a plurality of segments extending in a first direction between the first boundary and the second boundary, each of the plurality of segments having unequal distances between adjacent ones of the plurality of segments.

5. A path-planning system according to claim 4, wherein the distance between two adjacent curves in a plurality of said curves gradually increases or decreases in a second direction, said second direction being perpendicular to said first direction.

6. The path planning system according to claim 2, wherein when said at least one three-dimensional curve comprises a plurality of three-dimensional curves, each of said plurality of three-dimensional curves extends in a third direction and intersects said junction plane, said plurality of three-dimensional curves not intersecting each other.

7. The path planning system according to claim 6, wherein distances between two adjacent three-dimensional curves in the plurality of three-dimensional curves are not equal.

8. The path planning system according to claim 7, wherein a distance between two adjacent three-dimensional curves of the plurality of three-dimensional curves gradually increases or decreases along a fourth direction, the fourth direction being perpendicular to the third direction.

9. A spinal surgical robotic system, comprising:

the path planning module is used for generating a surgical operation path of the spinal surgery according to a working bone of a surgical object, wherein the surgical operation path comprises at least one three-dimensional curve in a three-dimensional space where the working bone is located;

the execution module is used for executing the operation of osteotomy; and

and the control module is used for controlling the execution module to execute the osteotomy operation according to the operation path and intercepting at least one complete target bone from the operation bones.

10. A spinal surgical robotic system as recited in claim 9, wherein said target bone includes a joint surface to which said working bone is joined, said at least one three-dimensional curve being located on said joint surface.

11. A spinal surgical robotic system as recited in claim 10, wherein said connecting surface has a first boundary and a second boundary, said three-dimensional curve comprising a continuous curve that wraps around between said first and second boundaries, said continuous curve not intersecting itself.

12. The spinal surgical robotic system of claim 11, wherein the continuous curve comprises a plurality of segments of the curve extending in a first direction between the first boundary and the second boundary, each of the plurality of segments of the curve having an unequal distance between adjacent ones of the plurality of segments of the curve.

13. The spinal surgical robotic system of claim 12, wherein a distance between two adjacent curves in the plurality of curves gradually increases or decreases along a second direction, the second direction being perpendicular to the first direction.

14. A spinal surgical robotic system as recited in claim 10, wherein when said at least one three-dimensional curve includes a plurality of three-dimensional curves, each of said plurality of three-dimensional curves extends along a third direction and intersects said joint plane, said plurality of three-dimensional curves not intersecting one another.

15. A spinal surgical robotic system as claimed in claim 14, wherein the distances between adjacent ones of the plurality of three-dimensional curves are each unequal.

16. A spinal surgical robotic system as claimed in claim 15, wherein a distance between two adjacent three-dimensional curves of the plurality of three-dimensional curves gradually increases or decreases along a fourth direction, the fourth direction being perpendicular to the third direction.

17. A spinal surgical robotic system as recited in claim 9, wherein the path planning module comprises: the modeling unit is used for establishing a three-dimensional model of the operation bone according to the preoperative three-dimensional image of the operation bone; a path planning unit for forming a planning operation path on the three-dimensional model;

the control module is further used for generating the operation path according to the planning operation path.

18. A spinal surgical robotic system as recited in claim 9, further comprising:

the navigation positioning module is used for obtaining the spatial pose of the operation skeleton and the spatial pose of an execution arm of the spine surgery robot and establishing a spatial mapping relation between the operation skeleton and the execution arm;

the control module further comprises: the image registration unit is used for registering the three-dimensional model and the intraoperative two-dimensional image of the operation object to obtain registration image space information; a spatial mapping unit for mapping the registered image spatial information, the spatial pose of the working skeleton and the spatial pose of the execution arm in a unified spatial coordinate; and the path conversion unit is used for converting the planning operation path into the operation path in the unified space coordinate.

19. A spinal surgical robotic system as recited in claim 18, further comprising a safety module for monitoring in real time forces experienced by the effector arm from the working bone, the safety module controlling the effector arm to stop the surgical procedure when the forces exceed a safe range.

20. A spinal surgical robotic system as recited in claim 19, wherein the effector arm includes a surgical manipulator and a mechanical sensor, the surgical manipulator disposed at a distal end of the effector arm for performing a surgical procedure for osteotomy in spinal surgery; the mechanical sensor is disposed in the surgical manipulator for detecting the applied force.

21. A spinal surgical robotic system as recited in claim 19, further comprising: and the human-computer interaction module is used for generating a simulation acting force according to the acting force, so that an operator receives the simulation acting force and controls the movement of the execution arm through the control module.