CN114098970A - CT imaging, navigation and positioning device and system of orthopedic surgery robot - Google Patents
CT imaging, navigation and positioning device and system of orthopedic surgery robot Download PDFInfo
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- CN114098970A CN114098970A CN202010878661.XA CN202010878661A CN114098970A CN 114098970 A CN114098970 A CN 114098970A CN 202010878661 A CN202010878661 A CN 202010878661A CN 114098970 A CN114098970 A CN 114098970A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
Abstract
The invention provides a CT imaging, navigating and positioning device and system of an orthopedic surgery robot, which comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and an upper computer, wherein an imaging sensor is arranged on the first mechanical arm, an X-ray source is arranged on the second mechanical arm, and a channel holding device is arranged on the third mechanical arm; the first mechanical arm moves on the first sliding track, the second mechanical arm moves on the second sliding track, the third mechanical arm moves on the third sliding track, the third sliding track is an annular track and is arranged around the operation sickbed, and the first sliding track and the second sliding track are respectively arranged on the left side and the right side of the third sliding track. The upper computer unifies all the parts into the same three-dimensional coordinate system, not only can finish high-quality and high-precision three-dimensional CT images, but also can flexibly finish X-ray perspective images of various postures in the operation, and high-precision navigation and positioning of the orthopedic surgery can be finished by utilizing the high-precision positioning of the mechanical arm and combining the high-quality three-dimensional images in the operation.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a CT imaging, navigation and positioning device and system for an orthopedic surgery robot.
Background
With the continuous improvement of the modernization process of the society, orthopedic diseases are the fourth place of human death in the world, and the orthopedic diseases become prominent problems which seriously affect the life and health of human beings; performing orthopedic surgery is a very important way of promoting patient recovery in clinical medicine.
In the traditional orthopedic surgery, a doctor is guided to complete a series of operations such as reduction of broken bones, needle placement, fixation and the like by means of X-ray fluoroscopy of a C-arm machine. The traditional operation method needs a large amount of X-ray fluoroscopy and depends on the experience of doctors, so that the problems of long operation time, high radiation dosage, large trauma of patients and the like exist.
In recent years, orthopedic surgery robot systems are developed at home and abroad, and the robot acquires three-dimensional posture information of a patient by means of various means such as intraoperative X-ray fluoroscopy, intraoperative or preoperative CT images, an optical binocular tracking system and the like, so as to complete navigation and positioning functions. Has the outstanding advantages of accurate positioning, minimal invasion, short operation time, simple operation, easy learning and the like, and is a great innovation for the traditional orthopedic operation. However, various problems still exist, such as the small imaging range of the CBCT during the operation, the need of matching and fusing the data before and during the operation (the technical difficulty is large), and the like.
In the prior art, a system for completing CT imaging by using two mechanical arms is available, the system can perform three-dimensional scanning and two-dimensional perspective, can perform perspective of various postures, and is very flexible. For example, patent document No. CN107115120A discloses a multi-degree-of-freedom animal cone beam CT imaging system, which includes a first six-axis mechanical arm with a detector fixed at the end, a second six-axis mechanical arm with a bulb fixed at the end, and a synchronous conveyor belt, wherein the first six-axis mechanical arm and the second six-axis mechanical arm are symmetrically installed at two sides of the synchronous conveyor belt, and the first six-axis mechanical arm and the second six-axis mechanical arm can realize spatial six-degree-of-freedom motion. However, the system is only a simple imaging system, is not related to a surgery coordinate system, and cannot complete the navigation and positioning of the surgery.
Patent document publication No. US8781630 discloses an imaging platform system that provides integrated navigation functions for surgical guidance. The system may include two robotic arm systems, one holding the imaging source and the other holding the imaging sensor. These robotic arm systems are capable of moving and providing three-dimensional tomographic, static radiographic, and dynamic fluoroscopic image sequences. A surgical robotic arm system is included in the imaging platform system to accurately implement image-guided surgical planning. In this system, the surgical tunnel on the surgical robotic arm is grasped by the surgeon and manually moved to the position of the desired radiographic projection, and their spatial pose relative to the X-ray source robot is identified using standard X-ray calibration targets attached to the imaging sensor robotic arm and the surgical robotic arm. The positioning of the surgical instrument mainly depends on the experience and the capability of a doctor, repeated imaging is needed, and the problems of long operation time, high radiation dose and the like exist.
Patent document WO2020079596 discloses a robotic surgical system comprising at least two robotic arms having a known coordinate system relative to each other, one of the robotic arms carrying an X-ray source and the other carrying an imaging detector plate. One robotic arm carries a surgical tool or tool holder, the pose of which is known in the imaging coordinate system. According to the system, the three mechanical arms are arranged on the same base (or the operation tool is arranged on the imaging mechanical arm), although the imaging coordinate system and the operation coordinate system are unified, the relative positioning is realized by depending on the physical installation positions of the mechanical arms, the operation range is very limited, the mechanical arms are easy to interfere or collide with each other, the action errors are easy to accumulate, and the calibration requirement and the calibration difficulty are very high.
In summary, the prior art has the following problems:
1. the traditional orthopedic surgery is very dependent on the experience of doctors, young doctors need to be skilled in operation, a large amount of exercises and experience accumulation are needed, and the learning cycle is very long; the traditional operation has various problems of long operation time, high radiation dose, large wound of a patient and the like.
2. The existing bone surgery robot system is complex, processes complex by means of various image information, and can not be used for all parts. For example, a surgical robot using CBCT during operation cannot perform operations of the pelvis type due to the limited imaging range of CBCT; the positioning accuracy of the surgical robot utilizing the preoperative CT and the intraoperative X-ray images depends on the registration accuracy of the CT and the X-ray, and due to various errors, the registration accuracy of the two-dimensional X-ray images and the three-dimensional CT images can hardly reach the sub-millimeter level, so that the use of the surgical robot in some surgeries requiring ultra-high accuracy is limited.
3. No matter the traditional bone surgery or the bone surgery robot system, a doctor needs to manually drag the C-arm machine to complete perspective views in various angle directions in the surgery process, perspective images of a plurality of postures need to be repeatedly subjected to perspective, the C-arm machine needs to drag the postures back and forth, the posture arrangement can be mastered only by long-time operation and study, and in addition, the surgery time is prolonged.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide an orthopedic surgery robot CT imaging, navigation and positioning device and system, which combines a mechanical arm with X-ray imaging, so as to complete high-quality and high-precision three-dimensional CT images, flexibly complete X-ray perspective images of various postures during surgery, and utilize high-precision positioning of the mechanical arm in combination with high-quality intraoperative three-dimensional images, so as to complete high-precision navigation and positioning of orthopedic surgery.
In order to achieve the purpose, the invention adopts the following technical scheme:
a CT imaging, navigating and positioning device of an orthopedic surgery robot comprises a first mechanical arm (1), a second mechanical arm (2), a third mechanical arm (3) and an upper computer (10), wherein an imaging sensor (4) is installed on a terminal flange of the first mechanical arm (1), an X-ray source (5) is installed on a terminal flange of the second mechanical arm (2), and a channel holding device (6) is installed on a terminal flange of the third mechanical arm (3); the surgical bed is characterized in that a first mechanical arm (1) is mounted on a first moving seat, the first moving seat moves on a first sliding track (7), a second mechanical arm (2) is mounted on a second moving seat, the second moving seat moves on a second sliding track (8), a third mechanical arm (3) is mounted on a third moving seat, the third moving seat moves on a third sliding track (9), the third sliding track (9) is arranged around a surgical bed, and the first sliding track (7) and the second sliding track (8) are respectively arranged on the left side and the right side of the third sliding track (9); the upper computer (10) integrates the first mechanical arm (1), the second mechanical arm (2), the third mechanical arm (3), the imaging sensor (4), the X-ray source (5), the channel holding device (6), the first sliding rail (7), the second sliding rail (8), the third sliding rail (9) and the operation sickbed into the same three-dimensional coordinate system, the first mechanical arm (1), the second mechanical arm (2), the third mechanical arm (3), the imaging sensor (4) and the X-ray source (5) are all in communication connection with the upper computer (10) to interact data or signals in real time, the upper computer (10) controls the first mechanical arm (1), the second mechanical arm (2) and the third mechanical arm (3) to move to a specified position and posture respectively, and the upper computer (10) controls the imaging sensor (4) and the X-ray source (5) to complete perspective or three-dimensional scanning respectively.
Preferably, the first slide rail (7) and the second slide rail (8) are both linear rails.
Preferably, the third sliding track (9) is in the shape of an annular runway and comprises two arc track sections close to the head side and the foot side of the operation sickbed respectively and two linear track sections positioned at the left side and the right side of the operation sickbed respectively.
Preferably, driving devices for driving the corresponding mechanical arm moving seat to move are respectively arranged on the first sliding rail (7), the second sliding rail (8) and the third sliding rail (9), and the driving devices are connected with the upper computer (10) in a communication mode and interact data or signals in real time.
Preferably, a plurality of sensors for detecting the positions of the corresponding mechanical arms are distributed on the first sliding track (7), the second sliding track (8) and the third sliding track (9) and are in communication connection with an upper computer (10) and interact data or signals in real time.
Preferably, the first arm (1), the second arm (2), and the third arm (3) are all six or more arms.
Preferably, the X-ray source (5) is a conical X-ray bulb.
Preferably, the upper computer (10) is a mobile computer.
Preferably, the imaging sensor (4) is a flat panel detector.
An orthopedic surgical robotic CT imaging, navigation and positioning system comprising an orthopedic surgical robotic CT imaging, navigation and positioning apparatus as described above.
By adopting the technical scheme, the mechanical arm and the X-ray imaging are combined, all parts are unified into the same three-dimensional coordinate system, so that not only can high-quality and high-precision three-dimensional CT images be completed, but also X-ray perspective images of various postures in the operation can be flexibly completed, and high-precision navigation and positioning of the orthopedic operation can be completed by utilizing high-precision positioning of the mechanical arm and combining the high-quality three-dimensional images in the operation. Therefore, the following beneficial effects are achieved:
1. high-precision three-dimensional CT images reconstructed by various scanning modes can be obtained in the operation.
2. Two-dimensional X-ray perspective images of various postures can be easily obtained.
3. High-precision positioning and navigation are realized.
4. Because all the mechanical arms are used, the motion of all the mechanical arms is automatically completed, the operation process is very flexible, the operation space of a doctor is not occupied, the doctor does not need to manually drag equipment to shoot the perspective films with various visual angles, the operation difficulty is reduced, and the operation time is shortened.
5. Because the coordinate system is unified, the relative relation among the three mechanical arms is known, the three mechanical arms can move and position along respective sliding tracks, the action path of the mechanical arms is simpler and more reliable, the calibration and debugging are convenient, the action precision is higher, the positioning is more accurate, and the collision and the interference among the three mechanical arms can be completely avoided according to an anti-collision algorithm.
Compared with the prior art, the invention also has the following advantages:
1. in the patent publication US8781630, two mechanical arms are used to mount a bulb and a detector, respectively, for three-dimensional CT scanning, and then the target is registered for navigation by an optical, Electromagnetic (EM) or robotic probe, and then positioned by a third mechanical arm. In the scheme of the invention, the target does not need to be registered for navigation through an optical probe, an electromagnetic probe (EM) probe or a robot probe, and the three mechanical arms are unified in a coordinate system, so that after CT scanning is finished, the third mechanical arm knows all positions of the target object.
2. In the patent document with publication number US8781630, when imaging with a simulated C-arm machine, a doctor needs to manually drag one of the robot arms. In the scheme of the invention, all the two-dimensional X-ray images are shot by controlling the first mechanical arm and the second mechanical arm to actively reach the positions by the upper computer, and people are not required to move the mechanical arms at all.
3. In the patent document with publication number WO2020079596, three robot arms are mounted on the same base, so that the coordinate system is unified, and navigation and positioning can be performed without registration. It has two disadvantages: (1) three arms all are installed on same base, and then the relative position relation of three arms is fixed. Therefore, the operation range is very limited, and mutual interference or collision among the mechanical arms is easy to occur; (2) intraoperative is the generation of two or more X-ray images to obtain a three-dimensional image set, the three-dimensional attribute being achieved by generating planar views at two non-coplanar imaging planes, most conveniently at two perpendicular imaging planes. Such positioning is not true three-dimensional imaging positioning. The scheme that the preoperative three-dimensional image and the X-ray images acquired by two mechanical arms in the operation are used for registration, and then the third mechanical arm is used for positioning is completely different from the positioning and navigation of the three-dimensional CT image in the scanning operation. In the scheme of the invention: aiming at the defect (1), the coordinates of the three mechanical arms are unified by using three slide rails with unified coordinate systems, so that the operation range of the mechanical arms is enlarged, the calibration and debugging are convenient, and mutual interference and collision are avoided; aiming at the defect (2), the intraoperative three-dimensional CT is scanned for navigation, and the real three-dimensional positioning is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a perspective view of the system of the present invention.
Fig. 2 is a top view of the system of the present invention.
FIG. 3 is a flow chart of the two-dimensional perspective mode of the present invention.
Fig. 4 is a flow chart of the three-dimensional scan mode of the present invention.
FIG. 5 is a flow chart of the two-dimensional navigational positioning mode of the present invention.
FIG. 6 is a flow chart of the three-dimensional navigation positioning mode of the present invention.
Wherein, 1, a first mechanical arm; 2. a second mechanical arm; 3. a third mechanical arm; 4. an imaging sensor; 5. an X-ray source; 6. a channel holding device; 7. a first slide rail; 8. a second slide rail; 9. a third sliding rail 10 and an upper computer.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, the singular is also intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of the features, steps, operations, devices, components, and/or combinations thereof.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 and 2, the CT imaging, navigating and positioning device for an orthopedic surgery robot comprises a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3 and an upper computer 10, wherein an imaging sensor 4 is mounted on a flange at the tail end of the first mechanical arm 1, an X-ray source 5 is mounted on a flange at the tail end of the second mechanical arm 2, and a channel holding device 6 is mounted on a flange at the tail end of the third mechanical arm 3; the surgical sickbed is characterized in that a first mechanical arm 1 is arranged on a first moving seat, the first moving seat moves on a first sliding rail 7, a second mechanical arm 2 is arranged on a second moving seat, the second moving seat moves on a second sliding rail 8, a third mechanical arm 3 is arranged on a third moving seat, the third moving seat moves on a third sliding rail 9, the third sliding rail 9 is an annular rail and is arranged around the surgical sickbed, and the first sliding rail 7 and the second sliding rail 8 are respectively arranged on the left side and the right side of the third sliding rail 9; the upper computer 10 unifies the first mechanical arm 1, the second mechanical arm 2, the third mechanical arm 3, the imaging sensor 4, the X-ray source 5, the channel holding device 6, the first sliding rail 7, the second sliding rail 8, the third sliding rail 9 and the operation sickbed into the same three-dimensional coordinate system, the first mechanical arm 1, the second mechanical arm 2, the third mechanical arm 3, the imaging sensor 4 and the X-ray source 5 are all in communication connection with the upper computer 10 to interact data or signals in real time, the upper computer 10 respectively controls the first mechanical arm 1, the second mechanical arm 2 and the third mechanical arm 3 to move to an appointed position and an appointed posture, and the upper computer 10 respectively controls the imaging sensor 4 and the X-ray source 5 to complete perspective or three-dimensional scanning.
In the present embodiment, the first slide rail 7 and the second slide rail 8 are both linear rails. The third sliding rail 9 is in the shape of an annular track and comprises two arc-shaped rail sections which are respectively close to the head side and the foot side of the operation sickbed and two linear rail sections which are respectively positioned at the left side and the right side of the operation sickbed. The first sliding track 7, the second sliding track 8 and the third sliding track 9 are respectively provided with a driving device for driving the corresponding mechanical arm moving seat to move, and the driving devices are all in communication connection with the upper computer 10 and can interact data or signals in real time. The driving devices can be a motor screw rod nut driving mechanism, a motor chain transmission driving mechanism and an electric trolley which runs along a track. The first sliding track 7, the second sliding track 8 and the third sliding track 9 are distributed with a plurality of sensors for detecting the positions of the corresponding mechanical arms, and the sensors are in communication connection with the upper computer 10 and interact data or signals in real time. Therefore, the mechanical arm can be moved to the designated position issued by the upper computer by the sliding rail, and the position of the mechanical arm on the rail can be sent to the upper computer.
In this embodiment, the first robot arm 1, the second robot arm 2, and the third robot arm 3 are all six-axis robot arms. The mechanical arms can receive the instruction sent by the upper computer, reach the designated position and the attitude and can send the current attitude of the mechanical arms to the upper computer. The X-ray source 5 is a conical X-ray bulb tube. The imaging sensor 4 is a flat panel detector. The flat panel detector and the bulb tube receive commands of the upper computer to complete perspective. The channel holding device 6 establishes a surgical channel for positioning surgical instruments for facilitating a surgeon's surgical operation.
In this embodiment, the upper computer 10 is a mobile computer. The upper computer can select a perspective mode and a perspective posture by a user, calculates the positions and the postures of the two imaging mechanical arms, and finishes perspective after the sliding track and the mechanical arms reach the designated positions; the flat panel detector sends the data back to the upper computer to be processed to generate an image; if the CT scanning mode is adopted, the three-dimensional CT image is reconstructed after all the data are sent back to the upper computer. After the CT image is obtained, an operation channel is planned in the three-dimensional image (automatic planning and doctor manual planning), then position and posture information is issued to the operation mechanical arm and the track, and when the sliding track and the mechanical arm reach the designated position, navigation and positioning functions are completed. After the surgical instrument is implanted, the two imaging mechanical arms can be controlled again to complete two-dimensional perspective or three-dimensional CT scanning of a specific posture, and whether the position of the implant is proper or not can be confirmed. Because the three mechanical arms unify the coordinate system, the relative relation is known, and the three mechanical arms can not collide and interfere with each other according to the anti-collision algorithm.
An orthopedic surgical robotic CT imaging, navigation and positioning system comprising an orthopedic surgical robotic CT imaging, navigation and positioning apparatus as described above.
The CT imaging, navigation and positioning system of the orthopedic surgical robot can have multiple working implementation modes, for example, the present embodiment can have four working modes, which are: a two-dimensional perspective mode as shown in fig. 3, a three-dimensional scanning mode as shown in fig. 4, a two-dimensional navigation and positioning mode as shown in fig. 5, and a three-dimensional navigation and positioning mode as shown in fig. 6. The specific process is illustrated as follows:
in the two-dimensional perspective mode shown in fig. 3, a method for imaging an orthopedic surgery robot includes the above CT imaging, navigating and positioning device for an orthopedic surgery robot, and the following steps are performed:
1) the upper computer calculates the positions and the postures of the first mechanical arm 1 and the second mechanical arm 2 according to the imaging mode selected by the user;
2) the first mechanical arm 1 and the second mechanical arm 2 complete perspective after reaching the designated positions and postures;
3) the imaging sensor 4 sends the data back to the upper computer to be processed to generate an image.
In the three-dimensional scanning mode shown in fig. 4, an imaging method of an orthopedic surgical robot includes the above CT imaging, navigating and positioning apparatus of an orthopedic surgical robot, and the following steps are implemented:
1) the upper computer calculates the positions, the postures and the scanning paths of the first mechanical arm 1 and the second mechanical arm 2 according to the imaging mode selected by the user;
2) after the first mechanical arm 1 and the second mechanical arm 2 reach the designated positions and postures, carrying out three-dimensional CT scanning according to the scanning path;
3) the imaging sensor 4 sends the data back to the upper computer;
4) and after the scanning is finished, the upper computer reconstructs a three-dimensional CT image after receiving all the data.
As shown in fig. 5, a two-dimensional navigation positioning mode, a method for imaging, navigating and positioning by an orthopedic surgery robot, comprising the above CT imaging, navigating and positioning device for orthopedic surgery robot, implements the following steps:
1) the upper computer calculates the positions and the postures of the first mechanical arm 1 and the second mechanical arm 2 according to the imaging mode selected by the user;
2) the first mechanical arm 1 and the second mechanical arm 2 complete perspective after reaching the designated positions and postures;
3) the imaging sensor 4 sends the data back to the upper computer to be processed to generate an image;
4) the upper computer controls the third mechanical arm 3 to reach an appointed position and posture according to a positioning point selected by a user in the two-dimensional image to complete positioning of the operation channel;
5) after the operation is finished, the upper computer calculates the positions and the postures of the first mechanical arm 1 and the second mechanical arm 2 according to the perspective postures selected by the user;
6) the third mechanical arm 3 is retracted, and the first mechanical arm 1 and the second mechanical arm 2 complete perspective after reaching the specified position and posture;
7) and confirming that the operation is finished without errors according to the perspective image.
As shown in fig. 6, the three-dimensional navigation positioning mode is an imaging, navigation and positioning method of an orthopedic surgical robot, which includes the above CT imaging, navigation and positioning device of an orthopedic surgical robot, and implements the following steps:
1) the upper computer calculates the positions, the postures and the scanning paths of the first mechanical arm 1 and the second mechanical arm 2 according to the imaging mode selected by the user;
2) after the first mechanical arm 1 and the second mechanical arm 2 reach the designated positions and postures, carrying out three-dimensional CT scanning according to the scanning path;
3) the imaging sensor 4 sends the data back to the upper computer;
4) and after the scanning is finished, the upper computer reconstructs a three-dimensional CT image after receiving all the data.
5) The upper computer controls the third mechanical arm 3 to reach an appointed position and posture according to the surgical path planned by the user in the three-dimensional image to complete the positioning of the surgical channel;
5) after the operation is finished, the upper computer calculates the positions and the postures of the first mechanical arm 1 and the second mechanical arm 2 according to the perspective postures selected by the user;
6) the third mechanical arm 3 is retracted, and the first mechanical arm 1 and the second mechanical arm 2 complete perspective after reaching the specified position and posture;
7) and confirming that the operation is finished without errors according to the perspective image.
In the two-dimensional navigation positioning mode, the positioning point is any point in the image, and the formed channel is the X-ray direction corresponding to the positioning point. The path in the three-dimensional navigational positioning mode is an arbitrary path planned in the CT data. In the two-dimensional navigation positioning mode and the three-dimensional navigation positioning mode, the three-dimensional CT scanning method shown in fig. 4 may also be used to determine whether the position of the implant is proper.
The three mechanical arms and the three sliding tracks are all unified in the same coordinate system and are integrally controlled by the upper computer, so that the high-precision navigation and positioning can be realized, any registration process is not needed, mutual collision and interference can be prevented, the action path of the mechanical arm is simpler, the precision is higher, and the flexibility is better.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "one implementation," "a specific implementation," "other implementations," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment, implementation, or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described above may also be combined in any suitable manner in any one or more of the embodiments, examples, or examples. The invention also includes any one or more of the specific features, structures, materials, or characteristics described above, taken alone or in combination.
Although the embodiments of the present invention have been shown and described, it is understood that the embodiments are illustrative and not restrictive, and that those skilled in the art can make changes, modifications, substitutions, variations, deletions, additions or rearrangements of features and elements within the scope of the invention without departing from the spirit and scope of the invention.
Claims (10)
1. A CT imaging, navigating and positioning device of an orthopedic surgery robot comprises a first mechanical arm (1), a second mechanical arm (2), a third mechanical arm (3) and an upper computer (10), wherein an imaging sensor (4) is installed on a terminal flange of the first mechanical arm (1), an X-ray source (5) is installed on a terminal flange of the second mechanical arm (2), and a channel holding device (6) is installed on a terminal flange of the third mechanical arm (3); the surgical bed is characterized in that a first mechanical arm (1) is mounted on a first moving seat, the first moving seat moves on a first sliding track (7), a second mechanical arm (2) is mounted on a second moving seat, the second moving seat moves on a second sliding track (8), a third mechanical arm (3) is mounted on a third moving seat, the third moving seat moves on a third sliding track (9), the third sliding track (9) is arranged around a surgical bed, and the first sliding track (7) and the second sliding track (8) are respectively arranged on the left side and the right side of the third sliding track (9); the upper computer (10) integrates the first mechanical arm (1), the second mechanical arm (2), the third mechanical arm (3), the imaging sensor (4), the X-ray source (5), the channel holding device (6), the first sliding rail (7), the second sliding rail (8), the third sliding rail (9) and the operation sickbed into the same three-dimensional coordinate system, the first mechanical arm (1), the second mechanical arm (2), the third mechanical arm (3), the imaging sensor (4) and the X-ray source (5) are all in communication connection with the upper computer (10) to interact data or signals in real time, the upper computer (10) controls the first mechanical arm (1), the second mechanical arm (2) and the third mechanical arm (3) to move to a specified position and posture respectively, and the upper computer (10) controls the imaging sensor (4) and the X-ray source (5) to complete perspective or three-dimensional scanning respectively.
2. An orthopaedic robotic CT imaging, navigating and positioning device according to claim 1, wherein the first sliding rail (7) and the second sliding rail (8) are both linear rails.
3. The robotic CT imaging, navigating and positioning device for bone surgery according to claim 1, wherein the third sliding rail (9) is in the shape of an endless track comprising two arc-shaped rail sections close to the head and foot sides of the surgical bed, respectively, and two straight rail sections on the left and right sides of the surgical bed, respectively.
4. The CT imaging, navigating and positioning device for the orthopedic surgery robot according to claim 1, wherein the first sliding track (7), the second sliding track (8) and the third sliding track (9) are respectively provided with a driving device for driving the corresponding mechanical arm moving seat to move, and the driving devices are all connected with the upper computer (10) in a communication way and interact data or signals in real time.
5. The robotic CT imaging, navigation, and positioning device of claim 1, wherein the first sliding rail (7), the second sliding rail (8), and the third sliding rail (9) have a plurality of sensors distributed thereon for detecting the positions of the respective robotic arms, the sensors being communicatively coupled to the upper computer (10) for real-time data or signal interaction.
6. The robotic CT imaging, navigation and positioning device for bone surgery as claimed in claim 1, wherein the first (1), second (2) and third (3) arms are all six or more arms.
7. An orthopedic robotic CT imaging, navigating and positioning device according to claim 1, wherein the X-ray source (5) is a conical X-ray tube.
8. An orthopedic robotic CT imaging, navigation and positioning device as claimed in claim 1, wherein the upper computer (10) is a mobile computer.
9. An orthopedic robotic CT imaging, navigating and positioning device according to claim 1, characterized in that the imaging sensor (4) is a flat panel detector.
10. An orthopedic robotic CT imaging, navigation and positioning system comprising an orthopedic robotic CT imaging, navigation and positioning apparatus as claimed in any one of claims 1 to 9.
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