CN114176714A

CN114176714A - Osteotomy plane positioning method, osteotomy plane positioning system and osteotomy plane positioning device

Info

Publication number: CN114176714A
Application number: CN202111664663.XA
Authority: CN
Inventors: 沈丽萍; 方华磊; 李明; 陈汉清; 郭宏瑞
Original assignee: Hangzhou Santan Medical Technology Co Ltd
Current assignee: Hangzhou Santan Medical Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-15
Anticipated expiration: 2041-12-31
Also published as: CN114176714B

Abstract

The embodiment of the invention provides a method, a system and a device for positioning an osteotomy plane, which relate to the technical field of data processing and are applied to control equipment, wherein the method comprises the following steps: acquiring a first pose of a first marker positioned at the tail end of the mechanical arm relative to the pose acquisition equipment, wherein the first pose is acquired by the pose acquisition equipment in real time; acquiring a CT image acquired by a CT machine; determining a first position of the registration marker in the CT image, and determining a second pose of the area represented by the CT image relative to the pose acquisition equipment based on the first pose, the first position and a first relative position between the first marker and the registration marker; acquiring a second position of an osteotomy plane planned in the CT image; and determining the position of the osteotomy plane relative to the mechanical arm based on the first pose, the second position, and the second relative position between the first marker and the mechanical arm. By applying the scheme provided by the embodiment of the invention, the positioning accuracy of the osteotomy plane can be improved.

Description

Osteotomy plane positioning method, osteotomy plane positioning system and osteotomy plane positioning device

Technical Field

The invention relates to the technical field of data processing, in particular to a method, a system and a device for positioning an osteotomy plane.

Background

The joint or bone of the subject may be diseased, for example, the leg of the subject develops knee osteoarthritis, which may be accompanied by varus and cause a change in the distribution of weight-bearing stress within the joint, resulting in an imbalance of lines of force, which in turn accelerates the disease of knee osteoarthritis. The bone cutting operation is carried out on an operation object for treating diseases, a bone cutting plane is required to be positioned when the bone cutting operation is carried out, two Kirschner wires are driven into bones along the bone cutting plane, the bones are cut along the bone cutting plane marked by the two Kirschner wires by using an oscillating saw, and the effect of the bone cutting operation is determined by the accuracy of the positioning of the bone cutting plane.

In the prior art, in the process of osteotomy, a doctor needs to manually position an osteotomy plane and perform osteotomy, the method is based on the experience of the doctor, the accuracy of the positioned osteotomy plane is low, and the effect of the osteotomy is affected.

Disclosure of Invention

The embodiment of the invention aims to provide a method, a system and a device for positioning an osteotomy plane, so as to improve the accuracy of positioning the osteotomy plane. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides an osteotomy plane positioning method, which is applied to a control device in an osteotomy surgery system, where the system further includes: the system comprises a pose acquisition device, a mechanical arm, a CT machine, a fixing frame for being installed on an operation object and a registration plate fixed with a registration marker, wherein the method comprises the following steps:

after the fixing frame is installed on the operation object, acquiring a first pose of a first marker, which is acquired by the pose acquisition equipment in real time and is positioned at the tail end of the mechanical arm, relative to the pose acquisition equipment;

acquiring a CT image which is acquired by the CT machine and contains an osteotomy region, wherein the CT image contains a registration marker fixed on the registration plate;

determining a first position of the registration marker in the CT image, and determining a second pose of the region represented by the CT image relative to the pose acquisition device based on the first pose, the first position, and a first relative position between the first marker and the registration marker;

acquiring a second position of an osteotomy plane planned in the CT image;

determining a position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm.

In a second aspect, embodiments of the present invention provide an osteotomy plane positioning system, the system comprising: the system comprises control equipment, pose acquisition equipment, a mechanical arm, a CT machine, a fixing frame for being installed on an operation object and a registration plate fixed with a registration marker, wherein the method comprises the following steps:

the pose acquisition equipment is used for acquiring a first pose of a first marker at the tail end of the mechanical arm relative to the pose acquisition equipment in real time after the fixed frame is installed on the operation object, and sending the first pose to the control equipment;

the CT machine is used for collecting a CT image containing an osteotomy region after an operation object is installed on the fixed frame, and sending the CT image to the control equipment, wherein the CT image contains a registration marker fixed on the registration plate;

the control device is used for determining a first position of the registration marker in the CT image and determining a second pose of the area represented by the CT image relative to the pose acquisition device based on the first pose, the first position and a first relative position between the first marker and the registration marker; acquiring a second position of an osteotomy plane planned in the CT image; determining a position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm.

In a third aspect, an embodiment of the present invention provides an osteotomy plane positioning device, which is applied to a control device in an osteotomy surgery system, and the system further includes: pose acquisition equipment, mechanical arm, CT machine, be used for installing in the mount of operation object, be fixed with the registration plate of registering the marker, the device includes:

the first pose acquisition module is used for acquiring a first pose of a first marker, which is acquired by the pose acquisition equipment in real time and is positioned at the tail end of the mechanical arm, relative to the pose acquisition equipment after the fixed frame is installed on the surgical object;

the CT image acquisition module is used for acquiring a CT image which is acquired by the CT machine and contains an osteotomy region, wherein the CT image contains a registration marker fixed on the registration plate;

a second pose determination module, configured to determine a first position of the registration marker in the CT image, and determine a second pose of the area represented by the CT image with respect to the pose acquisition device based on the first pose, the first position, and a first relative position between the first marker and the registration marker;

a second position acquisition module for acquiring a second position of an osteotomy plane planned in the CT image;

a first position determination module to determine a position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm.

In a fourth aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of the first aspect when executing a program stored in the memory.

In a fifth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the first aspect.

In a sixth aspect, embodiments of the present invention also provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the method steps of any one of the above first aspects.

The embodiment of the invention has the following beneficial effects:

the embodiment of the invention provides a method for positioning an osteotomy plane, which comprises the steps of acquiring a first pose of a first marker, which is acquired by pose acquisition equipment in real time and is positioned at the tail end of a mechanical arm, relative to the pose acquisition equipment; in the operation process, acquiring a CT image containing an osteotomy region, wherein the CT image contains a registration marker fixed on a registration plate; determining a first position of the registration marker in the CT image, and determining a second pose of the area represented by the CT image relative to the pose acquisition equipment based on the first pose, the first position and a first relative position between the first marker and the registration marker; acquiring a second position of the osteotomy plane in the CT image; and determining the position of the osteotomy plane relative to the mechanical arm based on the first pose, the second position, and the second relative position between the first marker and the mechanical arm.

As can be seen from the above, in the process of performing an osteotomy operation, the first pose of the first marker is obtained in real time, and after the fixing frame is mounted on the surgical object, a CT image of an osteotomy region in the operation process is obtained, where the CT image and the first pose can reflect information of the osteotomy region in the operation process. A second position of the osteotomy plane is determined in the intraoperatively acquired CT image, the determined second position matching an actual condition of the intraoperatively osteotomy region. The position of the osteotomy plane relative to the robotic arm during the surgical procedure may be obtained by performing a plurality of calculations based on the first position, the CT image, and the determined second position. Because the position obtained by final positioning is determined based on the accurate CT image capable of reflecting the information of the osteotomy region in the operation process and the first posture, the position of the osteotomy plane obtained by positioning based on the embodiment is more accurate relative to the mechanical arm.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a schematic flow chart illustrating a first method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a second method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a third method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a fourth method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an osteotomy plane positioning system provided in accordance with an embodiment of the present invention;

FIG. 6 is a schematic flow chart illustrating a fifth method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating a sixth method for locating an osteotomy plane according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart illustrating a seventh method for positioning an osteotomy plane according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of an osteotomy plane positioning device provided in accordance with an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments given herein by one of ordinary skill in the art, are within the scope of the invention.

In the prior art, when an osteotomy is performed, a doctor often positions an osteotomy plane manually to perform osteotomy, and the osteotomy plane has a problem of low positioning accuracy.

The embodiment of the invention provides an osteotomy plane positioning method, which is applied to control equipment in an osteotomy operation system, and the system further comprises: the system comprises a pose acquisition device, a mechanical arm, a CT machine, a fixing frame for being installed on an operation object, and a registration plate fixed with a registration marker, wherein the method comprises the following steps:

acquiring a first pose of a first marker, which is acquired by the pose acquisition equipment in real time and is positioned at the tail end of the mechanical arm, relative to the pose acquisition equipment;

after the fixing frame is installed on an operation object, acquiring a CT image which is acquired by the CT machine and contains an osteotomy region, wherein the CT image contains a registration marker fixed on the registration plate;

determining a first position of the registration marker in the CT image, and determining a second pose of the region represented by the CT image with respect to the pose acquisition apparatus based on the first pose, the first position, and a first relative position between the first marker and the registration marker;

acquiring a second position of an osteotomy plane planned in the CT image;

The embodiment of the invention is applied to the process of osteotomy, the operation object can be a human, an animal and the like, the osteotomy skeleton can be any skeleton in the operation object body, for example, the osteotomy skeleton can be a tibia of a leg of the operation object, and the osteotomy operation is a tibia osteotomy operation.

In addition, the embodiment of the present invention is applied to a control device in an osteotomy system, the system further including: the device comprises a pose acquisition device, a mechanical arm, a CT machine, a fixed frame arranged on an operation object and a registration plate fixed with a registration marker.

The control equipment can be a control computer and can be arranged on a control trolley, and besides the control equipment, the control trolley can also be provided with a display, a keyboard, a mouse, a switch, a trolley and a suspension arm.

The display can display various information received by the control equipment in the osteotomy process and various information obtained by calculation. The user can operate the control device through a keyboard and a mouse. The switch is used for assisting the control equipment to communicate with the pose acquisition equipment, the mechanical arm and the CT machine. The trolley is used for bearing the control equipment and adjusting the position of the control equipment.

In addition, the pose acquisition equipment can be a binocular vision system, pose acquired by the binocular vision system is three-dimensional information, the pose acquisition equipment can be installed on a suspension arm of the control trolley, and the pose acquisition equipment is connected with the switch and can be communicated with the control equipment. The mode for acquiring the pose by the binocular vision system belongs to the prior art, and is not described in detail in the embodiment of the invention.

Furthermore, the robot arm may be mounted on a surgical robot carriage, and the surgical robot carriage may further include, in addition to the robot arm, a robot arm control module for controlling a motion of the robot arm, a communication module for communicating with a control device, and a carriage lifting module for adjusting a position of the surgical robot carriage.

In addition, the tail end of the mechanical arm is always provided with a first marker, and the registration plate, the guide device, the swinging saw and the spreader can be arranged at the tail end of the mechanical arm in a replaceable way.

The guide is used for indicating the position of an osteotomy plane, the oscillating saw is used for osteotomy, and the spreader is used for spreading a wound after osteotomy.

Since the first marker is always mounted at a fixed position on the robotic arm, the second relative position between the first marker and the robotic arm is fixed and can be known in advance, and when the registration plate is mounted at the end of the robotic arm, the mounting position is also fixed, and thus the first relative position between the first marker and the registration marker on the registration plate is also fixed and can be known in advance.

Referring to fig. 1, a schematic flow chart of a first osteotomy plane positioning method provided in an embodiment of the present invention is applied to the control apparatus, and the method includes the following steps S101 to S105.

S101: and after the fixing frame is arranged on the operation object, acquiring a first pose of a first marker which is acquired by the pose acquisition equipment in real time and is positioned at the tail end of the mechanical arm relative to the pose acquisition equipment.

Wherein, the first pose is as follows: the pose with respect to the above pose acquisition apparatus. The first pose is three-dimensional data. The first pose may be represented by three-dimensional coordinates in a pose acquisition device coordinate system, and the origin of coordinates in the pose acquisition device coordinate system may be the position of the pose acquisition device itself.

Specifically, the pose acquisition device is mounted on a suspension arm of the control trolley, a sterile drape is laid on the fixing frame, the suspension arm can be moved to the position near an osteotomy area of the surgical object after the surgical object is mounted on the fixing frame, and the pose acquisition device can start to acquire the first pose of the first marker.

After the pose acquisition equipment acquires the first pose, the first pose can be sent to the control equipment, so that the control equipment acquires the first pose.

S102: and acquiring a CT image which is acquired by the CT machine and contains an osteotomy region.

Wherein, the CT image comprises a registration marker fixed on the registration plate.

Specifically, the doctor can predict the approximate area of the osteotomy region, move the CT machine to the vicinity of the osteotomy region, mount the registration plate to the distal end of the robotic arm, and move the robotic arm to the vicinity of the osteotomy region. The CT machine may begin acquiring CT images containing the osteotomy region and the registration marker.

The CT image is a three-dimensional image, and the positional information included in the CT image is three-dimensional data. The position information may be expressed in three-dimensional coordinates in a CT image coordinate system.

S103: and determining a first position of the registration marker in the CT image, and determining a second pose of the area represented by the CT image relative to the pose acquisition equipment based on the first pose, the first position and a first relative position between the first marker and the registration marker.

Specifically, the first pose is a pose of the first marker with respect to the pose acquisition device, the first relative position is a relative position between the first marker and the registration marker, and the pose of the registration marker with respect to the pose acquisition device can be determined based on the first pose and the first relative position.

In addition, the first position is the position of the registration marker in the CT image, and the second pose of the region represented by the CT image with respect to the pose acquisition apparatus can be determined by comparing the first position of the unified registration marker in the CT image with the pose of the registration marker with respect to the pose acquisition apparatus.

The process of obtaining the second posture belongs to the prior art, and is not described herein again.

S104: a second position of the planned osteotomy plane in the CT image is acquired.

Specifically, the second position may be manually planned in the CT image by the doctor or automatically planned in the CT image by the osteotomy plane planning software in the prior art.

Wherein, the second position can be represented by the position of three points in the CT image, which are not on the same straight line in the osteotomy plane. After determining the second position, the osteotomy plane may be displayed at the second position in the CT image displayed on the display so that the physician may view the position of the planned osteotomy plane in the CT image.

S105: and determining the position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative positional relationship between the first marker and the robotic arm.

In one embodiment of the present invention, the position of the osteotomy plane relative to the robotic arm may be determined by the following steps A-C.

Step A: and determining a first conversion relation between the mechanical arm position information and the equipment position information based on the first pose and the second relative position between the first marker and the mechanical arm.

Wherein the robot arm position information is used to indicate: the device position information is indicative of a position of a point in an application scene with respect to the robot arm: and applying the position of a point in the scene relative to the pose acquisition equipment.

Specifically, the first pose is the pose of the first marker with respect to the pose acquisition device, the second relative position is the position of the first marker with respect to the robot arm, and the first conversion relationship between the robot arm position information and the device position information can be determined by comparing the first pose and the second relative position with the position of the first identifier as a reference.

The device position information may be represented in the form of three-dimensional coordinates in a device coordinate system, and the origin of coordinates in the device coordinate system may be the position of the pose acquisition device itself. The robot arm position information may be expressed in the form of three-dimensional coordinates in a robot arm coordinate system, and the origin of the robot arm coordinate system may be any point on the robot arm.

And B: and determining a third pose of the osteotomy plane relative to the pose acquisition equipment based on the second position and the second pose.

Specifically, the second pose is a pose of the region represented by the CT image with respect to the pose acquisition device, the first position is a position of the osteotomy plane in the region represented by the CT image, and the second position may be converted into a third pose of the osteotomy plane with respect to the pose acquisition device based on the second pose.

And C: and calculating the position of the osteotomy plane relative to the mechanical arm based on the third pose and the first conversion relationship.

Specifically, the third pose is the pose of the osteotomy plane with respect to the pose acquisition apparatus, and the first conversion relationship is the conversion relationship between the robot arm position information and the apparatus position information, because the third pose of the osteotomy plane with respect to the pose acquisition apparatus can be converted into the position of the osteotomy plane with respect to the robot arm based on the first conversion relationship.

Referring to fig. 2, a schematic flowchart of a second osteotomy plane positioning method provided in the embodiment of the present invention is shown, wherein, compared with the foregoing embodiment shown in fig. 1, the above step S105 can be implemented by the following steps S105A-S105B.

S105A: and acquiring a fourth pose of the second marker relative to the pose acquisition equipment, acquired by the pose acquisition equipment in real time.

The second marker is fixed on the fixing frame and is arranged on the operation object in the osteotomy area where the osteotomy plane is located.

The second marker is fixed on the fixing frame, and after the fixing frame is arranged on the osteotomy area where the preset osteotomy plane is located on the operation object, the second marker is equivalently arranged in the osteotomy area. After the operation object moves or deforms, the fixing frame moves along with the operation object, and the second marker moves along with the fixing frame in the same way, so that the movement of the second marker reflects the movement condition of the operation object.

Specifically, before the embodiment shown in fig. 1 is completed, it is difficult to determine the specific position of the osteotomy plane on the surgical object, but the physician may determine the approximate position of the osteotomy region based on the content of the CT image and fix a second marker on the surgical object, which can be inserted into the bone fixed in the osteotomy region of the surgical object.

In an embodiment of the present invention, the pose acquisition device may acquire the second marker in real time, acquire a fourth pose of the second marker, and send the fourth pose to the control device, so that the control device acquires the fourth pose.

S105B: and determining the position of the osteotomy plane relative to the mechanical arm in real time based on the fourth pose, the first pose, the second position and the second relative position between the first marker and the mechanical arm which are acquired in real time.

Specifically, the position of the osteotomy plane relative to the robotic arm may be determined in real time based on the first pose, the second position, and the second relative position between the first marker and the robotic arm in the manner shown in step S105.

In addition, the second marker is fixed in the osteotomy area, so that if the osteotomy area moves or deforms, the fourth posture of the second marker changes accordingly, and therefore if the second marker is determined to change based on the real-time acquired fourth posture, the osteotomy area can be determined to move or deform, and the position of the osteotomy plane relative to the mechanical arm changes accordingly.

Specifically, the moving range of the osteotomy plane may be determined based on the variation range of the fourth pose, and the moving range may be adjusted based on the determined position of the osteotomy plane relative to the robotic arm to obtain the current position of the osteotomy plane relative to the robotic arm.

As can be seen from the above, in the present embodiment, whether the osteotomy area on the surgical object changes is determined based on the fourth pose of the second marker acquired in real time, and if the fourth pose changes, the position of the determined osteotomy plane relative to the mechanical arm may be adjusted in real time, so that the determined position may reflect the relative position of the current osteotomy plane and the mechanical arm, and the positioning result is more accurate. The best osteotomy effect can be obtained also in the subsequent osteotomy based on the determined position.

In another embodiment of the present invention, after the position of the osteotomy plane relative to the robotic arm is determined, the device mounted at the end of the robotic arm may be replaced with an oscillating saw and the following step D may be performed.

Step D: and controlling the mechanical arm to cut the bone according to the determined position of the bone cutting plane through the oscillating saw arranged at the tail end of the mechanical arm.

Specifically, the control device may send the calculated position of the osteotomy plane relative to the mechanical arm, and send an osteotomy control signal to the mechanical arm, so that the mechanical arm performs cutting to the determined position by using the oscillating saw after receiving the osteotomy control signal, thereby completing the osteotomy.

Therefore, after the position of the osteotomy plane relative to the mechanical arm is accurately determined, the mechanical arm can be directly controlled to use the pendulum saw installed on the mechanical arm to complete osteotomy based on the position of the osteotomy plane relative to the mechanical arm, and the osteotomy operation effect is good because the position of the osteotomy plane obtained by positioning is accurate.

In yet another embodiment of the present invention, after determining the position of the osteotomy plane relative to the robotic arm, the device mounted at the end of the robotic arm may be replaced with a guide and the following step E may be performed.

Step E: the robotic arm is controlled to indicate the determined position of the osteotomy plane via a guide mounted at the distal end thereof.

Specifically, the control device may send the calculated position of the osteotomy plane relative to the robotic arm, and send a guidance control signal to the robotic arm, so that the robotic arm moves the guide after receiving the guidance control signal, pointing the guide to the determined position of the osteotomy plane. The doctor can drive two parallel kirschner wires into the bone of the surgical object along the position indicated by the guide, and then cut the bone of the surgical object along the kirschner wires to complete the bone cutting.

Therefore, after the position of the preset osteotomy plane relative to the mechanical arm is accurately determined, the mechanical arm can be directly controlled to indicate the position of the osteotomy plane by using the self-mounted guider based on the position of the osteotomy plane relative to the mechanical arm, so that a doctor can perform osteotomy to the indicated position, and the osteotomy plane obtained through positioning is accurate in position, so that the osteotomy operation is good in effect.

Referring to fig. 3, a schematic flowchart of a third method for positioning an osteotomy plane according to an embodiment of the present invention further includes the following steps S106-S107 after the step S105 is performed after the osteotomy is determined to be completed and the osteotomy site is inserted into the distractor, as compared with the embodiment shown in fig. 1.

Specifically, after the osteotomy is completed, the device at the end of the mechanical arm may be replaced by a spreader, the controller may send a spreading control signal to the mechanical arm, and the mechanical arm may move the spreader to the position determined in step S105, insert the spreader into the wound, and spread the osteotomy.

In addition, the process of inserting the spreader into the wound and spreading the osteotomy may also be performed by the surgeon after the osteotomy is completed.

S106: and acquiring the fifth poses of the third markers acquired by the pose acquisition equipment in real time.

The third markers are fixed on the fixing frame, and each third marker is respectively arranged at two sides of the osteotomy in the osteotomy area. The third markers are inserted into bones fixed to both sides of an osteotomy of the osteotomy region of the surgical object, respectively.

Specifically, after the osteotomy, the areas on both sides of the osteotomy are not connected together, each third marker is respectively arranged in different osteotomy sub-areas on both sides of the osteotomy, and the fifth pose of each third marker can respectively represent the poses of the two osteotomy sub-areas on both sides of the osteotomy.

S107: and calculating the angle of the distraction osteotomy part of the distractor based on the fifth pose acquired in real time.

Specifically, the third markers are respectively installed on two sides of the osteotomy, the fifth poses of the third markers respectively represent the current poses of the osteotomy sub-regions on the two sides of the osteotomy, and the included angle degree between the osteotomy sub-regions on the two sides of the osteotomy, namely the angle of the distracter for distracting the osteotomy, can be calculated based on the fifth poses. After the angle is acquired, the angle can be displayed on a display, so that a doctor can determine the angle in real time and can determine whether the angle of the distraction osteotomy needs to be increased continuously.

In addition, the following steps F to G may be performed in addition to steps S106 to S107.

Step F: and calculating a second conversion relation between the position information contained in the first CT sub-image and the equipment position information and calculating a third conversion relation between the position information contained in the second CT sub-image and the equipment position information based on the fifth pose and the second pose of each third marker.

The first CT sub-image and the second CT sub-image are sub-images on two sides of the osteotomy plane respectively.

Specifically, the second conversion relationship may be calculated according to the following formula:

M＝YP_b ^-1

wherein M is the second transformation relation, Y is the second pose, P_bA fifth pose for a third marker located in the region represented by the first CT sub-image.

In addition, the above third conversion relationship may be calculated according to the following formula:

N＝YP_C ^-1

wherein N is the third transformation relation, Y is the second pose, P_CA fifth pose for a third marker located in the region represented by the second CT sub-image.

Step G: and calculating the relative position relation between the region represented by the first CT sub-image and the region represented by the second CT sub-image based on the second conversion relation, the third conversion relation and the fifth pose.

The third markers are respectively arranged on two sides of the osteotomy, and the fifth pose of the third marker in the area represented by the first CT sub-image can represent the pose of the area represented by the first CT sub-image, and the fifth pose of the third marker in the area represented by the second CT sub-image can represent the pose of the area represented by the second CT sub-image.

In addition, the fifth pose of the third marker in the region represented by the first CT sub-image is converted into the position in the first CT sub-image based on the second conversion relationship, the fifth pose of the third marker in the region represented by the second CT sub-image is converted into the position in the second CT sub-image based on the third conversion relationship, and the relative positional relationship between the region represented by the first CT sub-image and the region represented by the second CT sub-image can be obtained based on the determined poses.

After the relative position relationship is obtained, the control device can also display the relative position relationship on a display screen in real time for a doctor to view.

Therefore, after the osteotomy is finished and the spreader is inserted into the osteotomy, the angle of the spreader for spreading the osteotomy can be obtained in real time, so that a doctor can obtain the condition of the current spreader for spreading the osteotomy in real time, and the spreader can be locked after the angle of the spreader for spreading the osteotomy reaches the preset angle. Compared with the method that a doctor uses the spreader to spread the osteotomy part by experience, the embodiment of the invention can accurately obtain the angle of the spreader to spread the osteotomy part, thereby achieving better operation effect.

Referring to fig. 4, a schematic flow chart of a fourth osteotomy plane positioning method provided in the embodiment of the present invention, compared to the foregoing embodiment shown in fig. 1, further includes the following steps S108-S109 after the above step S105 after completing the osteotomy.

S108: and acquiring the sixth pose of the screw acquired by the pose acquisition equipment in real time in the process of placing a steel plate at the osteotomy position and screwing the screw.

Specifically, the surgeon may manually place a steel plate at the osteotomy and thread a screw.

S109: and determining the position of the screw in the CT image in real time based on the sixth pose and the second pose.

Specifically, the sixth pose is the pose of the screw with respect to the pose collection apparatus, and the second pose is the pose of the CT image with respect to the pose collection apparatus, so that the position of the screw in the CT image can be determined by comparing the sixth pose with the second pose.

In addition, after the position of the screw in the CT image is obtained, the position can be identified in the CT image displayed in the display, so that a doctor can determine the position of the screw at the osteotomy in real time, and can determine whether the screw is fixed to a preset position with good operation effect.

Therefore, in the process of completing osteotomy, placing a steel plate at the osteotomy position and screwing the screw, the position of the screw in the CT image can be obtained in real time, so that a doctor can obtain the current screwing condition of the screw in real time, and the screwing of the screw can be stopped after the screw is screwed into the preset position. Compared with the method that a doctor screws in by experience, the embodiment of the invention can accurately obtain the position of the screw, thereby achieving better operation effect.

Corresponding to the osteotomy plane positioning method applied to the control equipment, the embodiment of the invention also provides an osteotomy plane positioning system.

Referring to fig. 5, a schematic structural diagram of an osteotomy plane positioning system provided in an embodiment of the present invention is shown, the system comprising: the system comprises a control device 501, a pose acquisition device 502, a mechanical arm 503, a CT machine 504, a fixed frame 505 for being installed on an operation object, and a registration plate 506 fixed with a registration marker.

The control device 501 can be in communication connection with the pose acquisition device 502, the mechanical arm 503 and the CT machine 504 respectively.

Referring to fig. 6, a flowchart of a fifth osteotomy plane positioning method according to an embodiment of the present invention is shown.

S601: the posture acquiring apparatus 502 acquires in real time the first posture of the first marker at the end of the robot arm 503 with respect to the posture acquiring apparatus 502 after the surgical object is attached with the fixing frame 505.

S602: the posture acquiring apparatus 502 transmits the first posture to the control apparatus 501.

S603: the CT scanner 504 acquires a CT image including an osteotomy region after the surgical object is attached to the holder 505.

S604: the CT machine 504 transmits the CT image to the control device 501.

S605: the control apparatus 501 determines a first position of the registration marker in the CT image, and determines a second posture of the region indicated by the CT image with respect to the posture acquiring apparatus 502 based on the first posture, the first position, and a first relative position between the first marker and the registration marker.

S606: the control device 501 acquires a second position of the planned osteotomy plane in the CT image.

S607: the control apparatus 501 determines the position of the osteotomy plane with respect to the robot arm 503 based on the first posture, the second position, and the second relative position between the first marker and the robot arm 503.

In an embodiment of the present invention, the control device 501 is specifically configured to:

a first conversion relationship between the robot arm position information and the apparatus position information is determined based on the first posture and the second relative position between the first marker and the robot arm 503.

Wherein the robot arm position information is used to indicate: the device position information indicates the position of a point in the application scene with respect to the robot arm 503: the position of a point in the application scene relative to the pose acquisition device 502;

determining a third pose of the osteotomy plane with respect to the pose capture device 502 based on the second position and the second pose;

based on the third posture and the first conversion relationship, the position of the osteotomy plane with respect to the robot arm 503 is calculated.

acquiring a fourth pose of a second marker relative to the pose acquisition equipment 502, acquired by the pose acquisition equipment 502 in real time, wherein the second marker is fixed on the fixed frame and is arranged on the operation object in an osteotomy area where the osteotomy plane is located;

the position of the osteotomy plane relative to the mechanical arm 503 is determined in real time based on the fourth pose, the first pose, the second position, and the second relative position between the first marker and the mechanical arm 503, which are obtained in real time.

Referring to fig. 7, a flowchart of a fifth osteotomy plane positioning method provided in the embodiment of the present invention further includes the following step S608, compared with the foregoing embodiment shown in fig. 6.

S608: the control device 501 controls the robot arm 503 to perform osteotomy by the oscillating saw attached to the tip thereof in accordance with the determined position of the osteotomy plane.

Referring to fig. 8, a flowchart of a sixth osteotomy plane positioning method provided in the embodiment of the present invention further includes the following step S609, compared with the foregoing embodiment shown in fig. 6.

S609: the control device 501 controls the robot arm 503 to indicate the determined position of the osteotomy plane through a guide mounted to the distal end thereof.

In one embodiment of the present invention, after determining that the osteotomy is complete and that the osteotomy has been inserted into the distractor, the control device 501 is further configured to:

acquiring a fifth pose of each third marker acquired by the pose acquisition equipment 502 in real time, wherein the third markers are fixed on the fixing frame, and each third marker is respectively arranged on two sides of a osteotomy in the osteotomy area;

and calculating the angle of the distraction osteotomy part of the distractor based on the fifth pose acquired in real time.

In an embodiment of the present invention, the control device 501 is further configured to:

and calculating a second conversion relation between the position information contained in the first CT sub-image and the equipment position information and calculating a third conversion relation between the position information contained in the second CT sub-image and the equipment position information based on the fifth pose and the second pose of each third marker.

And calculating the relative position relation between the region represented by the first CT sub-image and the region represented by the second CT sub-image based on the second conversion relation, the third conversion relation and the fifth pose.

In an embodiment of the present invention, after completing the osteotomy, the control device 501 is further configured to:

acquiring a sixth pose of the screw acquired by the pose acquisition device 502 in real time in the process of placing a steel plate at the osteotomy position and screwing the screw in;

and determining the position of the screw in the CT image in real time based on the sixth pose and the second pose.

Corresponding to the osteotomy plane positioning method applied to the control equipment, the embodiment of the invention also provides an osteotomy plane positioning device applied to the control equipment.

Referring to fig. 9, a schematic structural diagram of an osteotomy plane positioning device provided in an embodiment of the present invention is applied to a control device in an osteotomy surgery system, where the system further includes: pose acquisition equipment, mechanical arm, CT machine, be used for installing in the mount of operation object, be fixed with the registration plate of registering the marker, the device includes:

a first pose acquisition module 901, configured to acquire, after the fixing frame is mounted on the surgical object, a first pose of a first marker located at the end of the mechanical arm, acquired in real time by the pose acquisition device, with respect to the pose acquisition device;

a CT image obtaining module 902, configured to obtain a CT image that is acquired by the CT machine and includes an osteotomy region, where the CT image includes a registration marker fixed on the registration plate;

a second pose determination module 903, configured to determine a first position of the registration marker in the CT image, and determine a second pose of the area represented by the CT image with respect to the pose acquisition apparatus based on the first pose, the first position, and a first relative position between the first marker and the registration marker;

a second position acquisition module 904 for acquiring a second position of an osteotomy plane planned in the CT image;

a first position determination module 905 configured to determine a position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm.

As can be seen from the above, in the process of performing the osteotomy operation, the first pose of the first marker is obtained in real time, and after the surgical object is mounted on the fixed frame, the CT image of the osteotomy region in the process of the osteotomy operation is obtained, and the CT image and the first pose can reflect the information of the osteotomy region in the process of the operation. A second position of the osteotomy plane is determined in the intraoperatively acquired CT image, the determined second position matching an actual condition of the intraoperatively osteotomy region. The position of the osteotomy plane relative to the robotic arm during the surgical procedure may be obtained by performing a plurality of calculations based on the first position, the CT image, and the determined second position. Because the position obtained by final positioning is determined based on the accurate CT image capable of reflecting the information of the osteotomy region in the operation process and the first posture, the position of the osteotomy plane obtained by positioning based on the embodiment is more accurate relative to the mechanical arm.

In an embodiment of the present invention, the first position determining module 905 is specifically configured to:

determining a first conversion relation between mechanical arm position information and equipment position information based on the first pose and a second relative position between the first marker and the mechanical arm, wherein the mechanical arm position information is used for representing that: the position of a point in an application scene relative to the mechanical arm, the device position information representing: applying a position of a point in a scene relative to the pose acquisition device;

determining a third pose of the osteotomy plane relative to the pose acquisition device based on the second position, the second pose;

calculating the position of the osteotomy plane relative to the mechanical arm based on the third pose and the first transformation relationship.

acquiring a fourth pose of a second marker relative to the pose acquisition equipment, wherein the fourth pose is acquired by the pose acquisition equipment in real time, and the second marker is fixed on the fixed frame and is arranged on the operation object in an osteotomy area where the osteotomy plane is located;

and determining the position of the osteotomy plane relative to the mechanical arm in real time based on the fourth pose, the first pose, the second position and the second relative position between the first marker and the mechanical arm which are acquired in real time.

In one embodiment of the present invention, the apparatus further comprises:

and the bone cutting control module is used for controlling the mechanical arm to cut the bone according to the determined position of the bone cutting plane through the oscillating saw arranged at the tail end of the mechanical arm.

In one embodiment of the present invention, the apparatus further comprises:

and the osteotomy indicating module is used for controlling the mechanical arm to indicate the determined position of the osteotomy plane through a guide arranged at the tail end of the mechanical arm.

In one embodiment of the present invention, after determining that the osteotomy is complete and that the osteotomy has been inserted into the distractor, the apparatus further comprises:

the fifth pose acquisition module is used for acquiring a fifth pose of each third marker acquired by the pose acquisition equipment in real time, wherein the third markers are fixed on the fixed frame, and each third marker is respectively arranged on two sides of an osteotomy in the osteotomy area;

and the angle calculation module is used for calculating the angle of the distraction osteotomy part of the distractor based on the fifth pose acquired in real time.

In an embodiment of the present invention, the apparatus further includes:

a relative relationship determination module, configured to calculate a relative positional relationship between a region represented by the first CT sub-image and a region represented by the second CT sub-image based on the second pose and the fifth pose, where the first CT sub-image and the second CT sub-image are respectively: sub-images of the CT image on both sides of the osteotomy plane.

In one embodiment of the present invention, after completing the osteotomy, the apparatus further comprises:

the sixth pose acquisition module is used for acquiring a sixth pose of the screw acquired by the pose acquisition equipment in real time in the process of placing a steel plate at the osteotomy position and screwing the screw in;

and the second position determining module is used for determining the position of the screw in the CT image in real time based on the sixth pose and the second pose.

The embodiment of the present invention further provides an electronic device, as shown in fig. 10, which includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002 and the memory 1003 complete mutual communication through the communication bus 1004,

a memory 1003 for storing a computer program;

the processor 1001 is configured to implement the steps of the osteotomy plane positioning method in the foregoing method embodiment when executing the program stored in the memory 1003.

When the electronic device provided by the embodiment of the invention is applied to positioning an osteotomy plane, the embodiment acquires the first pose of the first marker in real time in the process of performing an osteotomy operation, and acquires a CT image of an osteotomy region in the operation process after the fixing frame is installed on an operation object, wherein the CT image and the first pose can reflect information of the osteotomy region in the operation process. A second position of the osteotomy plane is determined in the intraoperatively acquired CT image, the determined second position matching an actual condition of the intraoperatively osteotomy region. The position of the osteotomy plane relative to the robotic arm during the surgical procedure may be obtained by performing a plurality of calculations based on the first position, the CT image, and the determined second position. Because the position obtained by final positioning is determined based on the accurate CT image capable of reflecting the information of the osteotomy region in the operation process and the first posture, the position of the osteotomy plane obtained by positioning based on the embodiment is more accurate relative to the mechanical arm.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In a further embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the osteotomy plane positioning method in the aforementioned method embodiment.

When the computer program stored in the computer-readable storage medium provided by the embodiment of the present invention is executed to perform osteotomy plane positioning, in the process of performing an osteotomy operation, the present embodiment acquires the first pose of the first marker in real time, and acquires a CT image of an osteotomy region in the operation process after the fixing frame is mounted on the surgical object, where the CT image and the first pose can reflect information of the osteotomy region in the operation process. A second position of the osteotomy plane is determined in the intraoperatively acquired CT image, the determined second position matching an actual condition of the intraoperatively osteotomy region. The position of the osteotomy plane relative to the robotic arm during the surgical procedure may be obtained by performing a plurality of calculations based on the first position, the CT image, and the determined second position. Because the position obtained by final positioning is determined based on the accurate CT image capable of reflecting the information of the osteotomy region in the operation process and the first posture, the position of the osteotomy plane obtained by positioning based on the embodiment is more accurate relative to the mechanical arm.

In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the method of the above-described method embodiment for osteotomy plane positioning.

When the computer program provided by the embodiment of the invention is executed to position the osteotomy plane, in the process of performing the osteotomy operation, the first pose of the first marker is obtained in real time, and after the fixing frame is installed on the operation object, the CT image of the osteotomy region in the operation process is obtained, and the CT image and the first pose can reflect the information of the osteotomy region in the operation process. A second position of the osteotomy plane is determined in the intraoperatively acquired CT image, the determined second position matching an actual condition of the intraoperatively osteotomy region. The position of the osteotomy plane relative to the robotic arm during the surgical procedure may be obtained by performing a plurality of calculations based on the first position, the CT image, and the determined second position. Because the position obtained by final positioning is determined based on the accurate CT image capable of reflecting the information of the osteotomy region in the operation process and the first posture, the position of the osteotomy plane obtained by positioning based on the embodiment is more accurate relative to the mechanical arm.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system, apparatus, electronic device, storage medium, computer program product embodiments, as they are substantially similar to the method embodiments, the description is relatively simple, and for relevant points, reference may be made to the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. An osteotomy plane positioning method, for use in a control device in an osteotomy surgical system, said system further comprising: the system comprises a pose acquisition device, a mechanical arm, a CT machine, a fixing frame for being installed on an operation object and a registration plate fixed with a registration marker, wherein the method comprises the following steps:

acquiring a second position of an osteotomy plane planned in the CT image;

2. The method of claim 1, wherein determining the position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm comprises:

3. The method of claim 1, wherein determining the position of the osteotomy plane relative to the robotic arm based on the first pose, the second position, and a second relative position between the first marker and the robotic arm comprises:

4. The method of claim 1, further comprising, after the determining the position of the osteotomy plane relative to the robotic arm:

and controlling the mechanical arm to cut the bone according to the determined position of the bone cutting plane through an oscillating saw arranged at the tail end of the mechanical arm.

5. The method of claim 1, further comprising, after the determining the position of the osteotomy plane relative to the robotic arm:

and controlling the mechanical arm to indicate the position of the determined osteotomy plane through a guide arranged at the tail end of the mechanical arm.

6. The method of claim 1, wherein after determining that the osteotomy is complete and that the osteotomy has been inserted into the distractor, the method further comprises:

acquiring a fifth pose of each third marker acquired by the pose acquisition equipment in real time, wherein the third markers are fixed on the fixing frame, and each third marker is respectively arranged on two sides of a osteotomy in the osteotomy area;

7. The method of claim 6, further comprising:

calculating a second conversion relation between the position information contained in the first CT sub-image and the equipment position information and calculating a third conversion relation between the position information contained in the second CT sub-image and the equipment position information based on the fifth pose and the second pose of each third marker, wherein the first CT sub-image and the second CT sub-image are sub-images on two sides of the osteotomy plane respectively;

8. The method of any one of claims 1-7, wherein after completing the osteotomy, the method further comprises:

in the process of placing a steel plate at the osteotomy position and screwing in a screw, acquiring a sixth pose of the screw acquired by the pose acquisition equipment in real time;

9. An osteotomy plane positioning system, said system comprising: the system comprises control equipment, pose acquisition equipment, a mechanical arm, a CT machine, a fixing frame for being installed on an operation object and a registration plate fixed with a registration marker, wherein the method comprises the following steps:

10. The system according to claim 9, characterized in that the control device is specifically configured to:

11. The system according to claim 9, characterized in that the control device is specifically configured to:

12. The system of claim 9, wherein the control device is further configured to:

13. The system of claim 9, wherein the control device is further configured to:

14. The system of claim 9, wherein after determining that the osteotomy is complete and that the osteotomy has been inserted into the distractor, the control device is further configured to:

15. The system of claim 14, wherein the control device is further configured to:

16. The system of any of claims 9-15, wherein after completing the osteotomy, the control device is further configured to:

17. An osteotomy plane positioning device for use with a control apparatus in an osteotomy surgical system, said system further comprising: pose acquisition equipment, mechanical arm, CT machine, be used for installing in the mount of operation object, be fixed with the registration plate of registering the marker, the device includes:

18. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1 to 8 when executing a program stored in the memory.

19. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-8.