CN114224485B - Navigation system and control method for open type vertebral lamina decompression operation - Google Patents

Navigation system and control method for open type vertebral lamina decompression operation Download PDF

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Publication number
CN114224485B
CN114224485B CN202111283660.1A CN202111283660A CN114224485B CN 114224485 B CN114224485 B CN 114224485B CN 202111283660 A CN202111283660 A CN 202111283660A CN 114224485 B CN114224485 B CN 114224485B
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spine
navigation
marker
coordinate
image
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CN114224485A (en
Inventor
赵宇
胡磊
王丽
李嘉浩
耿宝多
陈炳荣
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Peking Union Medical College Hospital Chinese Academy of Medical Sciences
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Peking Union Medical College Hospital Chinese Academy of Medical Sciences
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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
    • A61B34/20—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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1757—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the spine
    • 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
    • A61B34/10—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
    • 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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points

Abstract

The invention discloses a navigation system and a control method for an open spinal lamina decompression operation, wherein the system comprises: the system comprises a first image acquisition device and a navigation robot, wherein the first image acquisition device is used for acquiring a first image of the spine of a patient and a spine marker arranged on the spine; the navigation robot includes: the device comprises a robot platform, surgical equipment, second image acquisition equipment and control equipment, wherein the surgical equipment and the second image acquisition equipment are arranged on the robot platform truck, and the second image acquisition equipment is used for acquiring second images of the spine marker and the bone drill marker arranged on the surgical equipment; the control device is respectively connected with the operation device and the second image acquisition device and is used for identifying the first image and the second image, generating a first navigation path and a second navigation path and controlling the operation device to perform decompression operation along the second navigation path. The system can assist doctors in operation planning, improve operation precision and reduce operation risks.

Description

Navigation system and control method for open type vertebral lamina decompression operation
Technical Field
The invention relates to the technical field of medical appliances, in particular to a navigation system and a control method for an open type vertebral lamina decompression operation.
Background
In recent years, the incidence rate of spinal lesions is higher and higher, the trend of the spinal lesions is shown to be younger, the removal of the spinal lesions is a key link of spinal surgery, the psychological diathesis, the surgical experience and the professional skill requirements of doctors are high, and the injuries to important parts such as spinal cord, nerves and the like are avoided.
However, when performing the vertebral plate decompression operation, the operation device is operated to perform the operation only by the operation experience of a doctor, and the current device lacks the functions of real-time positioning and navigation of the operation, so that effective assistance can not be provided for the operation of the doctor, and the problem needs to be solved.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, an object of the present invention is to provide a navigation system for open vertebral plate decompression surgery, which can locate and navigate a focal vertebral plate during the vertebral plate decompression surgery, and assist a doctor in surgery planning, so as to improve surgery accuracy and reduce surgery risk.
Another object of the present invention is to propose a control method for an open spinal lamina decompression surgical navigation system.
To achieve the above object, an embodiment of the present invention provides a navigation system for an open spinal lamina decompression operation, comprising: a first image acquisition device for acquiring a first image of a spine of a patient and a spine marker disposed on the spine; a navigation robot in communication with the first image acquisition device, the navigation robot comprising:
a robot trolley; the surgical equipment and the second image acquisition equipment are arranged on the robot trolley and are used for acquiring second images of the spine marker and the bone drill marker arranged on the surgical equipment; the control device is respectively connected with the operation device and the second image acquisition device, and is used for identifying the first image to obtain the first position of the spine information and the spine marker, identifying the second image to obtain the second position of the spine marker and the third position of the bone drill marker, establishing a first coordinate system by taking the first position as a coordinate origin, generating a three-dimensional point cloud in the first coordinate system according to the spine information, generating a first navigation path by utilizing the three-dimensional point cloud, establishing a second coordinate system by taking the third position as the coordinate origin, marking the fourth position coordinate of the ultrasonic bone drill needle point of the operation device in the second coordinate system, determining the starting point coordinate and the end point coordinate corresponding to the first navigation path in the second coordinate system according to the position relation between the second position and the third position, generating a second navigation path according to the starting point coordinate, the end point coordinate and the fourth position coordinate, and controlling the operation device to decompress along the second navigation path.
According to the spine image decompression operation navigation system for the open spine lamina, the three-dimensional point cloud model is generated according to the spine image acquired by the first image acquisition equipment, the navigation path is planned based on the position of the spine marker, the navigation robot coordinate system and the spine point cloud model coordinate system are converted into the unified coordinate system, the second image acquisition equipment can accurately position the spine lamina based on the bone drill marker, and the navigation is planned under the navigation robot coordinate system, so that the accuracy degree of operation is improved, the operation time is shortened, and the operation risk and possible damage to a patient are reduced.
In addition, the navigation system for open spinal lamina decompression surgery according to the above-described embodiment of the present invention may further have the following additional technical features:
further, the navigation robot further includes: and the robot arm is arranged on the robot trolley.
Further, the surgical device includes: the bone drill clamping body is connected with one end of the robot arm through a connecting piece; the ultrasonic bone drill is arranged in the bone drill clamping main body.
Further, the navigation robot further includes: the force sensor is arranged between the connecting piece and one end of the robot arm; the force sensor handle is arranged at the connecting part of the connecting piece and the force sensor.
Further, the navigation robot further includes: and the display device is connected with the control device and is used for displaying the first navigation path and the second navigation path.
Optionally, the first image capturing device is a depth camera, and the second image capturing device is a binocular camera.
To achieve the above object, another embodiment of the present invention provides a control method for an open spinal lamina decompression surgery navigation system according to the above embodiment, comprising the steps of: acquiring a first image of a spine of a patient and a spine marker arranged on the spine, and identifying the first image to obtain spine information and a first position of the spine marker; acquiring a second image of the spine marker and a bone drill marker arranged on the surgical equipment, and identifying the second image to obtain a second position of the spine marker and a third position of the bone drill marker; establishing a first coordinate system by taking the first position as a coordinate origin, generating a three-dimensional point cloud in the first coordinate system according to the spinal information, generating a first navigation path by utilizing the three-dimensional point cloud, establishing a second coordinate system by taking the third position as the coordinate origin, marking a fourth position coordinate of an ultrasonic bone drill tip of the surgical equipment in the second coordinate system, determining a starting point coordinate and an ending point coordinate corresponding to the first navigation path in the second coordinate system according to the position relation between the second position and the third position, generating a second navigation path according to the starting point coordinate, the ending point coordinate and the fourth position coordinate, and controlling the surgical equipment to perform decompression surgery along the second navigation path.
According to the control method for the open type spine lamina decompression operation navigation system, the three-dimensional point cloud model is generated according to the spine image acquired by the first image acquisition equipment, the navigation path is planned based on the position of the spine marker, the navigation robot coordinate system and the spine point cloud model coordinate system are converted into the unified coordinate system, the second image acquisition equipment can accurately position the spine lamina based on the bone drill marker, and planning navigation is performed under the navigation robot coordinate system, so that the accuracy degree of operation is improved, the operation time is shortened, and the operation risk and possible damage to a patient are reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a block schematic diagram of a navigation system for an open spinal lamina decompression procedure in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural view of a navigation system for an open spinal lamina decompression procedure in accordance with an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of a navigation system for an open spinal lamina decompression procedure in accordance with an embodiment of the present invention;
fig. 4 is a flow chart of a control method for an open spinal lamina decompression surgical navigation system according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
At present, the conventional vertebral plate decompression operation of the spine requires a doctor to hold a bone drill to remove a focus vertebral plate, has high requirements on psychological quality, operation experience and professional skills of the doctor, but increases the incidence of the spine diseases year by year along with the acceleration of the aging society, and has serious shortages of the surgeons with rich experience, so the positioning and the navigation in the operation process have great help to improve the operation accuracy.
Therefore, the embodiment of the invention designs the vertebral column vertebral plate decompression operation robot navigation system based on the depth camera and binocular vision, can generate three-dimensional point cloud according to the vertebral column information, a doctor can plan an operation path on a navigation interface, and after analysis by using a computer, the robot starts to perform vertebral plate excision operation; the navigation system of the vertebral column vertebral plate decompression robot has the advantages of accurate positioning, stable movement, reduction of operation difficulty and great convenience for doctors and patients.
The present invention relates to a navigation system for an open spinal lamina decompression surgery and a method thereof, and more particularly, to a navigation system for an open spinal lamina decompression surgery and a method thereof.
FIG. 1 is a block schematic diagram of a navigation system for an open spinal lamina decompression procedure in accordance with one embodiment of the present invention.
As shown in fig. 1, the navigation system 10 for open spinal lamina decompression surgery includes: a first image acquisition device 100 and a navigation robot 200.
Wherein a first image acquisition device 100 for acquiring a first image of a spine of a patient and a spine marker disposed on the spine; the navigation robot 200 communicates with the first image capturing apparatus 100.
In this embodiment, the first image capturing device 100 may be a depth camera for capturing spine information and spine marker positions; the spinal Marker may be a spinal Marker, as shown in fig. 2, and after the doctor anesthetizes the patient, the doctor cuts the skin on the surface of the spinal column to expose the shape of the spinal column within the range visible to the first image capturing device 100, and places the spinal Marker 300 on the spinal column.
It should be noted that, as shown in fig. 3, the first image capturing device 100 may be disposed on a triangle, and the capturing angle and the distance of the placement position of the first image capturing device 100 may be adjusted according to the actual situation, which is not limited in particular.
In the present embodiment, communication between the navigation robot 200 and the first image capturing apparatus 100 may be performed in a wireless or wired manner, which is not particularly limited.
In the present embodiment, as shown in fig. 1 to 3, the navigation robot 200 includes: a robotic trolley 210, a surgical device 220, a second image acquisition device 230, and a control device 240.
Specifically, the surgical device 220 and the second image acquisition device 230 are disposed on the robotic trolley 210 for acquiring second images of the spinal markers and the bone drill markers 221 disposed on the surgical device 220; the control device 240 is respectively connected to the surgical device 220 and the second image acquisition device 230, and is configured to identify a first image to obtain spine information and a first position of the spine marker 300, identify a second image to obtain a second position of the spine marker 300 and a third position of the bone drill marker 221, establish a first coordinate system with the first position as a coordinate origin, generate a three-dimensional point cloud in the first coordinate system according to the spine information, generate a first navigation path using the three-dimensional point cloud, establish a second coordinate system with the third position as the coordinate origin, and mark a fourth position coordinate of a tip of the ultrasonic bone drill 222 of the surgical device 220 in the second coordinate system, determine a start point coordinate and an end point coordinate of the first navigation path corresponding to the second coordinate system according to a positional relationship between the second position and the third position, generate a second navigation path according to the start point coordinate, the end point coordinate and the fourth position coordinate, and control the surgical device 220 to perform a decompression operation along the second navigation path.
The second image capturing device 230 may be a binocular camera, as shown in fig. 2 and 3, the second image capturing device 230 may be placed on the robot trolley 210 by using a binocular stand, and the bone drill markers 221 and the spine markers 300 are both within the tracking range of the second image capturing device 230. The bone drill Marker 221 may be a bone drill Marker. The control device 240 may be a device for data processing and analysis such as a computer.
In the present embodiment, as shown in fig. 2 and 3, the navigation robot 200 further includes: a robotic arm 250, a force sensor 260, a force sensor handle 270, and a connector 280.
The robot arm 250 is disposed on the robot trolley 210, and the robot arm 250 may be a UR robot; the force sensor 260 is disposed between the connection 280 and one end of the robot arm 250; the force sensor handle 270 is positioned where the connector 280 connects to the force sensor 260.
In this embodiment, as shown in fig. 2 and 3, the surgical device 220 further includes: an ultrasonic bone drill 222 and a bone drill clamping body 223.
Wherein the bone drill clamping body 223 is connected to one end of the robot arm 250 through a connection 280; the ultrasonic bone drill 222 is disposed within the bone drill clamping body 223.
In this embodiment, as shown in fig. 3, the navigation robot 200 further includes: a display device 290.
Wherein the display device 290 is connected to the control device 240 for displaying the first navigation path and the second navigation path. The display device 290 may be a navigation display.
In summary, according to the embodiment of the invention, the spine is generated into the three-dimensional point cloud model according to the depth camera, a doctor performs operation path planning on the navigation interface, the binocular camera converts the coordinate system of the robot and the coordinate system in the spine point cloud model into the unified coordinate system, and the binocular camera can accurately position the spine lamina according to the Marker and navigate according to operation planning, so that the accuracy of operation is improved, the operation time is shortened, and the operation risk and possible damage to a patient are reduced.
The following will describe a navigation process for an open spinal lamina decompression surgery navigation system, in which a first image acquisition device is exemplified by a depth camera, a second image acquisition device is exemplified by a binocular camera, a first Marker is exemplified by a spinal Marker, a second Marker is exemplified by a bone drill Marker, a display device is exemplified by a navigation display, and a robotic arm is exemplified by a UR robot, and the following steps are specifically performed:
step 1: the depth camera is used for acquiring the spine information and the position of the spine Marker, and a three-dimensional point cloud taking the spine Marker as a reference coordinate system is established by utilizing the depth information acquired by the depth camera. The generated three-dimensional point cloud information is displayed on a navigation display, a doctor evaluates the spine of the patient, and plans the vertebral plate decompression operation path.
In practical application, as shown in fig. 3, the patient 20 is lying on the operation table 30 with the back face facing upwards, after the doctor anesthetizes the patient, the skin on the surface of the spine is cut, the appearance of the spine is exposed within the range visible by the depth camera, the spine Marker is placed on the spine, the spine information acquired by the depth camera is utilized to generate spine point cloud data taking the spine Marker as a reference coordinate system, the spine point cloud data is displayed on the navigation display, and the doctor plans an operation path P on the point cloud data 1 To P 2 ，P 1 Point, P 2 The position of the point under the spinal Marker is
Step 2: the binocular camera is arranged on the robot trolley and used for tracking the position of the bone drill Marker, the position of the bone drill Marker under the tail end of the robot is obtained through hand-eye calibration, and after the position of the bone drill Marker under the tail end of the robot is obtained, the position of the bone drill needle point under the bone drill Marker is obtained through needle point calibration.
In practical application, the binocular camera can be placed on the robot trolley by using the binocular support, and the bone drill Marker and the spine Marker are both in the tracking range of the binocular camera. The position of the bone drill Marker under the end coordinate system of the UR robot is obtained through hand-eye calibration between the UR robot and the binocular cameraObtaining the position of the tip of the bone drill under the bone drill Marker by using the needle tip calibration of the ultrasonic bone drill>The position of the ultrasonic bone drill needle point at the tail end of the UR robot is
Step 3: in step 1, a doctor plans a surgical path on a navigation display, the surgical path is under a reference coordinate system spine Marker, a binocular camera tracks the positions of the spine Marker and a bone drill Marker, and the position of the surgical path relative to an ultrasonic bone drill is obtained through secondary matrix conversion.
In practical application, a doctor plans an operation path based on a reference coordinate system spine Marker on a navigation display, and obtains positions of the spine Marker and the bone drill Marker in the binocular camera through the binocular cameraThe position of the spinal Marker in the bone drill Marker coordinates is +.>Planning a surgical path P on the point cloud data according to the previous doctor 1 To P 2 ，P 1 Point, P 2 The position of the dot under the spinal Marker is +.>Then P is under the bone drill Marker coordinate system 1 Point, P 2 The position of the dot is +.>
Step 4: and 3, obtaining the position of the operation path relative to the ultrasonic bone drill, and 2, obtaining the position of the needle point of the bone drill relative to the position under the bone drill Marker, and calculating the motion parameters of the UR robot through the conversion of a secondary matrix to realize the laminectomy operation.
In practical application, the UR robot with ultrasonic bone drill moves according to the planned path of doctor in navigation, and P is needed to be given 1 、P 2 The positional relationship of the point relative to the tip of the bone drill is knownThenWill->The rotation and movement input parameters of the end of the UR robot are converted through the Rodrigas formula, so that the conversion from a visual coordinate system to a robot coordinate system is realized.
According to the data obtained by the force sensor, when the robot does not contact the spine, the motion acceleration of the UR robot is 0.05s 2 And/m, the speed is 0.05m/s, and when the force sensor detects that the pressure exists, the speed of the UR robot is reduced to 0.01m/s. After planning the operation path, the doctor carries out multi-section path interpolation calculation on the path by the computer, and on the path of each small section, the path can be regarded as point-to-point motion, and each point machine in the track is solved by utilizing forward and reverse solutionsThe robot anticipates joint angles, resulting in a smooth function for each of the n joints passing through each intermediate point and ending at the target point.
In summary, a doctor cuts a spine position needing operation before operation, a Marker is arranged on the spine, an image of the spine at the cut is acquired through a depth camera during operation, and a three-dimensional point cloud of the spine during operation is generated by taking the Marker on the spine as a reference coordinate system and displayed on a navigation interface; a doctor performs operation planning on a navigation interface, the relative position of an operation path relative to a spine Marker reference system can be obtained after the planning, meanwhile, a binocular camera collects the relative positions of the tail end Marker and the spine Marker of the robot, and the position information of the operation path under the robot coordinate system is calculated through the conversion of a homogeneous matrix; finally, the ultrasonic bone drill moves under the path planned by the doctor, the problem of real-time navigation in the spinal surgery process is solved, the doctor can plan the surgery path in a more visual and multidimensional mode, the surgery difficulty of the doctor is reduced, and the spinal surgery is more accurate and intelligent.
According to the spine image decompression operation navigation system for the open spine vertebral plate, which is provided by the embodiment of the invention, the three-dimensional point cloud model is generated according to the spine image acquired by the first image acquisition equipment, the navigation path is planned based on the position of the spine marker, the navigation robot coordinate system and the spine point cloud model coordinate system are converted into the unified coordinate system, and the second image acquisition equipment can accurately position the spine vertebral plate based on the bone drill marker and plan and navigate under the navigation robot coordinate system, so that the accuracy degree of operation is improved, the operation time is shortened, and the operation risk and possible damage to a patient are reduced.
Next, a control method for an open spinal lamina decompression surgical navigation system according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 4 is a flow chart of a control method for an open spinal lamina decompression surgical navigation system according to one embodiment of the invention.
As shown in fig. 4, the control method for the open spinal lamina decompression surgery navigation system comprises the following steps:
in step S101, a first image of a spine of a patient and a spine marker disposed on the spine is acquired, and the first image is identified to obtain spine information and a first position of the spine marker;
in step S102, acquiring a second image of the spine marker and a bone drill marker provided on the surgical device, and identifying the second image to obtain a second position of the spine marker and a third position of the bone drill marker;
in step S103, a first coordinate system is established with the first position as a coordinate origin, a three-dimensional point cloud in the first coordinate system is generated according to the spine information, a first navigation path is generated by using the three-dimensional point cloud, a second coordinate system is established with the third position as the coordinate origin, a fourth position coordinate of an ultrasonic bone drill tip of the surgical equipment is marked in the second coordinate system, a start point coordinate and an end point coordinate corresponding to the first navigation path in the second coordinate system are determined according to the position relation between the second position and the third position, a second navigation path is generated according to the start point coordinate, the end point coordinate and the fourth position coordinate, and the surgical equipment is controlled to perform a decompression operation along the second navigation path.
It should be noted that the foregoing explanation of the embodiment of the navigation system for open spinal laminectomy is also applicable to the control method of the navigation system for open spinal laminectomy of this embodiment, and will not be repeated here.
According to the control method for the open type spine vertebral plate decompression operation navigation system, the three-dimensional point cloud model is generated according to the spine image acquired by the first image acquisition equipment, the navigation path is planned based on the position of the spine marker, the navigation robot coordinate system and the spine point cloud model coordinate system are converted into the unified coordinate system, the second image acquisition equipment can accurately position the spine vertebral plate based on the bone drill marker, and the navigation is planned under the navigation robot coordinate system, so that the accuracy degree of operation is improved, the operation time is shortened, and the operation risk and possible damage to a patient are reduced.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "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 or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (7)

1. A navigation system for open spinal lamina decompression surgery, comprising:
a first image acquisition device for acquiring a first image of a spine of a patient and a spine marker disposed on the spine;
a navigation robot in communication with the first image acquisition device, the navigation robot comprising:
a robot trolley;
the surgical equipment and the second image acquisition equipment are arranged on the robot trolley and are used for acquiring second images of the spine marker and the bone drill marker arranged on the surgical equipment; and
the control device is respectively connected with the operation device and the second image acquisition device, and is used for identifying the first image to obtain the first position of the spine information and the spine marker, identifying the second image to obtain the second position of the spine marker and the third position of the bone drill marker, establishing a first coordinate system by taking the first position as a coordinate origin, generating a three-dimensional point cloud in the first coordinate system according to the spine information, generating a first navigation path by utilizing the three-dimensional point cloud, establishing a second coordinate system by taking the third position as the coordinate origin, marking the fourth position coordinate of the ultrasonic bone drill needle point of the operation device in the second coordinate system, determining the starting point coordinate and the end point coordinate corresponding to the first navigation path in the second coordinate system according to the position relation between the second position and the third position, generating a second navigation path according to the starting point coordinate, the end point coordinate and the fourth position coordinate, and controlling the operation device to decompress along the second navigation path.
2. The system of claim 1, wherein the navigation robot further comprises:
and the robot arm is arranged on the robot trolley.
3. The system of claim 2, wherein the surgical device comprises:
the bone drill clamping body is connected with one end of the robot arm through a connecting piece;
the ultrasonic bone drill is arranged in the bone drill clamping main body.
4. The system of claim 2, wherein the navigation robot further comprises:
the force sensor is arranged between the connecting piece and one end of the robot arm;
the force sensor handle is arranged at the connecting part of the connecting piece and the force sensor.
5. The system of claim 1, wherein the navigation robot further comprises:
and the display device is connected with the control device and is used for displaying the first navigation path and the second navigation path.
6. The system of any of claims 1-5, wherein the first image capture device is a depth camera and the second image capture device is a binocular camera.
7. A control method for an open spinal lamina decompression surgical navigation system according to any one of claims 1-6, comprising the steps of:
acquiring a first image of a spine of a patient and a spine marker arranged on the spine, and identifying the first image to obtain spine information and a first position of the spine marker;
acquiring a second image of the spine marker and a bone drill marker arranged on the surgical equipment, and identifying the second image to obtain a second position of the spine marker and a third position of the bone drill marker; and
establishing a first coordinate system by taking the first position as a coordinate origin, generating a three-dimensional point cloud in the first coordinate system according to the spinal information, generating a first navigation path by utilizing the three-dimensional point cloud, establishing a second coordinate system by taking the third position as the coordinate origin, marking a fourth position coordinate of an ultrasonic bone drill tip of the surgical equipment in the second coordinate system, determining a starting point coordinate and an ending point coordinate corresponding to the first navigation path in the second coordinate system according to the position relation between the second position and the third position, generating a second navigation path according to the starting point coordinate, the ending point coordinate and the fourth position coordinate, and controlling the surgical equipment to perform decompression surgery along the second navigation path.
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