CN114631889A - Long tubular bone fracture parallel six-axis robot reduction navigation system and method thereof - Google Patents
Long tubular bone fracture parallel six-axis robot reduction navigation system and method thereof Download PDFInfo
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Abstract
The invention discloses a reduction navigation system of a parallel six-axis robot for long tubular bone fracture, which comprises an operating system, a display screen and a parallel six-axis robot operating platform, wherein the operating system, the display screen and the parallel six-axis robot operating platform are electrically connected with each other; the parallel six-axis robot operation platform comprises a parallel six-axis robot and a motion platform positioned at the tail end of the robot; the operation system is used for controlling pose changes of the six single shafts of the parallel six-shaft robot and the motion platform, image matching and a reset operation process matched with an image matching result; the operating system comprises an image matching processing module, a platform motion module, a single-axis motion module and a fracture reduction module, and the four functions of the operating system correspond to the four parts of the operating interface respectively. The invention also discloses a reduction navigation method of the parallel six-axis robot for the long tubular bone fracture. The method can accurately generate the matched model, and effectively avoid the subjective and objective errors of the image; and avoiding bone block collision in the reduction process caused by inaccurate reduction.
Description
Technical Field
The invention belongs to the field of an auxiliary system for a bone surgery operation, and particularly relates to a reduction navigation system and a reduction navigation method for a parallel six-axis robot for long tubular bone fracture.
Background
Traditional fracture reduction surgery requires the bone tissue to be exposed by means of a large incision, and the anatomical position of the fractured end of the fracture is restored by a doctor under the condition of direct vision. The traditional reduction method is limited by the experience of doctors and equipment in the operation, and has the risks of large trauma, susceptibility to infection, secondary fracture and the like.
The parallel robot assisted long tubular bone fracture reduction means that a doctor plans a reduction track of a broken bone by using computer-assisted software, the reduction track of the broken bone is mapped into a motion track of a robot based on a robot kinematics algorithm, and the robot executes the track so as to achieve the purpose of fracture reduction. In the existing trajectory planning method, a computer automatically generates a resetting trajectory of a bone block by adopting a related algorithm, and the algorithm is complex and has the problems of low collision detection precision, long resetting path, large muscle tension and the like.
In the resetting navigation process, the matching of the edges of two broken ends of the fracture is a key link, an optimal edge matching path needs to be found, and the bone block collision in the resetting process caused by inaccurate resetting is avoided. There is a need for a navigation system and method that precisely matches the edge of a fractured bone so that the distal bone block edge of the fracture precisely reaches and matches the proximal bone block edge.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a long tubular bone fracture parallel six-axis robot reduction navigation system and a method thereof, wherein the system is simple and convenient to operate and has high universality and practicability. The resetting navigation system comprises a visual operating system and a motion platform connected with the six-axis robot. The visualized operating system is integrated based on the rviz visualization function of a graphical simulation environment (ROS), is used for displaying the structure and the movement of the six-axis robot, the visualization of a positioning needle and a marker ball, a fracture model and a mirror image model, matching results and the like, can display the whole reduction process in an off-line or on-line manner, and helps users to generate visual reduction process images before and during the operation; the motion platform can control the robot to perform reset planning or actual motion, and comprises joint space motion, tail end working space motion, image matching and a reset operation flow matched with an image matching result.
The purpose of the invention is realized by the following technical scheme:
a reduction navigation system of a parallel six-axis robot for long tubular bone fracture comprises an operating system, a display screen and a parallel six-axis robot operating platform which are mutually and electrically connected, wherein the parallel six-axis robot operating platform and the operating system adopt serial port communication;
the parallel six-axis robot operation platform comprises a parallel six-axis robot and a motion platform positioned at the tail end of the parallel six-axis robot; six single shafts of the parallel six-shaft robot are respectively connected with a stepping motor and used for controlling displacement variation of the single shafts on a displacement slide rail according to the operating system so as to adjust the pose of the moving platform, a far-end bone block needle clamp which extends forwards is arranged at the top of the moving platform and used for fixing a far-end bone block of a left leg or a right leg, the parallel six-shaft robot operating platform further comprises two upright posts which are arranged at two sides of the moving platform, and near-end bone block needle clamps are arranged at the upper parts of the upright posts and used for fixing a near-end bone block of the left leg or the right leg of a patient; the near-end bone block needle clamp is provided with a first marker ball, a second marker ball, a third marker ball and a fourth marker ball, and the far-end bone block needle clamp is provided with a fifth marker ball, a sixth marker ball, a seventh marker ball and an eighth marker ball;
the operation system is used for controlling six single shafts of the parallel six-shaft robot operation platform so as to adjust the pose of the motion platform, match images and cooperate with the reset operation process of the image matching result; the operating system comprises an image matching processing module, a platform motion module, a single-axis motion module and a fracture reduction module, and the four functions of the operating system correspond to the four parts of the operating interface respectively.
The display screen is used for displaying the visualization and matching results of a computer operation interface, an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image whole bone point cloud model and the first-eighth three-dimensional sphere models of the operation system, so that a user can be helped to generate visual reduction process images before and during operation;
the image matching processing module is used for loading scanned CT scanning data of a patient long tubular bone, generating an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image bone alignment point cloud model and first-eighth three-dimensional sphere models and displaying the models in a display screen, carrying out three-dimensional matching on the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image bone alignment point cloud model, adopting a closest point iterative algorithm, enabling matching characteristics to come from parts with rich characteristics at two ends of the bone, generating a matching point cloud model, and generating target resetting pose information of the far-end bone to be reset and pose information of the three-dimensional sphere models.
The platform motion module is used for setting three-dimensional movement and three-dimensional rotation of the parallel six-axis robot motion platform according to the target reset pose information of the far-end bone to be reset and the pose information of the three-dimensional sphere model calculated by the image matching processing module, so that the position and the posture of the motion platform at the tail end of the robot are adjusted;
the single-axis motion module is used for setting displacement variable quantities of six single axes of the parallel six-axis robot according to target reset pose information of a far-end bone to be reset and pose information of the three-dimensional sphere model calculated by the image matching processing module so as to respectively drive the single axes to horizontally move along the displacement slide rail, and therefore the position and the posture of a motion platform located at the tail end of the robot are adjusted;
further, the image matching processing module further comprises an edge detection unit, wherein the edge detection unit is used for performing edge detection on the generated target reset pose information, judging whether the generated target reset pose result can enable edge lines of bone blocks at two ends of the fracture to coincide, and if the edge detection result is that the edge of a far-end bone block is aligned with the edge of a near-end bone block, transferring the generated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model into the fracture reset module to execute the next operation; otherwise, continuing optimization calculation, performing local gradient descent of the target reset pose information on the target reset pose information generated in the previous step, reducing edge dislocation displacement to realize edge alignment, and generating an updated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model.
The fracture reduction module is used for performing non-automatic operation or semi-automatic operation on the variation of the motion platform or six-axis motion according to the matching point cloud model, the target reduction pose information and the pose information of the three-dimensional sphere model obtained by the image matching processing module, selecting 'far-end reduction' in a computer operation interface on the basis of the initial fracture pose, forming a fracture reduction navigation path according to a parallel mechanism kinematics algorithm in the robotics field and the obtained motion angle and motion length of the motion platform along a three-dimensional coordinate system or the variation of six single-axis motions, aligning the fracture reduction navigation path with the anatomical axis of a proximal bone block, and keeping the distance between two fracture broken ends in the axis direction unchanged; the distal bone piece is then retracted in the axial direction so that the distal and proximal edges are aligned, thereby completing the reduction motion.
Further, when the distal bone piece and the proximal bone piece are inserted or dislocated, the fracture reduction module further comprises, before performing the "distal reduction": and selecting 'far-end stretching' in a computer operation interface on the basis of an initial fracture pose, simultaneously moving the six axes, and stretching the far-end bone block to the direction far away from the near-end bone block along the anatomical axis direction of the far-end bone block by the motion platform.
Also discloses a reduction navigation method of the parallel six-axis robot for long tubular bone fracture, which comprises the following steps:
the method comprises the following steps: generating a point cloud model
Selecting a 'reading file' in a computer operation interface, loading scanned CT scanning data of the long tubular bone fracture of a patient, then selecting a 'loading point cloud' in the computer operation interface, preprocessing by using computer aided design software and a point cloud technology to generate an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image whole bone point cloud model and eight three-dimensional sphere models with the same structure in a scanning coordinate system, and displaying in a display screen; the three-dimensional sphere model comprises a first three-dimensional sphere, a second three-dimensional sphere, a third three-dimensional sphere, a fourth three-dimensional sphere, a fifth three-dimensional sphere, a sixth three-dimensional sphere, a seventh three-dimensional sphere and an eighth three-dimensional sphere; the first three-dimensional sphere, the second three-dimensional sphere, the third three-dimensional sphere and the fourth three-dimensional sphere correspond to a first marker ball, a second marker ball, a third marker ball and a fourth marker ball on the proximal bone block needle clamp, and the fifth three-dimensional sphere, the sixth three-dimensional sphere, the seventh three-dimensional sphere and the eighth three-dimensional sphere correspond to a fifth marker ball, a sixth marker ball, a seventh marker ball and an eighth marker ball on the distal bone block needle clamp;
step two: matching calculation
Selecting matching calculation in a computer operation interface, carrying out three-dimensional matching on the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image bone-setting point cloud model obtained in the step one, adopting a closest point iteration algorithm, wherein matching characteristics come from parts with rich characteristics at two ends of bones, generating a matching point cloud model in a display screen, and generating target resetting pose information of a far-end bone to be reset and pose information of a three-dimensional sphere model;
step three: edge detection
Selecting 'edge detection' in a computer operation interface, executing edge detection on the generated target reset pose information, judging whether the generated target reset pose result can align the edges of bone blocks at two ends (near end and far end) of a fracture line, and executing the next operation on the generated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model if the edge detection result is that the edge of the far end bone block is aligned with the edge of the near end bone block; otherwise, continuing optimization calculation, performing local gradient descent of the target reset pose information on the target reset pose information generated in the previous step, reducing edge dislocation displacement to realize edge alignment, and generating an updated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model;
step four: reduction control for long tubular bone fracture
Moving the motion platform to an initial fracture position, namely corresponding to the original far-end bone block and near-end bone block point cloud model positions in the first step, and mapping the pose information and the target pose information of the three-dimensional sphere model and the relative motion between the motion platform at the tail end of the robot and the base;
a user executes non-automatic operation or semi-automatic operation according to actual conditions to obtain the movement angle and the movement length of the movement platform along a three-dimensional coordinate system or the variation of six-axis movement, then selects 'far-end reset' in a computer operation interface on the basis of an initial fracture pose, forms a navigation path for fracture reset according to a parallel mechanism kinematic algorithm in the field of robotics and the obtained movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of six single-axis movements, so that a far-end bone block is reset to be correct in pose according to the formed navigation path and is aligned with an anatomical axis of a near-end bone block, and the distance between two broken ends in the axis direction is unchanged; the distal bone piece is then retracted in the axial direction so that the distal and proximal bone piece edges are aligned, thereby completing the reduction motion.
Further, the non-automatic operation comprises the following steps:
manually inputting the motion angle and the motion length of the motion platform along a three-dimensional coordinate system in a 'set platform motion' interface of a computer operation interface according to the matching point cloud model, the target reset pose information and the pose information of the three-dimensional sphere model obtained in the step three, so that displacement change is relatively carried out on each single axis to realize pose following of the motion platform, and the input data are the relative position and the pose of the parallel six-axis robot relative to the current pose; or displacement variable quantities of six single shafts of the robot are set in a single-shaft movement setting interface, and the pose change of the robot tail end movement platform is driven by the change of the relative positions of the six single shafts.
Further, the semi-automatic operation comprises the following steps:
selecting a left side mode or a right side mode of a fracture reduction operation part in a computer operation interface for determining reduction of the fracture of the long tubular bone of the left leg or the right leg, selecting loading matching data in the computer operation interface according to the matching point cloud model, the target reduction pose information and the pose information of the three-dimensional sphere model obtained in the step three, and calculating by the system according to the relative initial relation and the target relation of two groups of pin clamp coordinate systems of the near-end bone block and the far-end bone block to obtain the movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of six-axis movement required by the movement platform coordinate system to reach the target reduction pose.
Further, when the distal bone block and the proximal bone block are inserted or dislocated, the fourth step further comprises before performing the "distal reduction": and selecting 'far-end stretching' in a computer operation interface on the basis of an initial fracture pose, simultaneously moving the six shafts, and stretching the far-end bone block to the direction far away from the near-end bone block along the anatomical axis direction of the far-end bone block by the motion platform to enable the distance between the two ends to be 2-5 mm.
Further, the semi-automatic operation further includes, after "obtaining the movement angle and the movement length of the moving platform along the three-dimensional coordinate system or the variation of the six-axis movement": and on the basis of the obtained motion angle and motion length of the motion platform along the three-dimensional coordinate system or the six-axis motion variation, manually inputting the motion angle and motion length of the motion platform along the three-dimensional coordinate system in a 'setting platform motion' interface of a computer operation interface or setting the six-axis displacement variation of the robot in the 'setting single-axis motion' interface according to the matching point cloud model, the target reset pose information and the pose information of the three-dimensional sphere model obtained in the step three, thereby further manually adjusting the motion variation of the motion platform and/or the six-axis motion variation.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
according to the method, a visual operating system is used for generating CT scanning data of the long tubular bone fracture of the patient into an original far-end bone block point cloud model, a near-end bone block point cloud model and an opposite-side mirror image bone shaping point cloud model under a three-dimensional coordinate system, and when the fracture reduction movement is planned, the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite-side mirror image bone shaping point cloud model are matched by using matching calculation, so that matched models can be accurately generated, and the main and objective errors of images are effectively avoided;
the edges of bone blocks at two ends (near end and far end) of a fracture line are aligned through the edge detection module, so that the phenomenon that the edges are not aligned in the fracture reduction process is effectively avoided, and the bone block collision in the reduction process caused by inaccurate reduction is avoided;
and the motion platform of the parallel six-axis robot operation platform and the six single axes can realize the motion of joint space and the motion of terminal working space, and can realize accurate adjustment and positioning.
Drawings
FIG. 1 is a schematic structural diagram of a parallel six-axis robot reduction navigation system for long tubular bone fracture according to the present invention;
FIG. 2 is a schematic view of an operation interface of a parallel six-axis robot reduction navigation method for long tubular bone fracture according to an embodiment;
FIG. 3 is a schematic diagram of a model of a lower tibia end of a patient, a model of an upper tibia end of the patient and eight three-dimensional spheres generated in the first step of a parallel six-axis robot reduction navigation method for long tubular bone fracture according to an embodiment in a scanning coordinate system;
FIG. 4 is a schematic diagram of a distal bone pin clamp and a proximal bone pin clamp of the parallel six-axis robot reduction navigation method for long tubular bone fracture according to the embodiment;
FIG. 5 is a schematic diagram of the original point cloud and mirror point cloud models generated in step one of the embodiments;
FIG. 6 is a schematic diagram of the original point cloud and the matching point cloud model generated in the second step of the embodiment, wherein the point cloud models of the original proximal bone block and the distal bone block are shown on the left side of the diagram, and the matching point cloud model is shown on the right side of the diagram;
FIG. 7a is a schematic view of the end of the four-robot moving to the initial position of the fracture in the example; fig. 7b is a schematic representation of alignment of proximal and distal tibial bone pieces after a reduction has been performed in step four in the right mode; fig. 7c is a schematic illustration of alignment of proximal and distal tibial bone pieces after reduction performed in left mode at step four of the example.
Wherein,
1: first three-dimensional sphere 2: second three-dimensional sphere
3: third three-dimensional sphere 4: fourth three-dimensional sphere
5: the fifth three-dimensional sphere 6: sixth three-dimensional sphere
7: the seventh three-dimensional sphere 8: eighth three-dimensional sphere
9: near-end bone mass point cloud model 10: remote bone block point cloud model
11: contralateral mirror image osteopathic point cloud model 12: parallel six-axis robot
13: the motion platform 14: distal bone block needle clip
15: proximal bone block needle clip 16: base seat
17: the housing 18: single shaft
19: upright post
101: first marker ball 102: second marker ball
103: third marker ball 104: fourth marker ball
105: fifth marker ball 106: sixth marker ball
107: seventh marker ball 108: eighth marker ball
Detailed Description
In order to make the objects, technical solutions, advantages and significant progress of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely below with reference to the drawings provided in the embodiments of the present invention, and it is obvious that all the described embodiments are only some embodiments of the present invention, not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A parallel six-axis robot reduction navigation method for long tubular bone fracture utilizes the following elements shown in figure 1, including an operating system, a display screen and a parallel six-axis robot operating platform which are electrically connected with each other. The parallel six-axis robot operation platform comprises a parallel six-axis robot 12 and a motion platform 13 positioned at the tail end of the robot; the parallel six-axis robot 12 and the motion platform 13 thereof are in serial port communication with the operating system, the operating system is integrated based on the rviz visualization function of ROS, the structure and the motion of the parallel six-axis robot, the visualization of the needle clamp and the marker ball of the far-end bone block and the near-end bone block, the fracture model and the mirror image model, the matching result and the like can be displayed on a display screen, the whole resetting process can be displayed off line or on line, and the user can be helped to generate visual resetting process images before and during the operation. The left frame of fig. 1 shows the elements utilized by the navigation method, and the right frame shows the image matching processing module, the platform motion module, the single-axis motion module and the fracture reduction module included in the operation system, which respectively correspond to four parts of functions of the operation interface.
As shown in fig. 7a, the parallel six-axis robot operating platform further comprises a base 16, on which a housing 17 is disposed, the housing 17 is a regular hexahedron frame structure, and has regular hexahedron side walls, a proximal end close to the bone block, and a distal end far away from the bone block; the inner wall of the shell is provided with 6 displacement slide rails along the axial direction of the shell, and the far ends of the six single shafts 18 of the parallel six-shaft robot 12 are respectively connected to the corresponding displacement slide rails in a sliding manner and can move along the slide rails; each single shaft 18 is connected with a stepping motor, and the operating system controls the stepping motors to further control the single shafts 18 to move along the displacement slide rail to adjust the position and the posture, so that the pose of the motion platform is controlled. The tail end of the single shaft 18 is connected with the bottom of a moving platform 13, and a far-end bone block needle clamp 14 which extends forwards is fixedly arranged at the top of the moving platform 13 and is used for fixing a far-end bone block of a left leg or a right leg. Optionally, the motion platform is respectively provided with a far-end bone block needle clamp 14 for fixing a far-end bone block of the left leg and a far-end bone block needle clamp 14 for fixing a far-end bone block of the right leg, and the far-end bone blocks are fixed on the corresponding far-end bone block needle clamps 14 according to actual needs. One end of the base 16 close to the proximal end of the shell 17 is provided with two upright posts 19 perpendicular to the base 16, and the upright posts 19 are respectively arranged on two sides of the proximal end of the shell; the upper part of the upright 19 is provided with a proximal bone block pin clamp 15 which is parallel to the base 16 and projects forward for fixing the proximal bone block. Therefore, the proximal bone block needle clamps 15 respectively arranged on the two sides of the upright post 19 are respectively suitable for a left side mode and a right side mode, namely suitable for the needs of reduction of left leg long tubular bone fracture or right leg long tubular bone fracture of a patient. The proximal bone pin clamp 15 is provided with a first marker ball 101, a second marker ball 102, a third marker ball 103 and a fourth marker ball 104, and the distal bone pin clamp 14 is provided with a fifth marker ball 105, a sixth marker ball 106, a seventh marker ball 107 and an eighth marker ball 108. The eight marker balls have the same structure.
The method specifically comprises the following steps:
fixedly connecting a far-end bone block and a near-end bone block of a fracture part with a far-end bone block needle clamp 14 and a near-end bone block needle clamp 15 respectively; CT scanning a patient's long tubular bone with a distal bone block needle clamp 14 and a proximal bone block needle clamp 15; before scanning, the distal bone block needle clamp 14 and the proximal bone block needle clamp 15 are inserted into eight marker balls 101-108;
the method comprises the following steps: generating a point cloud model
Selecting a 'reading file' in a computer operation interface as shown in fig. 2, loading the patient long tubular bone data and the CT data of the far-end bone block pin clamp 14 and the near-end bone block pin clamp 15 with eight marking balls, and segmenting the bone block data and the marker data from the CT data, wherein the bone block data comprises a contralateral mirror image bone shaping model, the patient long tubular bone far-end bone block (i.e. the bone block farther away from the heart of the patient) and the patient long tubular bone near-end bone block (i.e. the bone block closer to the heart of the patient), the marker data comprises a first marking ball 101, a second marking ball 102, a third marking ball 103, a fourth marking ball 104, a fifth marking ball 105, a sixth marking ball 106, a seventh marking ball 107 and an eighth marking ball 108 which are identified, and respectively obtaining a corresponding first three-dimensional sphere 1, a second three-dimensional sphere 2, a third three-dimensional sphere 3, a fourth three-dimensional sphere 4, a third three-dimensional sphere 2 and a fourth three-dimensional sphere 108, A fifth three-dimensional sphere 5, a sixth three-dimensional sphere 6, a seventh three-dimensional sphere 7, and an eighth three-dimensional sphere 8. And performing three-dimensional reconstruction on the segmented bone block data and marker data by using meshlab software, storing a reconstruction result as a binary STL grid model file in an operating system, and restoring the far end of the long tubular bone fracture of the patient, the near end model of the long tubular bone fracture of the patient and the eight marker model files through meshlab to generate a model file with a scanning three-dimensional coordinate system for visualization operation.
As shown in fig. 3, the patient's distal long tubular bone fracture model, the patient's proximal long tubular bone fracture model and the eight three-dimensional spheres 1-8 are observed on the display screen at this time, and the bone pieces are separated from the three-dimensional spheres. The patient long tubular bone fracture far-end model and the patient long tubular bone fracture near-end model are positioned in the same scanning three-dimensional coordinate system, and the first three-dimensional sphere 1, the second three-dimensional sphere 2, the third three-dimensional sphere 3 and the fourth three-dimensional sphere 4 are positioned in a near-end bone block needle clamp coordinate system; the fifth three-dimensional sphere 5, the sixth three-dimensional sphere 6, the seventh three-dimensional sphere 7 and the eighth three-dimensional sphere 8 are located in the distal bone block pin holder coordinate system. Fig. 4 shows a schematic diagram of the z-axis of the scanning coordinate system, the coordinate system of the distal bone block needle holder and the coordinate system of the proximal bone block needle holder corresponding to the distal bone block needle holder and the proximal bone block needle holder and the marker balls thereof. Wherein the positive z direction is the same side as the near end, and the negative z direction is the same side as the far end. The x, y directions of the scanning coordinate system are not specially processed. If the far end and the near end are opposite, all broken bones, marker balls and mirror image bone shapes need to be subjected to coordinate transformation in an operating system, otherwise, the problem that correct matching cannot be carried out in the matching process occurs.
Then selecting 'loading point cloud' in a computer operation interface as shown in fig. 2, and preprocessing the 'loading point cloud' by using computer aided design software and point cloud technology to generate an original far-end bone block point cloud model (corresponding to a patient long tubular bone fracture far-end model file), an original near-end bone block point cloud model (corresponding to a patient long tubular bone fracture near-end model file), an opposite side mirror image bone shaping point cloud model and eight three-dimensional ball models 1-8 in respective needle holder coordinate systems as shown in fig. 5, wherein the first three-dimensional ball 1, the second three-dimensional ball 2, the third three-dimensional ball 3 and the fourth three-dimensional ball 4 correspond to a first marker ball 101, a second marker ball 102, a third marker ball 103 and a fourth marker ball 104 on a near-end bone block needle holder, and the fifth three-dimensional ball 5, the sixth three-dimensional ball 6, the seventh three-dimensional ball 7 and the eighth three-dimensional ball 8 correspond to a fifth marker ball 105, a fifth marker ball 105 on a far-end bone block needle holder, A sixth marker ball 106, a seventh marker ball 107 and an eighth marker ball 108.
Step two: match calculation
Selecting matching calculation in a computer operation interface, carrying out three-dimensional matching on the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image bone-setting point cloud model obtained in the step one, adopting a closest point iteration algorithm, wherein matching characteristics come from parts with rich characteristics at two ends of bones, generating a matching point cloud model in a display screen, and generating target resetting pose information of a far-end bone to be reset and pose information of a three-dimensional sphere model;
step three: edge detection
Observing the original far-end bone block and near-end bone block point cloud models and the generated matching point cloud models as shown in FIG. 6 in a computer operation interface, wherein the right graph is the generated matching point cloud model;
selecting 'edge detection' in a computer operation interface, executing edge detection on the generated target reset pose information, judging whether the generated target reset pose result can align the edges of bone blocks at two ends (near end and far end) of a fracture line, and executing the next operation on the generated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model if the edge detection result is that the edge of the far end bone block is aligned with the edge of the near end bone block; otherwise, continuing optimization calculation, performing local gradient descent of the target reset pose information on the target reset pose information generated in the previous step, reducing edge dislocation displacement to realize edge alignment, and generating an updated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model;
step four: reduction control for long tubular bone fracture
Moving the motion platform to an initial position of the fracture, namely corresponding to the original far-end bone block and near-end bone block point cloud model positions in the first step, and mapping the pose information and the target pose information of the three-dimensional sphere model and the relative motion between the motion platform at the tail end of the robot and the base.
The six-axis parallel robot operating system provided by the invention provides two operating modes, one is non-automatic operation, and the other is semi-automatic operation.
In the non-automatic operating case, the user is required to input the amount of change in the motion platform or six-axis motion. As shown in fig. 2, according to the matching point cloud model, the target reset pose information and the pose information of the three-dimensional sphere model obtained in the third step, the motion angle and the motion length of the motion platform along the three-dimensional coordinate system are manually input in a 'platform motion setting' interface of a computer operation interface, so that the single axes relatively carry out displacement change to realize pose following of the motion platform, and the input data are the relative position and pose of the parallel six-axis robot relative to the current pose; the initial position is (0,0,173.64), the initial posture is (0,0,0), the terminal pose following can be realized by inputting required moving data in the 'setting platform motion' and clicking a 'sending' key, and the input data is the relative position and posture of the robot relative to the current posture. Or displacement variable quantities of six single axes of the robot are set in a single axis movement setting interface, and movement is realized by inputting a target relative change value in single axis movement setting and clicking a sending key. The relative position of the six single shafts is changed to drive the pose change of the robot tail end, and the relative position of the six single shafts is changed to drive the pose change of the robot tail end motion platform.
Under the condition of selecting the semi-automatic operation, a user needs to select the operation according to the operation steps, and the system automatically calculates the motion of the motion platform and the corresponding six-axis movement according to the image matching results obtained in the second step and the third step. As shown in fig. 2, a "left side mode" or a "right side mode" is selected in the computer operation interface for determining the reduction of the long tubular bone fracture of the left leg or the right leg, and "loading matching data" is selected in the computer operation interface according to the matching point cloud model, the target reduction pose information and the pose information of the three-dimensional sphere model obtained in the step three, and at the moment, the system calculates the variation of the motion platform and/or the six-axis motion required by the motion platform coordinate system to reach the target reduction pose according to the relative initial relationship and the target relationship of the two sets of pin clamp coordinate systems of the near-end bone block and the far-end bone block.
In addition, after obtaining the movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of six-axis movement under semi-automatic operation, the user can continue to select non-automatic operation, and manually input the movement angle and the movement length of the movement platform along the three-dimensional coordinate system in a platform movement setting interface of a computer operation interface or set the displacement variation of six single axes of the robot in a single axis movement setting interface on the basis of the obtained variation according to a matching point cloud model displayed on a display screen, thereby further manually adjusting the movement variation of the movement platform and/or the six-axis movement.
Then, when the far-end bone block and the near-end bone block are inserted or dislocated, selecting 'fracture reduction control' in a computer operation interface, then selecting 'far-end stretching' in the computer operation interface on the basis of an initial fracture pose, simultaneously moving six single shafts of the parallel six-shaft robot operation platform, stretching the far-end bone block to the direction far away from the near-end bone block along the anatomical axis direction of the far-end bone block by the motion platform to enable the distance between the two ends to be 2-5mm, preferably 2mm, then selecting 'far-end reduction' in the computer operation interface, forming a fracture reduction navigation path according to a parallel mechanism kinematics algorithm in the robotics field and the obtained variation of the motion platform and the six single shafts, enabling the far-end bone block to move to the same anatomical axis as the near-end bone block, and enabling the far-end bone block to be reset to the correct pose according to the formed navigation path, aligning with the dissection axis of the proximal bone block, wherein the distance between two broken ends in the axis direction is unchanged; the distal bone piece is then retracted in the axial direction such that the distal and proximal bone piece edges are aligned, thereby completing the reduction motion. Fig. 7b shows a schematic view of the alignment of the proximal and distal bone pieces of the long tubular bone after reduction has been performed in the right mode;
fig. 7c shows a schematic view of the alignment of the proximal and distal bone pieces of the long tubular bone after reduction has been performed in the left mode. If no insertion or dislocation occurs between the distal and proximal pieces, no additional "distal stretching" step is required.
For clearly showing that the invention has a left side mode and a right side mode, two proximal bone block needle clamps and two distal bone block needle clamps are shown in fig. 7b and 7c, and in practical use, only the proximal bone block needle clamps and the distal bone block needle clamps on the corresponding sides can be installed according to the requirements of the left leg or the right leg of a patient.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made on the technical solutions described in the foregoing embodiments, or some or all of the technical features of the embodiments can be replaced with equivalents, and the corresponding technical solutions do not depart from the technical solutions of the embodiments.
Claims (7)
1. A reduction navigation system of a parallel six-axis robot for long tubular bone fracture is characterized by comprising an operating system, a display screen and a parallel six-axis robot operating platform which are mutually and electrically connected;
the parallel six-axis robot operation platform comprises a parallel six-axis robot (12) and a motion platform (13) positioned at the tail end of the robot; six single shafts (18) of the parallel six-shaft robot (12) are respectively connected with a stepping motor and used for controlling displacement variation of the single shafts on a displacement slide rail according to the operating system so as to adjust the position posture of the moving platform, a far-end bone block pin clamp (14) which extends forwards is arranged at the top of the moving platform (13) and used for fixing a far-end bone block of a left leg or a right leg, the parallel six-shaft robot operating platform further comprises two upright columns which are arranged at two sides of the moving platform, and a near-end bone block pin clamp (15) which extends forwards is arranged at the upper part of each upright column and used for fixing a near-end bone block of a left leg or a right leg of a patient; a first marker ball (101), a second marker ball (102), a third marker ball (103) and a fourth marker ball (104) are arranged on the proximal bone block needle clamp (15), and a fifth marker ball (105), a sixth marker ball (106), a seventh marker ball (107) and an eighth marker ball (108) are arranged on the distal bone block needle clamp (14);
the display screen is used for displaying the visualization and matching results of a computer operation interface, an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image whole bone point cloud model and the first-eighth three-dimensional sphere models of the operation system, so that a user can be helped to generate visual reduction process images before and during operation;
the operation system is used for controlling six single shafts of the parallel six-shaft robot operation platform so as to adjust the pose of the motion platform, match images and cooperate with the reset operation flow of the image matching result; the operating system comprises an image matching processing module, a platform motion module, a single-axis motion module and a fracture reduction module, and the four functions of the operating system correspond to the four parts of the operating interface respectively;
the image matching processing module is used for loading CT scanning data of a long tubular bone fracture of a patient, generating an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image osteopathy point cloud model and first-eighth three-dimensional sphere models and displaying the models in a display screen, carrying out three-dimensional matching on the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image osteopathy point cloud model, adopting a closest point iteration algorithm, enabling matching characteristics to come from parts with rich characteristics at two ends of a bone, and generating a matching point cloud model, target resetting pose information of a far-end bone to be reset and pose information of the three-dimensional sphere models;
the platform motion module is used for setting three-dimensional movement and three-dimensional rotation of the parallel six-axis robot motion platform according to the target reset pose information of the far-end bone to be reset and the pose information of the three-dimensional sphere model calculated by the image matching processing module, so that the position and the posture of the motion platform at the tail end of the robot are adjusted;
the single-axis motion module is used for setting displacement variable quantities of six single axes of the parallel six-axis robot according to target reset pose information of a far-end bone to be reset and pose information of the three-dimensional sphere model calculated by the image matching processing module so as to respectively drive the single axes to horizontally move along the displacement slide rails, and therefore the pose change of a motion platform at the tail end of the robot is driven; and
the fracture reduction module is used for performing non-automatic operation or semi-automatic operation on the variation of the motion platform or six-axis motion according to the matching point cloud model, the target reduction pose information and the pose information of the three-dimensional sphere model obtained by the image matching processing module, selecting 'far-end stretching' in a computer operation interface on the basis of the initial fracture pose, forming a navigation path for fracture reduction according to a parallel mechanism kinematics algorithm in the field of robotics and the obtained motion angle and motion length of the motion platform along a three-dimensional coordinate system or the variation of six single-axis motions, enabling a far-end bone block to be reduced to be correct in posture according to the formed navigation path and aligned with the anatomical axis of a near-end bone block, and keeping the distance between two fracture ends in the axis direction unchanged; the distal bone piece is then retracted in the axial direction so that the affected end and the healthy end edge are aligned, thereby completing the reduction motion.
2. The system for the parallel six-axis robot reduction navigation of long tubular bone fracture according to claim 1, wherein the image matching processing module further comprises an edge detection unit, the edge detection unit is configured to perform edge detection on the generated target reduction pose information, determine whether the generated target reduction pose result can align bone block edges at two ends of the fracture line, and if the edge detection result is that the far-end bone block edge is aligned with the near-end bone block edge, transfer the generated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model to the fracture reduction module to perform the next operation; otherwise, continuing optimization calculation, performing local gradient descent of the target reset pose information on the target reset pose information generated in the previous step, reducing edge dislocation displacement to realize edge alignment, and generating an updated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model.
3. A reduction navigation method of a long tubular bone fracture parallel six-axis robot, characterized in that the reduction navigation system applies the long tubular bone fracture reduction navigation system using the parallel six-axis robot according to claim 1, comprising the steps of:
the method comprises the following steps: generating a point cloud model
Selecting a 'reading file' in a computer operation interface, loading the data of the CT of the long tubular bone fracture of a patient, then selecting a 'loading point cloud' in the computer operation interface, preprocessing by using computer aided design software and a point cloud technology to generate an original far-end bone block point cloud model, an original near-end bone block point cloud model, an opposite side mirror image whole bone point cloud model and eight three-dimensional sphere models with the same structure in a scanning coordinate system, and displaying in a display screen; the three-dimensional sphere model comprises a first three-dimensional sphere (1), a second three-dimensional sphere (2), a third three-dimensional sphere (3), a fourth three-dimensional sphere (4), a fifth three-dimensional sphere (5), a sixth three-dimensional sphere (6), a seventh three-dimensional sphere (7) and an eighth three-dimensional sphere (8); the first three-dimensional sphere (1), the second three-dimensional sphere (2), the third three-dimensional sphere (3) and the fourth three-dimensional sphere (4) correspond to a first marker ball (101), a second marker ball (102), a third marker ball (103) and a fourth marker ball (104) on the proximal bone block pin clamp, and the fifth three-dimensional sphere (5), the sixth three-dimensional sphere (6), the seventh three-dimensional sphere (7) and the eighth three-dimensional sphere (8) correspond to a fifth marker ball (105), a sixth marker ball (106), a seventh marker ball (107) and an eighth marker ball (108) on the distal bone block pin clamp;
step two: matching calculation
Selecting matching calculation in a computer operation interface, carrying out three-dimensional matching on the original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image bone-setting point cloud model obtained in the step one, adopting a closest point iteration algorithm, wherein matching characteristics come from parts with rich characteristics at two ends of bones, generating a matching point cloud model in a display screen, and generating target resetting pose information of a far-end bone to be reset and pose information of a three-dimensional sphere model;
step three: edge detection
Selecting 'edge detection' in a computer operation interface, executing edge detection on the generated target reset pose information, judging whether the generated target reset pose result can align bone block edges at two ends of a fracture line, and executing the next operation on the generated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model if the edge detection result is that the far-end bone block edge is aligned with the near-end bone block edge; otherwise, continuing optimization calculation, performing local gradient descent of the target reset pose information on the target reset pose information generated in the previous step, reducing edge dislocation displacement to realize edge alignment, and generating an updated matching point cloud model, the target pose information and the pose information of the three-dimensional sphere model;
step four: operation and control for fracture reduction
Moving the motion platform to an initial fracture position, namely corresponding to the original far-end bone block and near-end bone block point cloud model positions in the first step, and mapping the pose information and the target pose information of the three-dimensional sphere model and the relative motion between the motion platform at the tail end of the robot and the base;
a user executes non-automatic operation or semi-automatic operation according to actual conditions to obtain the movement angle and the movement length of the movement platform along a three-dimensional coordinate system or the variation of six-axis movement, then selects 'far-end reset' in a computer operation interface on the basis of an initial fracture pose, and forms a fracture reset navigation path according to a parallel mechanism kinematic algorithm in the robotics field and the obtained movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of six single-axis movements, so that a far-end bone block is reset to be correct in pose according to the formed navigation path and is aligned with an anatomical axis of a near-end bone block, and the distance between two broken ends in the axis direction is unchanged; the distal bone piece is then retracted in the axial direction so that the distal and proximal bone piece edges are aligned, thereby completing the reduction motion.
4. The parallel six-axis robot reduction navigation method for long tubular bone fracture according to claim 3, wherein the step four of "non-automatic operation" comprises the following steps:
manually inputting the motion angle and the motion length of the motion platform along a three-dimensional coordinate system in a 'set platform motion' interface of a computer operation interface according to the matching point cloud model, the target reset pose information and the pose information of the three-dimensional sphere model obtained in the step three, so that displacement change is relatively carried out on each single axis to realize pose following of the motion platform, and the input data are the relative position and the pose of the parallel six-axis robot relative to the current pose; or displacement variable quantities of six single shafts of the robot are set in a single-shaft movement setting interface, and the pose change of the robot tail end movement platform is driven by the change of the relative positions of the six single shafts.
5. The six-axis robot reduction navigation method for long tubular bone fracture in parallel according to claim 3, wherein the step four, semi-automatic operation, comprises the following steps:
selecting a left mode or a right mode of a fracture reduction operation part in an operation interface of the computer, determining the reduction of the fracture of the long tubular bone of the left leg or the right leg, selecting loading matching data in the operation interface of the computer according to the matching point cloud model, the target reduction pose information and the pose information of the three-dimensional sphere model obtained in the third step, and calculating by the system according to the relative initial relationship and the target relationship of two groups of pin clamp coordinate systems of the near-end bone block and the far-end bone block to obtain the movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of six-axis movement required by the movement platform coordinate system to reach the target reduction pose.
6. The reduction navigation method of a parallel six-axis robot for long tubular bone fracture according to claim 5, wherein the semi-automatic operation further comprises, after obtaining the movement angle and the movement length of the movement platform along the three-dimensional coordinate system or the variation of the six-axis movement: and C, manually inputting the movement angle and the movement length of the movement platform along the three-dimensional coordinate system in a 'setting platform movement' interface of a computer operation interface or setting the displacement variable quantity of six single axes of the robot in a 'setting single axis movement' interface according to the matching point cloud model, the target reset pose information and the pose information of the three-dimensional sphere model obtained in the step three, thereby further manually adjusting the movement platform and/or the six-axis movement variable quantity.
7. The parallel six-axis robot reduction navigation method for long tubular bone fracture according to claim 3, wherein when the far bone block and the near bone block are inserted or dislocated, the fourth step further comprises before performing the "far reduction": and selecting 'far-end stretching' in a computer operation interface on the basis of an initial fracture pose, simultaneously moving the six shafts, and stretching the far-end bone block to the direction far away from the near-end bone block along the anatomical axis direction of the far-end bone block by the motion platform to enable the distance between the two ends to be 2-5 mm.
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