CN114948223B - Robot-assisted fracture reduction navigation system and method - Google Patents

Robot-assisted fracture reduction navigation system and method Download PDF

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CN114948223B
CN114948223B CN202210566728.5A CN202210566728A CN114948223B CN 114948223 B CN114948223 B CN 114948223B CN 202210566728 A CN202210566728 A CN 202210566728A CN 114948223 B CN114948223 B CN 114948223B
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platform
coordinate system
target
positioning mechanism
robot
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CN114948223A (en
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于洪健
杜志江
温信然
谢东儒
孙社稷
沈祥宇
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
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  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

The invention provides a robot-assisted fracture reduction navigation system and a method, wherein the robot-assisted fracture reduction navigation system comprises a static platform, a movable platform, a first positioning mechanism, a second positioning mechanism, a reduction traction mechanism and an optical tracking mechanism, wherein the static platform and the first positioning mechanism are used for being fixed at the near end of broken bones, the movable platform and the second positioning mechanism are used for being fixed at the far end of broken bones, and the first positioning mechanism and the second positioning mechanism are positioned between the static platform and the movable platform; the optical tracking mechanism is used for monitoring position information of the static platform, the movable platform, the first positioning mechanism, the second positioning mechanism and the reset traction mechanism, and the reset traction mechanism is connected with the static platform and the movable platform and used for driving the movable platform to move relative to the static platform according to the position information. The invention assists the fracture reduction navigation system of the robot to assist the patient in fracture reduction, realizes the real-time acquisition of the motion state of the robot and the fracture reduction, and improves the accuracy, reliability and safety of fracture reduction operation.

Description

Robot-assisted fracture reduction navigation system and method
Technical Field
The invention relates to the technical field of fracture reduction, in particular to a robot-assisted fracture reduction navigation system and method.
Background
Fractures such as tibia fracture, radius fracture and the like have great proportion to traumatic bone diseases, are common in clinic, have high occurrence probability and have long recovery period. Fracture reduction surgery is the most effective method for treating such fractures.
At present, the traditional fracture reduction operation requires a plurality of doctors to pull the muscles of a patient, and the state of broken bones in the reduction process is known by means of X-ray images in the operation, the judgment of the state mainly depends on the experience of the doctors, the problem of low operation precision exists, and the time and the labor are wasted; and because doctors and patients are exposed to X-rays for a long time, the doctors and patients are easily affected by the radiation, and the physical health of the doctors and patients is not facilitated. The fracture reduction operation is performed by using the robot, so that the problem that the state of the robot cannot be known in real time in the operation exists, and the risk of the operation is increased.
Disclosure of Invention
The invention solves the problems that: how to know the state of the robot in real time when the fracture reduction operation is implemented by combining the robot, and the accuracy and the safety of the fracture reduction operation are improved.
In order to solve the problems, the invention provides a robot-assisted fracture reduction navigation system, which comprises a static platform, a movable platform, a first positioning mechanism, a second positioning mechanism, a reduction traction mechanism and an optical tracking mechanism, wherein the static platform and the first positioning mechanism are used for being fixed at the near end of broken bones, the movable platform and the second positioning mechanism are used for being fixed at the far end of broken bones, and the first positioning mechanism and the second positioning mechanism are positioned between the static platform and the movable platform; the optical tracking mechanism is used for monitoring position information of the static platform, the movable platform, the first positioning mechanism, the second positioning mechanism and the reset traction mechanism, and the reset traction mechanism is connected with the static platform and the movable platform and is used for driving the movable platform to move relative to the static platform according to the position information.
Optionally, the robot-assisted fracture reduction navigation system further comprises a three-dimensional scanning imaging mechanism, wherein the three-dimensional scanning imaging mechanism is used for three-dimensionally scanning the fractured bones, the static platform, the movable platform, the first positioning mechanism and the second positioning mechanism so as to construct a three-dimensional image related to the positional relationship between the fractured bones and the static platform, the movable platform, the first positioning mechanism and the second positioning mechanism.
Optionally, the quiet platform includes quiet platform body and first target point, the movable platform includes movable platform body and second target point, quiet platform body with the movable platform body passes through reset traction mechanism connects, first target point sets up quiet platform body is kept away from the one end of movable platform body, the second target point sets up movable platform body is kept away from the one end of quiet platform body.
Optionally, the first positioning mechanism includes a first fixing structure and a third target point, one end of the first fixing structure is connected with the proximal end of the broken bone, and the other end of the first fixing structure is connected with the third target point; the second positioning mechanism comprises a second fixing structure and a fourth target point, one end of the second fixing structure is connected with the broken bone distal end, and the other end of the second fixing structure is connected with the fourth target point.
In order to solve the above problems, the present invention further provides a robot-assisted fracture reduction navigation method, which adopts the robot-assisted fracture reduction navigation system, comprising:
planning a reset path of broken bones;
the position information of the static platform, the movable platform, the first positioning mechanism, the second positioning mechanism and the reset traction mechanism is monitored through an optical tracking mechanism of the robot-assisted fracture reset navigation system;
and controlling the reset traction mechanism to drive the movable platform to move relative to the static platform according to the reset path and the position information so as to realize the reset of the broken bones.
Optionally, the planning a reduction path of a broken bone includes:
acquiring three-dimensional images of the fractured bone and the robot-assisted fracture reduction navigation system disposed at the fractured bone;
and planning the movement paths of the movable platform, the second positioning mechanism and the reset traction mechanism during the bone fracture reset according to the three-dimensional image.
Optionally, the planning the motion paths of the moving platform, the second positioning mechanism and the reset traction mechanism when the fractured bones are reset according to the three-dimensional image includes:
establishing a base coordinate system based on the three-dimensional image;
Establishing a first coordinate system based on the static platform in the three-dimensional image, and determining a first transformation matrix of the first coordinate system relative to the base coordinate system;
establishing a second coordinate system based on the movable platform in the three-dimensional image, and determining a second transformation matrix of the second coordinate system relative to the base coordinate system;
planning the reduction path of the fractured bone based on the base coordinate system in the three-dimensional image, and determining a path series pose point of the distal end of the fractured bone relative to the proximal end of the fractured bone and a first target pose of the second coordinate system relative to the first coordinate system;
establishing a third coordinate system based on a first end of the reset traction mechanism, and determining a third transformation matrix of the third coordinate system relative to the first coordinate system, wherein the reset traction mechanism is provided with the first end connected with the static platform and a second end connected with the movable platform;
establishing a fourth coordinate system based on the second end of the reset traction mechanism, and determining a fourth transformation matrix of the fourth coordinate system relative to the second coordinate system;
and converting the first target pose, and determining a second target pose of the fourth coordinate system moving relative to the third coordinate system.
Optionally, the static platform comprises a third target seat arranged on the static platform body and a fifth target spot arranged on the third target seat, and the movable platform comprises a fourth target seat movably arranged on the movable platform body and a sixth target spot arranged on the fourth target seat; according to the reset path and the position information, controlling the reset traction mechanism to drive the movable platform to move relative to the static platform so as to realize the reset of the broken bone comprises the following steps:
establishing a fifth coordinate system based on the fifth target point in the three-dimensional image, and determining a fifth transformation matrix of the fifth coordinate system relative to the third coordinate system; establishing a sixth coordinate system based on the sixth target point in the three-dimensional image, and determining a sixth transformation matrix of the sixth coordinate system relative to the fourth coordinate system;
determining a third target pose of the sixth coordinate system moving relative to the fifth coordinate system according to the second target pose;
comparing the second target pose with the third target pose, and when the motion of the movable platform relative to the static platform exceeds the reset path of the broken bone, the optical tracking mechanism guides the reset traction mechanism to perform first error compensation of the motion of the movable platform relative to the static platform.
Optionally, after the optical tracking mechanism directs the reset traction mechanism to perform the first error compensation of the motion of the moving platform relative to the static platform, controlling the reset traction mechanism to drive the moving platform to move relative to the static platform according to the reset path and the position information, so as to realize the reset of the fractured bone further includes:
when the bone needle connecting the broken bone distal end and the movable platform and/or the bone needle connecting the broken bone proximal end and the static platform are deformed, the optical tracking mechanism guides the reset traction mechanism to perform second error compensation of the movement of the movable platform relative to the static platform.
Optionally, after the obtaining of the three-dimensional image about the fractured bone and the robot-assisted fracture reduction navigation system disposed at the fractured bone, before planning the movement paths of the moving platform, the second positioning mechanism and the reduction traction mechanism during the fracture reduction according to the three-dimensional image, the planning the reduction path of the fractured bone further includes:
registering the three-dimensional image.
Compared with the prior art, the invention has the following beneficial effects: therefore, compared with the traditional fracture reduction operation that at least two doctors need to drag patient muscles and the like, the robot-assisted fracture reduction navigation system in the embodiment forms a robot such as a parallel robot through the static platform, the movable platform and the reduction traction mechanism, so that six-degree-of-freedom motion of the movable platform relative to the static platform is realized, accurate reduction of fractured bones under the traction of the robot is ensured, time and labor are saved, and the robot-assisted fracture reduction navigation system is convenient to control. By arranging the first positioning mechanism and the second positioning mechanism at the proximal end and the distal end of the fractured bone respectively, under the condition that the relative positions of the movable platform and the static platform cannot accurately show the motion path of fractured bone reduction, the relative positions of the proximal end of the fractured bone where the first positioning mechanism is positioned and the distal end of the fractured bone where the second positioning mechanism is positioned and the reduction path of the distal end of the fractured bone can be accurately reflected through the first positioning mechanism and the second positioning mechanism, and the precision and the reliability of fractured bone reduction can be improved; and the relative positions of the first positioning mechanism and the second positioning mechanism can be mutually verified with the relative positions of the static platform and the movable platform, so that the applicability of the corresponding surgical instrument (such as bone needles for connecting the platform and broken bones, such as Kirschner wires) can be conveniently detected. The position information of the static platform, the movable platform, the first positioning mechanism and the second positioning mechanism is monitored in real time by arranging the optical tracking mechanism so as to know the states of the robot and broken bones in real time; the corresponding position information is compared with the previously planned broken bone reset path, so that whether the movement of the far end of the broken bone relative to the near end of the broken bone is planned in a composite mode or not is judged, the movement of the reset traction mechanism can be guided, and the accuracy of broken bone reset is ensured. In addition, compared with the prior art that a doctor needs to perform fracture reduction surgery by means of X-ray images for a long time in surgery, in the embodiment, the X-ray images are used for planning a broken bone reduction path, and the like, and then the position information of the static platform, the movable platform, the first positioning mechanism and the second positioning mechanism which are monitored by the optical tracking mechanism in real time can be converted into corresponding images to guide the reduction of broken bones, so that the situation that the doctor is exposed to X-rays and the like for a long time to harm the health of the doctor can be effectively avoided.
Drawings
FIG. 1 is a schematic diagram of a robot-assisted fracture reduction navigation system in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a configuration of another view of a robot-assisted fracture reduction navigation system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a further view of a robot-assisted fracture reduction navigation system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first positioning mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a standard backing plate in an embodiment of the present invention;
FIG. 6 is a flow chart of a robot-assisted fracture reduction navigation method in an embodiment of the present invention;
FIG. 7 is a sub-flowchart of step 100 in an embodiment of the present invention;
FIG. 8 is a sub-flowchart of step 130 in an embodiment of the present invention;
FIG. 9 is a sub-flowchart of step 300 in an embodiment of the present invention;
FIG. 10 is a sub-flowchart of step 100 in another embodiment of the present invention.
Reference numerals illustrate:
1-a static platform, 11-a static platform body, 12-a first target point, 13-a third target seat and 14-a fifth target point; 2-moving platform, 21-moving platform body, 22-second target, 23-fourth target seat and 24-sixth target; 3-resetting the traction mechanism; 4-a first positioning mechanism, 41-a first fixing structure, 42-a third target point and 43-a first target seat; 5-a second positioning mechanism, 51-a second fixing structure, 52-a fourth target point and 53-a second target seat; 6-calibrating a target seat, 61-seventh target points and 62-conical holes; 7-breaking bone.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
Referring to fig. 1-3, an embodiment of the present invention provides a robot-assisted fracture reduction navigation system, which includes a static platform 1, a moving platform 2, a first positioning mechanism 4, a second positioning mechanism 5, a reduction traction mechanism 3 and an optical tracking mechanism, wherein the static platform 1 and the first positioning mechanism 4 are fixed at the proximal end of a fractured bone 7, the moving platform 2 and the second positioning mechanism 5 are fixed at the distal end of the fractured bone 7, and the first positioning mechanism 4 and the second positioning mechanism 5 are located between the static platform 1 and the moving platform 2; the optical tracking mechanism is used for monitoring the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4, the second positioning mechanism 5 and the reset traction mechanism 3, and the reset traction mechanism 3 is connected with the static platform 1 and the movable platform 2 and used for driving the movable platform 2 to move relative to the static platform 1 according to the position information.
In this embodiment, the robot-assisted fracture reduction navigation system is used for the reduction of fracture of a patient and other scenes. Specifically, the static platform 1 of the robot-assisted fracture reduction navigation system is used for being fixed at the proximal end of a broken bone 7 of a patient (for example, the broken bone 7 is broken into two parts, wherein one part which is closer to the heart is marked as the proximal end of the broken bone 7, the other part is marked as the distal end of the broken bone 7), the movable platform 2 is used for being fixed at the distal end of the broken bone 7, and the reduction traction mechanism 3 is used for connecting and driving the movable platform 2 and the static platform 1; because the static platform 1 is fixed relative to the patient's trunk (and the static platform 1 is generally fixed with the operating table), the reset traction mechanism 3 mainly plays a role in driving the movable platform 2 to move relative to the static platform 1 (such as pitching, rolling and yawing six degrees of freedom movement), so that accurate reset of the far end of the broken bone 7 where the movable platform 2 is positioned relative to the near end of the broken bone 7 where the static platform 1 is positioned is realized. Wherein the static platform 1, the movable platform 2 and the reset traction mechanism 3 form a robot such as a parallel robot so as to realize six-degree-of-freedom movement of the movable platform 2 relative to the static platform 1; the static platform 1 and the movable platform 2 are preferably annular, so that the static platform 1 and the movable platform 2 are sleeved at the broken bone 7 to be connected with the broken bone 7 stably; by adopting the robot to assist the patient in bone fracture reduction, the precision of operation can be improved, the trauma of the patient is smaller, and the corresponding complications of operation can be reduced.
The first positioning mechanism 4 is used for being fixed at the proximal end of the broken bone 7, the second positioning mechanism 5 is used for being fixed at the distal end of the broken bone 7, the first positioning mechanism 4 and the second positioning mechanism 5 are located between the static platform 1 and the movable platform 2, and the first positioning mechanism 4 and the second positioning mechanism 5 are not in contact with the robot formed by the static platform 1, the movable platform 2 and the reset traction mechanism 3, that is, the static platform 1, the first positioning mechanism 4, the second positioning mechanism 5 and the movable platform 2 are arranged at intervals in sequence, so that the first positioning mechanism 4 and the second positioning mechanism 5 are prevented from interfering the motion of the parallel robot. Because in the reduction process of the fracture of the broken bone 7 assisted by the robot, the bone needle (the platform is connected with the broken bone 7 through the bone needle) fixedly connected with the platform (the static platform 1 and/or the movable platform 2) can be deformed due to the traction effect of the muscle of the broken bone 7 against the robot, and the relative position of the movable platform 2 and the static platform 1 and the movement path of the movable platform 2 can not accurately reflect the movement path of the far end of the broken bone 7 in the reduction process, the accuracy (or precision) and the reliability of the reduction of the broken bone 7 can be improved by arranging the robot which is not contacted with the static platform 1, the movable platform 2 and the reduction traction mechanism 3 and the movement of which is respectively influenced by the near end and the far end of the broken bone 7 by the first positioning mechanism 4 and the second positioning mechanism 5.
The optical tracking mechanism is used for monitoring the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4, the second positioning mechanism 5 and the reset traction mechanism 3 in real time so as to judge whether the motion of the far end of the broken bone 7 relative to the near end of the broken bone 7 is planned in a compound way or not by comparing the corresponding position information with a planned broken bone 7 reset path in advance, and can play a role in guiding the motion of the reset traction mechanism 3, namely, the reset traction mechanism 3 drives the movable platform 2 to move relative to the static platform 1 according to the planned broken bone 7 reset path according to the corresponding position information obtained by the real-time monitoring of the optical tracking mechanism. If the optical tracking mechanism monitors that the movement of the distal end of the fractured bone 7 deviates from the previously planned fractured bone 7 reset path, the reset traction mechanism 3 can be guided to correct the movement of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7, so that the movement of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7 returns to the previously planned fractured bone 7 reset path, and the accuracy of the fractured bone 7 reset is ensured.
Therefore, compared with the traditional fracture reduction operation that at least two doctors need to drag patient muscles and the like, the robot-assisted fracture reduction navigation system in the embodiment forms a robot such as a parallel robot through the static platform 1, the movable platform 2 and the reduction traction mechanism 3, so that six-degree-of-freedom movement of the movable platform 2 relative to the static platform 1 is realized, accurate reduction of the broken bone 7 under the traction of the robot is ensured, and the robot-assisted fracture reduction navigation system is time-saving, labor-saving and convenient to operate. By arranging the first positioning mechanism 4 and the second positioning mechanism 5 at the proximal end and the distal end of the broken bone 7 respectively, under the condition that the relative positions of the movable platform 2 and the static platform 1 cannot accurately show the reset motion path of the broken bone 7, the relative positions of the proximal end of the broken bone 7 where the first positioning mechanism 4 is positioned and the distal end of the broken bone 7 where the second positioning mechanism 5 is positioned and the reset path of the distal end of the broken bone 7 can be accurately reflected through the first positioning mechanism 4 and the second positioning mechanism 5, and the reset precision and reliability of the broken bone 7 can be improved; and the relative positions of the first positioning mechanism 4 and the second positioning mechanism 5 can be mutually verified with the relative positions of the static platform 1 and the movable platform 2, so that the applicability of the corresponding surgical instrument (such as bone needles for connecting the platform and the broken bones 7, such as Kirschner wires) can be conveniently detected. The optical tracking mechanism is arranged to monitor the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5 in real time so as to know the states of the robot and the broken bones 7 in real time; the corresponding position information is compared with the previously planned reduction path of the broken bone 7, so that whether the movement of the far end of the broken bone 7 relative to the near end of the broken bone 7 is planned in a compound mode or not is judged, the movement of the reduction traction mechanism 3 can be guided, and the accuracy of reduction of the broken bone 7 is ensured. In addition, compared with the prior art that a doctor needs to perform fracture reduction surgery by means of an X-ray image for a long time in surgery, in the embodiment, the doctor can use the image such as the X-ray image when planning the reduction path of the fractured bone 7, and then can convert the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5 monitored by the optical tracking mechanism in real time into the corresponding images to guide the reduction of the fractured bone 7, so that the situation that the doctor is harmed to the health of the doctor due to long-term exposure to the X-ray image can be effectively avoided.
Optionally, the robot-assisted fracture reduction navigation system further comprises a three-dimensional scanning imaging mechanism, wherein the three-dimensional scanning imaging mechanism is used for three-dimensionally scanning the fractured bone 7, the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5 to construct a three-dimensional image related to the position relationship between the fractured bone 7 and the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5.
In the present embodiment, the three-dimensional scanning imaging means includes means such as a CT machine capable of scanning to obtain a three-dimensional image including spatial three-dimensional coordinate information of the robot-assisted fracture reduction navigation system and the fractured bones 7 of the patient. In the following, a three-dimensional scanning imaging mechanism is described by taking a CT machine (such as CBCT and spiral CT) as an example, after the robot-assisted fracture reduction navigation system is installed at the fractured bone 7 of the patient, the fractured bone 7 of the patient is scanned by the CT machine, and then the obtained CT image is subjected to three-dimensional reconstruction by the three-dimensional scanning imaging mechanism (or other devices), so as to obtain a three-dimensional image about the positional relationship between the fractured bone 7 and the static platform 1, the moving platform 2, the first positioning mechanism 4 and the second positioning mechanism 5, so as to be used for planning the reduction path of the fractured bone 7 of the patient (wherein, the planning of the reduction path of the fractured bone 7 can be realized by planning the movement paths of the static platform 1, the moving platform 2, the first positioning mechanism 4 and the second positioning mechanism 5).
Optionally, as shown in fig. 1-3, the static platform 1 includes a static platform body 11 and a first target point 12, the movable platform 2 includes a movable platform body 21 and a second target point 22, the static platform body 11 and the movable platform body 21 are connected through a reset traction mechanism 3, the first target point 12 is disposed at one end of the static platform body 11 far away from the movable platform body 21, and the second target point 22 is disposed at one end of the movable platform body 21 far away from the static platform body 11.
In this embodiment, the first target 12 and the second target 22 are respectively disposed on the static platform body 11 and the dynamic platform body 21, and along the extension direction of the broken bone 7, the first target 12 and the second target 22 are respectively disposed at two ends of the robot. By setting the first target point 12 and the second target point 22, in the three-dimensional image of the three-dimensional scanning imaging mechanism for constructing the position relation between the broken bone 7 and the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5, corresponding coordinate systems are respectively built based on the first target point 12 and the second target point 22, so that the movement of the movable platform 2 relative to the static platform 1 is planned based on the two coordinate systems, and the planning of the broken bone 7 path is realized.
Optionally, the first target 12 and the second target 22 are both in spherical structures (such as steel balls), the steel balls on the movable platform body 21 are detachably connected with the movable platform body 21 (for example, through fasteners), and the steel balls on the static platform body 11 are detachably connected with the static platform body 11 (for example, through fasteners), so that the positions of the first target 12 and the second target 22 on the corresponding platforms can be adjusted to adapt to different requirements. The first target 12 and the second target 22 are provided with at least three, the three first targets 12 cannot be collinear or approximately collinear, and the distances between the first targets 12 and the second targets are as far as possible on the static platform body 11, so that a corresponding coordinate system (described below) is established based on the first targets 12, and the amplification of corresponding calibration errors is reduced; the three second targets 22 are likewise not collinear or approximately collinear, and are spaced as far apart as possible from one another on the stationary platform body 11, so as to establish a corresponding coordinate system (described below) based on the second targets 22 and to reduce the magnification of the corresponding calibration errors. In some embodiments, four first targets 12 and four second targets 22 are provided, where the fourth first target 12 (second target 22) can perform verification on the registration of the three-dimensional images and the corresponding coordinate system constructed based on the other three first targets 12 (second targets 22). The first target point 12 and the second target point 22 are spherical steel balls, and the advantages are two, namely, the calibration of the steel balls and the optical tracking mechanism is conveniently realized by designing the conical calibration target seat 6; and secondly, the spherical steel ball can reduce errors in the process of calibrating the center of the ball by a mathematical method such as a least square method and the like, and improve the identification error of the center of the ball, thereby improving the precision of the system.
Alternatively, as shown in fig. 1-4, the first positioning mechanism 4 includes a first fixing structure 41 and a third target point 42, where one end of the first fixing structure 41 is connected to the proximal end of the fractured bone 7, and the other end is connected to the third target point 42; the second positioning mechanism 5 comprises a second fixing structure 51 and a fourth target point 52, one end of the second fixing structure 51 is connected with the distal end of the broken bone 7, and the other end of the second fixing structure is connected with the fourth target point 52.
In this embodiment, the first positioning mechanism 4 and the second positioning mechanism 5 are both fixed on the fractured bone 7 along the direction perpendicular to the extending direction of the fractured bone 7, so that the third target point 42 and the fourth target point 52 are both located on the side of the robot, so that the optical tracking mechanism can monitor the positions and movements of the first positioning mechanism 4 and the second positioning mechanism 5 in real time, and monitor the movement and the position of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7. The first fixing structure 41 and the second fixing structure 51 may be structures suitable for fixing to the fractured bone 7, such as bone pins, or clamping structures suitable for clamping to the fractured bone 7.
Optionally, as shown in fig. 1-4, the first positioning mechanism 4 further includes a first target holder 43, where the first target holder 43 is disposed at an end of the first fixing structure 41 away from the proximal end of the fractured bone 7, and a plurality of third targets 42 are disposed at an end of the first target holder 43 away from the first fixing structure 41; the second positioning mechanism 5 further includes a second target seat 53, where the second target seat 53 is disposed at an end of the second fixing structure 51 away from the distal end of the fractured bone 7, and a plurality of fourth targets 52 are disposed at an end of the second target seat 53 away from the second fixing structure 51. The third target point 42 and the fourth target point 52 are preferably spherical, so that the optical tracking mechanism can visually identify the spherical point, and accordingly accuracy of coordinate calibration of the spherical point is improved, and accordingly a corresponding coordinate system can be conveniently established according to the third target point 42 and the fourth target point 52 to verify the reduction path of the fractured bone 7 by combining the three-dimensional images.
Optionally, as shown in fig. 1-3, the static platform 1 further includes a third target seat 13 movably disposed on the static platform body 11 and a fifth target spot 14 disposed on the third target seat 13, and the movable platform 2 further includes a fourth target seat 23 disposed on the movable platform body 21 and a sixth target spot 24 disposed on the fourth target seat 23.
The reset traction mechanism 3 has a first end connected to the stationary platform 1 and a second end connected to the movable platform 2. In this embodiment, the third target seat 13 and the fourth target seat 23 are detachably connected with the static platform body 11 and the moving platform body 21 respectively, the fifth target point 14 is disposed at one end of the third target seat 13 far away from the static platform body 11, the sixth target point 24 is disposed at one end of the fourth target seat 23 far away from the moving platform body 21, and the fifth target point 14 and the sixth target point 24 are both located at the side of the robot, so that the optical tracking mechanism can monitor the positions and movements of the fifth target point 14 and the sixth target point 24 in real time, so as to monitor the positions and movements of the static platform 1 and the first end of the reset traction mechanism 3 connected with the static platform 1, and monitor the positions and movements of the moving platform 2 and the second end of the reset traction mechanism 3 connected with the moving platform 2. By arranging the fifth target 14 and the sixth target 24, and fixing the fifth target 14 and the first target 12 relative to the static platform 1 so as to determine a transformation relation (transformation matrix) of a coordinate system established based on the fifth target 14 relative to a coordinate system established based on the first target 12, so as to reflect the movements of the static platform 1, the first target 12 and the first end of the reset traction mechanism 3 by monitoring the movements of the fifth target 14; the sixth target 24 and the second target 22 are both fixed relative to the movable platform 2 in order to determine a transformation relation (transformation matrix) of the coordinate system established based on the sixth target 24 relative to the coordinate system established based on the second target 22 to reflect the movement of the movable platform 2, the second target 22 and the second end of the reset traction mechanism 3 by monitoring the movement of the sixth target 24.
Alternatively, as shown in fig. 1-3, the first end of the reset traction mechanism 3 is rotatably connected with the static platform 1 through a hinge, and the second end of the reset traction mechanism is rotatably connected with the moving platform 2 through a hinge, so that six-degree-of-freedom motion of the moving platform 2 of the robot relative to the static platform 1 is realized.
Referring to fig. 1-3 and 6, another embodiment of the present invention provides a robot-assisted fracture reduction navigation method, which adopts the above-mentioned robot-assisted fracture reduction navigation system, comprising the following steps:
step 100, planning a reset path of broken bones 7.
Specifically, after the robot assisted fracture reduction navigation system is installed at the fractured bone 7 of a patient, scanning the fractured bone 7 of the patient through a three-dimensional scanning imaging mechanism to obtain a three-dimensional image about the position relationship between the fractured bone 7 and the static platform 1, the dynamic platform 2, the first positioning mechanism 4 and the second positioning mechanism 5; therefore, the reduction path of the broken bone 7 is planned based on the three-dimensional image, and the convenience of planning the reduction path of the broken bone 7 is improved.
And 200, monitoring the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4, the second positioning mechanism 5 and the reset traction mechanism 3 through an optical tracking mechanism of the robot-assisted fracture reset navigation system.
Specifically, the optical tracking mechanism is used for monitoring the position information of the static platform 1, the movable platform 2, the first positioning mechanism 4, the second positioning mechanism 5 and the reset traction mechanism 3 in real time, so as to reflect the corresponding reset state of the broken bone 7 through the position and movement information of the static platform 1, the movable platform 2, the first positioning mechanism 4, the second positioning mechanism 5, the reset traction mechanism 3 and the like.
And 300, controlling the reset traction mechanism 3 to drive the movable platform 2 to move relative to the static platform 1 according to the reset path and the position information so as to reset the broken bone 7.
In this step, according to the planned reset path of the broken bone 7 and the position information of the static platform 1, the moving platform 2, the first positioning mechanism 4 and the second positioning mechanism 5 obtained by real-time monitoring of the optical tracking mechanism, the reset traction mechanism 3 is controlled to drive the moving platform 2 to move relative to the static platform 1. Specifically, by comparing the corresponding position information with a previously planned fractured bone 7 reset path, whether the motion of the far end of the fractured bone 7 relative to the near end of the fractured bone 7 is compositely planned or not is judged, so that the motion of the reset traction mechanism 3 is guided, namely the reset traction mechanism 3 drives the movable platform 2 to move relative to the static platform 1 according to the previously planned fractured bone 7 reset path according to the corresponding position information obtained by real-time monitoring of the optical tracking mechanism; if the optical tracking mechanism monitors that the movement of the distal end of the fractured bone 7 deviates from the previously planned fractured bone 7 reset path, the reset traction mechanism 3 can be guided to correct the movement of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7, so that the movement of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7 returns to the previously planned fractured bone 7 reset path, the accuracy of the fractured bone 7 reset is ensured, and the accurate reset of the fractured bone 7 is realized.
Optionally, as shown in conjunction with fig. 6 and 7, step 100 specifically includes the following steps:
step 110, acquiring three-dimensional images of a fractured bone 7 and a robot-assisted fracture reduction navigation system arranged at the fractured bone 7;
and 130, planning the movement paths of the movable platform 2, the second positioning mechanism 5 and the reset traction mechanism 3 during the reset of the fractured bones 7 according to the three-dimensional image.
Specifically, after the robot-assisted fracture reduction navigation system is installed at the fractured bone 7 of the patient, the fractured bone 7 of the patient is scanned by a three-dimensional scanning imaging mechanism, such as a CT machine, to obtain a three-dimensional image about the positional relationship of the fractured bone 7 with the static platform 1, the dynamic platform 2, the first positioning mechanism 4, and the second positioning mechanism 5. Thereafter, a reduction path of the fractured bones 7 is planned based on the three-dimensional image, for example, the planning of the reduction path of the fractured bones 7 is realized by planning the movement paths of the static platform 1, the movable platform 2, the first positioning mechanism 4 and the second positioning mechanism 5. Thus, the convenience of planning the reduction path of the broken bone 7 is improved.
Optionally, as shown in conjunction with fig. 7 and 8, step 130 specifically includes the following steps:
step 131, a base coordinate system is established based on the three-dimensional image.
Specifically, a base coordinate system (reference coordinate system) is established in the three-dimensional image.
Step 132, a first coordinate system is established based on the static platform 1 in the three-dimensional image, and a first transformation matrix of the first coordinate system relative to the base coordinate system is determined.
Specifically, a first coordinate system CF is established in the three-dimensional image through a first target point 12 on the stationary platform body 11 CT_base Determining (calibrating) the transformation (first transformation matrix) of the first coordinate system relative to the base coordinate system of the three-dimensional image as
And step 133, establishing a second coordinate system based on the movable platform 2 in the three-dimensional image, and determining a second transformation matrix of the second coordinate system relative to the base coordinate system.
Specifically, a second coordinate system CF is established in the three-dimensional image through a second target point 22 on the movable platform body 21 CT_move Determining (calibrating) the transformation (second transformation matrix) of the second coordinate system relative to the base coordinate system of the three-dimensional image as
Step 134, planning a reduction path of the broken bone 7 based on the base coordinate system in the three-dimensional image, and determining a path series pose point of the distal end of the broken bone 7 relative to the proximal end of the broken bone 7 and a first target pose of the second coordinate system relative to the first coordinate system.
Specifically, the fractured bone 7 is subjected to reduction path planning based on the three-dimensional image so as to obtain a series of pose points T of the path of the distal end of the fractured bone 7 relative to the proximal end of the fractured bone 7 in a reduction mode target The method comprises the steps of carrying out a first treatment on the surface of the According to T target Determining the coordinate system of the second target point 22 (i.e. the second coordinate system) of the moving platform 2 relative toFirst target pose T of first target point 12 coordinate system (namely first coordinate system) motion of static platform 1 target_CT There is
Step 135, the reset traction mechanism 3 has a first end connected with the static platform 1 and a second end connected with the movable platform 2, a third coordinate system is established based on the first end of the reset traction mechanism 3, and a third transformation matrix of the third coordinate system relative to the first coordinate system is determined.
Specifically, a third coordinate system CF is established in the three-dimensional image by the first end of the reset traction mechanism 3 connected to the stationary platform body 11 robot_base A third coordinate system CF is established, for example, based on the center point of the hinge at the first end of the three-dimensional image for connecting the return traction mechanism 3 with the stationary platform body 11 robot_base The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a first coordinate system CF in the three-dimensional image by a common registration method CT_base Relative to a third coordinate system CF robot_base Is a transformation relation (third transformation matrix) robot_ base T CT_base There is
robot_base T CT_base ＝ robot_base T ball_base ball_base T CT_base 。
Step 136, a fourth coordinate system is established based on the second end of the reset traction mechanism 3, and a fourth transformation matrix of the fourth coordinate system relative to the second coordinate system is determined.
Specifically, a fourth coordinate system CF is established in the three-dimensional image by the second end of the reset traction mechanism 3 connected to the movable platform body 21 robot_move The fourth coordinate system CF is established, for example, based on the center point of the hinge for connecting the return traction mechanism 3 and the movable platform body 21 at the second end in the three-dimensional image robot_move The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a second coordinate system CF in the three-dimensional image by a common registration method CT_move With respect to the fourth coordinate system CF robot_move Is a transformation relation (fourth transformation matrix) robot_ move T CT_move There is robot_move T CT_move ＝ robot_move T ball_move ball_move T CT_move 。
Step 137, converting the first target pose, and determining the second target pose of the fourth coordinate system moving relative to the third coordinate system.
Specifically, the first target pose T target_CT Converting to a robot coordinate system in the three-dimensional image (based on the third coordinate system and the fourth coordinate system) to obtain a second target pose T of the movement of the fourth coordinate system of the robot relative to the third coordinate system in the three-dimensional image target_robot There is
T target_robot ＝ robot_base T CT_base ·T target_CT ·( robot_move T CT_move ) -1 。
Therefore, the planning of the reduction path of the broken bone 7 is realized by the planning robot moving according to the two target poses.
Optionally, as shown in connection with fig. 6 and 9, step 300 includes the steps of:
step 310, establishing a fifth coordinate system based on a fifth target point 14 in the three-dimensional image, and determining a fifth transformation matrix of the fifth coordinate system relative to the third coordinate system; a sixth coordinate system is established based on a sixth target point 24 in the three-dimensional image, and a sixth transformation matrix of the sixth coordinate system relative to the fourth coordinate system is determined.
Specifically, a fifth coordinate system CF is established in the three-dimensional image via a fifth target 14 on the stationary platform 1 NDI_base A sixth coordinate system CF is established by a sixth target point 24 on the movable platform 2 NDI_move The method comprises the steps of carrying out a first treatment on the surface of the Determining (calibrating) a transformation (fifth transformation matrix) of the fifth coordinate system with respect to the third coordinate system robot_base T NDI_base Determining (calibrating) a transformation (sixth transformation matrix) of the sixth coordinate system with respect to the fourth coordinate system robot_move T NDI_move 。
And 320, determining a third target pose of the sixth coordinate system moving relative to the fifth coordinate system according to the second target pose.
Specifically, fifth target 14 and sixth target 24 are combined, and according toSecond target pose T of robot target_robot Determining a real-time pose relationship (third target pose) T 'of the motion of the sixth coordinate system relative to the fifth coordinate system' target_robot There is
T' target_robot ＝ robot_base T NDI_base · NDI_base T NDI_move ·( robot_move T NDI_move ) -1 ；
In this way, during the resetting movement of the robot, the pose of the sixth target point 24 on the movable platform 2 of the robot relative to the fifth target point 14 on the static platform 1 of the robot is acquired in real time through the optical tracking mechanism NDI_base T NDI_move The pose matrix can be converted into a real-time pose relationship (third target pose) of the robot, that is, the motion and position of the sixth target point 24 relative to the fifth target point 14 are monitored in real time through the optical tracking mechanism, and the real-time motion of the robot and the motion and position of the fractured bone 7 in the process of resetting the fractured bone 7 can be accurately obtained, so that the third target pose and the second target pose can be conveniently compared, and errors generated in the process of resetting the fractured bone 7 can be timely found and timely compensated.
Step 330, comparing the second target pose with the third target pose, and when the motion of the moving platform 2 relative to the static platform 1 exceeds the reset path of the broken bone 7, the optical tracking mechanism directs the reset traction mechanism 3 to perform the first error compensation of the motion of the moving platform 2 relative to the static platform 1.
Specifically, the real-time T 'of the robot is compared' target_robot Pose T with planning (expected) target of robot target_robot And judging whether the error exceeds the error range of the planned pose (the error range can be set according to actual requirements), so that the reset operation of the robot is detected in real time, and the visual closed loop of the system is completed by adopting PID control. Specifically, the second target pose parameter T of the robot target_robot And a third target pose parameter T' target_robot The pose parameter is obtained by rotating three quaternions q= [ q ] around XYZ axes 1 q 2 q 3 ] T Representation, where q 1 ＝w x +a x i，q 2 ＝w y +b y j，q 3 ＝w z +c z k. Then the second target pose parameter T target_robot From the position part P d And a gesture part Q represented by a quaternion d Composition, third target pose parameter T' target_robot From the position part P a And a gesture part Q represented by a quaternion a Composition is prepared. The error of the translated portion is the difference between the desired position and the actual position, which is:
the error of the pose quaternion can be expressed as the product of the generalized inverse of the actual pose and the desired pose:
The error of the angular portion of rotation is:
error E of robot to be controlled includes E T And E is R The visual closed-loop control of the reset robot can be realized through a control command psi (n) of the PID:
Ψ(n)＝k p ·E(n)+k I ·E I (n)+k D ·E D (n)。
optionally, as shown in connection with fig. 6 and 9, after step 330, step 300 further includes:
step 340, when the bone needle connecting the distal end of the broken bone 7 and the movable platform 2 and/or the bone needle connecting the proximal end of the broken bone 7 and the static platform 1 are deformed, the optical tracking mechanism directs the reset traction mechanism 3 to perform the second error compensation of the movement of the movable platform 2 relative to the static platform 1.
During the reduction of the fracture of the broken bone 7 assisted by the robot, the broken bone 7 muscle can be balanced with the robot under the traction effect, thus leading to a platform (static platform)1 and/or the movable platform 2), the broken bone 7 can not complete the reset action according to the planned position in the reset process, namely, the relative position of the movable platform 2 and the static platform 1 and the movement path of the movable platform 2 can not accurately reflect the movement path of the far end of the broken bone 7. In this step, the second error compensation of the deformation of the bone needle is implemented to compensate the reduction error of the broken bone 7 caused by the deformation of the corresponding bone needle in the reduction process in real time. Specifically, the static platform 1 and the dynamic platform 2 of the robot are respectively and fixedly connected with the fifth target point 14 and the sixth target point 24, and the third target point 42 and the fourth target point 52 are respectively connected with the proximal end of the broken bone 7 and the distal end of the broken bone 7 through corresponding structures; after planning the reduction path of the fractured bone 7 and before implementing the reduction process of the fractured bone 7, a sixth target point 24 coordinate system (coordinate system constructed based on the sixth target point 24 and denoted as CF) of the robot moving platform 2 can be obtained through an optical tracking system mark_move ) The fifth target 14 coordinate system relative to the stationary platform 1 (coordinate system constructed based on the fifth target 14, denoted CF mark_base ) Is a transformation relation of (a) mark_base T mark_move The method comprises the steps of carrying out a first treatment on the surface of the And a fourth target point 52 coordinate system (coordinate system constructed based on the fourth target point 52 and marked as CF) arranged at the distal end of the fractured bone 7 is obtained mark_remote ) With respect to the third target 42 coordinate system disposed at the proximal end of the fractured bone 7 (coordinate system constructed based on the third target 42, denoted as CF mark_proximal ) Is a transformation relation of (a) mark_proximal T mark_remote . In the process of resetting the broken bones 7, the positions and the postures of the robots are compared after being changed mark_ proximal T mark_remote And mark_base T mark_move therefore, the deformation condition of the bone needle connecting the platform and the broken bone 7 and the error of the reset motion of the broken bone 7 relative to the planned reset path (or corresponding target pose) of the broken bone 7 can be known, and the corresponding error value can be compensated into the motion of the robot so as to guide the motion of the robot. In some embodiments, the respective coordinate systems of the third target 42, the fourth target 52, the fifth target 14, and the sixth target 24 acquired by the optical tracking system may be transformed into a three-dimensional image for analysis to handle the deformation of the fracture and for second error compensation for reduction of the fractured bone 7.
Optionally, as shown in connection with fig. 7 and 10, after step 110 and before step 120, step 100 further includes the following steps:
Step 120, registering the three-dimensional image.
The robot moving platform 2 is fixedly connected with four second targets 22, the static platform 1 is fixedly connected with four first targets 12, and the second targets 22 and the first targets 12 are respectively used for acquiring the relation of the far end of the broken bone 7 relative to the moving platform 2 and the relation of the near end of the broken bone 7 relative to the static platform 1 of the three-dimensional image. In this step, the purpose of registering the three-dimensional image is to establish a mapping relationship (or mapping matrix) between the three-dimensional image data and the patient-robot, so as to determine the relationship between the three-dimensional image and the robot, and facilitate the corresponding operation of the patient by controlling the robot. In the following description, taking the proximal ends of the static platform 1 and the fractured bone 7 as an example, the conversion of the three-dimensional image data into the robot relationship (registration of the three-dimensional image) is divided into two processes: the establishment of the coordinate system and the registration of the first target 12.
For the establishment of the coordinate system, the first target 12 mounted on the robot rest platform 1 passes through q= { Q 1 ,q 2 ,q 3 ,q 4 The image point of the first target point 12 in the three-dimensional image obtained by scanning by the three-dimensional scanning imaging mechanism passes through Q '= { Q' 1 ,q' 2 ,q' 3 ,q' 4 And } represents. Establishing a coordinate system CF in the three-dimensional image through Q' and Q respectively CT_static (or CF) CT_base ) And CF (compact F) ball_base Through the hinge point B of the first end of the robot static platform 1 and the reset traction mechanism 3 (such as the hinge center point connecting the first end of the reset traction mechanism 3 and the static platform 1) i (i=1, 2,., 6) determining a coordinate system CF robot_base Wherein, the reset traction mechanism 3 comprises six telescopic links, and two ends of each telescopic link are respectively hinged with the static platform 1 and the movable platform 2 through hinges.
Wherein CF is established by Q ball_base The specific process is as follows: calculation of first target 12q i Center of gravity q of i=1, 2,3 0 Taking the coordinate system as the origin of the coordinate system, alongDirection buildingVertical x-axis, by->And->The direction of the cross-product establishes the z-axis, and the z-axis and x-axis cross-products determine the y-axis direction and establish the y-axis. In the three-dimensional image, a coordinate system CF is established by using Q' in the same way CT_static The respective coordinate system (e.g. CF) can be determined by using the corresponding image point of the hinge point in the three-dimensional image robot_base ). The hinge points represent main parameters of the robot and represent the pose relation of the robot; in the robot system, the position accuracy of the hinge point is a factor of the accuracy of the robot spatial movement pose.
Hinge point B of robot static platform 1 i (i=1, 2,.,. 6) the determined coordinate system is CF robot_base In which the coordinate system CF ball_base And CF (compact flash) robot_base Is a conversion relation of (a) robot_base T ball_base Is ensured by machining. The coordinate system CF established by the first target 12 ball_base Corresponding coordinate system CF established in three-dimensional image CT_static The relationship of (2) is achieved by calibration of the first target 12.
For the registration of the first target point 12, the registration process of the first target point 12 image in the three-dimensional image and the first target point 12 on the robot static platform 1 is realized, and a transformation matrix is obtained by utilizing the existing common registration method ball_base T CT_static . First target point 12 q= { Q on platform 1 ,q 2 ,q 3 ,q 4 }, center point q 4 For facilitating identification of the first target 12 and registration accuracy verification, q 1 、q 2 And q 3 For completing registration. For transform matrices ball_base T CT_static It has alpha, beta, gamma, t x ,t y ,y z Six registration parameters, which need to be solved by nine linear equation sets, can be solved by q 1 、q 2 And q 3 Three first targets 12 are fully defined; the transformation relationship can be solved by three first targets 12 ball_base T CT_static . At the position of ball_base T CT_static Find the subsequent pass point q 4 And q' 4 The registration error of the steel balls can be calculated: ε= | ball_base R CT_static q' 4 + ball_base t CT_static -q 4 || 2 。
Optionally, the robot-assisted fracture reduction navigation system further comprises a calibration target seat 6, wherein a seventh target point 61 is arranged at one end of the calibration target seat 6, and a conical hole 62 matched with the first target point 12 is arranged at the other end of the calibration target seat.
The fifth target 14 and the sixth target 24 are respectively arranged on the static platform 1 and the dynamic platform 2 and are used for detecting the movement process of the robot through an optical tracking mechanism. In the following, taking the static platform 1 as an example, after the fifth target 14 is fixedly connected with the static platform body 11 through the third target seat 13, the relationship between the fifth target 14 and the first target 12 is mark_base T ball_base ) And (5) calibrating. Illustratively, the calibration method is as follows: the sphere center of the first target 12 is calibrated by the calibration target holder 6. Firstly, calibrating the position of the sphere center of a first target 12 in a fifth target 14 coordinate system (a coordinate system established based on the fifth target 14), and obtaining a position parameter Trans (x) of the sphere center relative to the fifth target 14 coordinate system t ,y t ,z t ) Then, the calibration of the fifth target 14 and the first target 12 on the static platform 1 can be completed by means of the calibration target seat 6. The position of the sphere center of the first target 12 in the coordinate system of the fifth target 14 can be obtained by using a least square method. The calibration target seat 6 rotates when calibrating the first target point 12 (the conical hole 62 is sleeved on the corresponding first target point 12 to rotate), and the origin of the coordinate system of the seventh target point 61 on the calibration target seat 6 moves near the spherical surface, and the spherical equation can be expressed as: (x-x) 0 ) 2 +(y-y 0 ) 2 +(z-z 0 ) 2 ＝r 2 The spherical center point (x) of the corresponding first target point 12 can be obtained by adopting a least square method 0 ,y 0 ,z 0 ) And a radius. After the coordinate position of the sphere center of the first target point 12 in the fifth target point 14 coordinate system is obtained by the least square method, the first target point 12 coordinate system CF can be obtained ball_base Relative toFifth target 14 coordinate System CF mark_base Is a transformation relation of (a) mark_base T ball_base . The movable platform 2 is calibrated by adopting the same method, namely the process of registering the navigation is completed.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims (8)

1. The robot-assisted fracture reduction navigation system is characterized by comprising a static platform (1), a movable platform (2), a first positioning mechanism (4), a second positioning mechanism (5), a reduction traction mechanism (3) and an optical tracking mechanism, wherein the static platform (1) and the first positioning mechanism (4) are used for being fixed at the near end of a broken bone (7), the movable platform (2) and the second positioning mechanism (5) are used for being fixed at the far end of the broken bone (7), and the first positioning mechanism (4) and the second positioning mechanism (5) are positioned between the static platform (1) and the movable platform (2); the optical tracking mechanism is used for monitoring position information of the static platform (1), the movable platform (2), the first positioning mechanism (4), the second positioning mechanism (5) and the reset traction mechanism (3), and the reset traction mechanism (3) is connected with the static platform (1) and the movable platform (2) and used for driving the movable platform (2) to move relative to the static platform (1) according to the position information;
the optical tracking mechanism is used for monitoring position information of the static platform (1), the movable platform (2), the first positioning mechanism (4), the second positioning mechanism (5) and the reset traction mechanism (3), and the reset traction mechanism (3) is connected with the static platform (1) and the movable platform (2) and used for driving the movable platform (2) to move relative to the static platform (1) according to the position information, and comprises:
Establishing a base coordinate system based on three-dimensional images about the position relationship of the broken bones (7) with the static platform (1), the movable platform (2), the first positioning mechanism (4) and the second positioning mechanism (5);
establishing a first coordinate system based on the static platform (1) in the three-dimensional image, and determining a first transformation matrix of the first coordinate system relative to the base coordinate system;
establishing a second coordinate system based on the movable platform (2) in the three-dimensional image, and determining a second transformation matrix of the second coordinate system relative to the base coordinate system;
planning a reduction path of the broken bone (7) based on the base coordinate system in the three-dimensional image, and determining a path series pose point of the reduction of the distal end of the broken bone (7) relative to the proximal end of the broken bone (7) and a first target pose of the movement of the second coordinate system relative to the first coordinate system;
establishing a third coordinate system based on a first end of the reset traction mechanism (3), and determining a third transformation matrix of the third coordinate system relative to the first coordinate system, wherein the reset traction mechanism (3) is provided with the first end connected with the static platform (1) and a second end connected with the movable platform (2);
Establishing a fourth coordinate system based on the second end of the reset traction mechanism (3), and determining a fourth transformation matrix of the fourth coordinate system relative to the second coordinate system;
converting the first target pose, and determining a second target pose of the fourth coordinate system moving relative to the third coordinate system;
establishing a fifth coordinate system based on a fifth target point (14) of the static platform (1) in the three-dimensional image, and determining a fifth transformation matrix of the fifth coordinate system relative to the third coordinate system; establishing a sixth coordinate system based on a sixth target point (24) of the movable platform (2) in the three-dimensional image, and determining a sixth transformation matrix of the sixth coordinate system relative to the fourth coordinate system;
determining a third target pose of the sixth coordinate system moving relative to the fifth coordinate system according to the second target pose;
comparing the second target pose with the third target pose, and when the motion of the movable platform (2) relative to the static platform (1) exceeds the reset path of the broken bone (7), guiding the reset traction mechanism (3) to perform first error compensation of the motion of the movable platform (2) relative to the static platform (1);
When the bone needle connecting the far end of the broken bone (7) and the movable platform (2) and/or the bone needle connecting the near end of the broken bone (7) and the static platform (1) are deformed, the optical tracking mechanism guides the reset traction mechanism (3) to perform second error compensation of the movement of the movable platform (2) relative to the static platform (1).
2. The robot-assisted fracture reduction navigation system according to claim 1, further comprising a three-dimensional scanning imaging mechanism for three-dimensionally scanning the fractured bone (7), the stationary platform (1), the movable platform (2), the first positioning mechanism (4) and the second positioning mechanism (5) to construct a three-dimensional image concerning a positional relationship of the fractured bone (7) with the stationary platform (1), the movable platform (2), the first positioning mechanism (4) and the second positioning mechanism (5).
3. The robot-assisted fracture reduction navigation system according to claim 1 or 2, wherein the stationary platform (1) comprises a stationary platform body (11) and a first target point (12), the movable platform (2) comprises a movable platform body (21) and a second target point (22), the stationary platform body (11) and the movable platform body (21) are connected through the reduction traction mechanism (3), the first target point (12) is arranged at one end of the stationary platform body (11) far away from the movable platform body (21), and the second target point (22) is arranged at one end of the movable platform body (21) far away from the stationary platform body (11).
4. The robot-assisted fracture reduction navigation system according to claim 1 or 2, wherein the first positioning mechanism (4) comprises a first fixing structure (41) and a third target point (42), one end of the first fixing structure (41) is connected with the proximal end of the fractured bone (7), and the other end is connected with the third target point (42); the second positioning mechanism (5) comprises a second fixing structure (51) and a fourth target point (52), one end of the second fixing structure (51) is connected with the far end of the broken bone (7), and the other end of the second fixing structure is connected with the fourth target point (52).
5. The robot-assisted fracture reduction navigation system according to claim 4, wherein the first positioning mechanism (4) further comprises a first target seat (43), the first target seat (43) being disposed at an end of the first fixation structure (41) remote from the proximal end of the fractured bone (7), and the plurality of third targets (42) being disposed at an end of the first target seat (43) remote from the first fixation structure (41); the second positioning mechanism (5) further comprises a second target seat (53), the second target seat (53) is arranged at one end, far away from the broken bone (7), of the second fixing structure (51), and a plurality of fourth targets (52) are arranged at the end, far away from the second fixing structure (51), of the second target seat (53).
6. A robot-assisted fracture reduction navigation system according to claim 3, wherein the stationary platform (1) further comprises a third target seat (13) provided on the stationary platform body (11) and a fifth target point (14) provided on the third target seat (13), and the mobile platform (2) further comprises a fourth target seat (23) provided on the mobile platform body (21) and a sixth target point (24) provided on the fourth target seat (23).
7. A robot-assisted fracture reduction navigation system according to claim 3, further comprising a calibration target seat (6), wherein one end of the calibration target seat (6) is provided with a seventh target point (61), and the other end is provided with a conical hole (62) adapted to the first target point (12).
8. The robot-assisted fracture reduction navigation system according to claim 1 or 2, wherein the first end of the reduction traction mechanism (3) is rotatably connected to the stationary platform (1) by a hinge, and the second end is rotatably connected to the movable platform (2) by a hinge.
CN202210566728.5A 2022-05-24 2022-05-24 Robot-assisted fracture reduction navigation system and method Active CN114948223B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109009376A (en) * 2018-08-10 2018-12-18 天津大学 The automatic identifying method of fracture exterior fixing rack spatial pose in parallel
CN109820590A (en) * 2019-02-15 2019-05-31 中国人民解放军总医院 A kind of pelvic fracture reset intelligent monitor system
CN210727852U (en) * 2019-02-15 2020-06-12 中国人民解放军总医院 Pelvic fracture intelligent monitoring system that resets
CN112716603A (en) * 2021-01-19 2021-04-30 威海威高骨科手术机器人有限公司 Orthopedics positioning robot that resets

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109009376A (en) * 2018-08-10 2018-12-18 天津大学 The automatic identifying method of fracture exterior fixing rack spatial pose in parallel
CN109820590A (en) * 2019-02-15 2019-05-31 中国人民解放军总医院 A kind of pelvic fracture reset intelligent monitor system
CN210727852U (en) * 2019-02-15 2020-06-12 中国人民解放军总医院 Pelvic fracture intelligent monitoring system that resets
CN112716603A (en) * 2021-01-19 2021-04-30 威海威高骨科手术机器人有限公司 Orthopedics positioning robot that resets

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