CN115500946A - Method and device for measuring positioning frame of surgical instrument based on surgical robot - Google Patents
Method and device for measuring positioning frame of surgical instrument based on surgical robot Download PDFInfo
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- 230000003287 optical effect Effects 0.000 claims description 36
- 239000000523 sample Substances 0.000 claims description 16
- 125000006850 spacer group Chemical group 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 230000000399 orthopedic effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000003754 machining Methods 0.000 abstract description 7
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- 238000001356 surgical procedure Methods 0.000 description 5
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- 238000012829 orthopaedic surgery Methods 0.000 description 1
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
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- 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
- A61B2017/564—Methods for bone or joint treatment
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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Abstract
The invention provides a method and a device for measuring a surgical instrument positioning frame based on a surgical robot, wherein the method comprises the following steps: acquiring the position coordinate of each registration point, and matching the position coordinate of each registration point with the position coordinate of a theoretical registration point in a theoretical model coordinate system to obtain matching information; acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information; and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame. According to the position coordinates of the registration point of the measuring support and the position coordinates of the measuring point of the positioning frame, whether the positioning frame meets the condition of machining precision or not is quickly prepared and measured, and therefore the measuring efficiency and the measuring precision can be improved.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to a method and a device for measuring a positioning frame of a surgical instrument based on a surgical robot.
Background
When the orthopaedic surgery robot carries out a total hip replacement surgery, the mechanical arms of the mechanical arm trolley need to be registered, the surgical instrument positioning frame is installed at the front end of a surgical instrument, the main control trolley calculates the position information of the front end of the surgical instrument according to the position of the surgical instrument, the main control trolley calculates the information of surgery execution depth, surgery execution angle and the like according to the position information of the front end of the surgical instrument in the surgery, related data are calculated according to the information, and finally the main control trolley sends the information to the mechanical arm trolley to execute surgery actions. Therefore, the processing precision of the surgical instrument positioning frame has great influence on the precision of the book executed by the instrument arm trolley of the orthopaedic surgical robot.
The existing precision measurement method of the surgical instrument positioning frame is based on manual measurement of a three-coordinate instrument, so that the measurement efficiency is low, and the measurement accuracy is not high.
Disclosure of Invention
The invention provides a method and a device for measuring a surgical instrument positioning frame based on a surgical robot, which are used for solving the defects of low measurement efficiency and low measurement accuracy in the prior art based on manual measurement of the processing accuracy of the surgical instrument positioning frame by a three-coordinate measuring machine.
The invention provides a method for measuring a surgical instrument positioning frame based on a surgical robot, wherein the positioning frame is arranged on a measuring support, the measuring support comprises a measuring base and a support fixture arranged on the measuring base, the positioning frame is provided with a plurality of measuring points, the measuring base and the support fixture are respectively provided with a plurality of registration points, and the method comprises the following steps:
acquiring the position coordinates of each registration point, and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
According to the invention, the method for measuring the positioning frame of the surgical instrument based on the surgical robot further comprises the following steps:
and determining a measurement file of the positioning frame of the surgical instrument according to the position coordinates of the measurement points in the theoretical model coordinate system, wherein the measurement file comprises a position information file and a structure file of the positioning frame, the position information file is used for positioning the position of the positioning frame, and the structure file is used for displaying the structure characteristics of the positioning frame.
According to the invention, the method for measuring the positioning frame of the surgical instrument based on the surgical robot further comprises the following steps:
determining a first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system; and/or
Determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system;
and determining a measurement file of the surgical instrument positioning frame according to the first fitting plane and/or the second fitting plane.
According to the method for measuring the positioning frame of the surgical instrument based on the surgical robot, the first fitting plane is determined according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system, and the method comprises the following steps:
determining the first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system by a least square method;
determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system comprises: and determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system by the least square method.
According to the method for measuring the positioning frame of the surgical instrument based on the surgical robot, the position coordinates of each registration point are obtained, and the method comprises the following steps:
acquiring the position coordinates of each registration point based on an optical positioning measurement device and an optical probe;
the acquiring of the position coordinates of each of the measurement points includes:
and acquiring the position coordinates of each measuring point based on the optical positioning measuring device and the optical probe.
According to the method for measuring the positioning frame of the surgical instrument based on the surgical robot, the position coordinates of the measuring point in the theoretical model coordinate system are determined according to the position coordinates of the measuring point and the matching information, and the method comprises the following steps:
and performing coordinate conversion on the position coordinates of the measuring points according to the matching information to obtain the position coordinates of the measuring points in the theoretical model coordinate system.
According to the invention, the method for measuring the positioning frame of the surgical instrument based on the surgical robot further comprises the following steps:
and if the space distance between the position coordinate of the measuring point in the theoretical model coordinate system and the position coordinate of the theoretical measuring point is larger than or equal to the target threshold value, sending out an out-of-tolerance prompt.
The invention also provides a device for measuring the positioning frame of the surgical instrument based on the surgical robot, which comprises:
the first acquisition module is used for acquiring the position coordinates of each registration point and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
the second acquisition module is used for acquiring the position coordinates of each measuring point and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and the determining module is used for determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame if the spatial distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the theoretical measuring points are respectively smaller than a target threshold.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the method for measuring the positioning frame of the surgical instrument based on the surgical robot.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of measuring a surgical instrument spacer based on a surgical robot as described in any of the above.
According to the method and the device for measuring the positioning frame of the surgical instrument based on the surgical robot, provided by the invention, whether the positioning frame meets the condition of processing precision or not can be quickly prepared and measured according to the position coordinates of the registration point of the measuring support and the position coordinates of the measuring point of the positioning frame, so that the measuring efficiency and the measuring precision can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for measuring a surgical instrument spacer based on a surgical robot according to the present invention;
FIG. 2 is a schematic structural diagram of an implementation body of the method for measuring the positioning frame of the surgical instrument based on the surgical robot provided by the invention;
FIG. 3 is a schematic structural view of a positioning frame and a measuring bracket provided by the invention;
fig. 4a and 4b are schematic diagrams of acquiring the position coordinates of the registration point provided by the present invention;
FIGS. 5a and 5b are schematic views for acquiring the position coordinates of the measuring points provided by the present invention;
FIG. 6 is a schematic illustration of spatial distances;
FIG. 7 is a schematic structural diagram of a surgical instrument positioning frame-based surgical robot measurement device provided by the invention;
fig. 8 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
1-a positioning frame; 2-navigation trolley; 3-optical positioning measurement means; 4-an optical probe; 5, a main control trolley; 6-measuring the support; 601-a measurement base; 602-a holder fixture; 6021-support jackscrew; 603-stent jackscrew; 7-a platform; 8-measurement points; 9-registration Point.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
In the embodiments of the present application, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Fig. 1 is a schematic flow chart of a method for measuring a surgical instrument positioning frame based on a surgical robot, and referring to fig. 1, the present invention provides a method for measuring a surgical instrument positioning frame based on a surgical robot, the positioning frame is arranged on a measuring support, the measuring support comprises a measuring base and a support fixture arranged on the measuring base, the positioning frame is provided with a plurality of measuring points, the measuring base and the support fixture are respectively provided with a plurality of registration points, and the method comprises:
s110, acquiring the position coordinate of each registration point, and matching the position coordinate of each registration point with the position coordinate of a theoretical registration point in a theoretical model coordinate system to obtain matching information;
s120, acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and S130, if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
Optionally, as shown in fig. 2 to 6, the orthopedic surgical instrument of the present invention is disposed on the orthopedic surgical robot through the positioning frame 1, before the orthopedic surgical instrument is put into use, the processing precision of the positioning frame 1 needs to be measured, and whether the processing precision of the positioning frame 1 is qualified or not is determined, and if the processing precision is qualified, the orthopedic surgical instrument can be put into use.
In the prior art, the machining precision of the positioning frame is manually measured by manually operating the three-coordinate measuring instrument, and the machining precision of the positioning frame can be determined only after the precision of each part point is measured, so that the measurement efficiency and the precision are low. The three-coordinate measuring instrument is an instrument which expresses the measuring capacity such as geometric shape, length, circumferential graduation and the like in a hexahedral space range, and is also called a three-coordinate measuring machine or a three-coordinate scalar bed. The coordinate measuring instrument can move on three mutually perpendicular guide rails, and a displacement measuring system (such as a grating ruler) with three axes can calculate each point (x, y, z) of a workpiece and an instrument for measuring each function through a data processor or a computer.
According to the measuring method, whether the positioning frame meets the condition of machining precision or not can be quickly prepared and measured according to the position coordinates of the registration points of the measuring support and the position coordinates of the measuring points of the positioning frame, so that the measuring efficiency and the measuring precision can be improved. For example, the navigation system can be realized by the navigation trolley 2, the optical positioning and measuring device 3 on the navigation trolley 2, the optical probe 4 and the main control trolley 5. The optical positioning measuring device 3 can be matched with the optical probe 4 to quickly measure the machining precision of the key position of the positioning frame, so that whether the whole positioning frame of the surgical instrument meets the machining requirement is determined.
The locating rack in the embodiment of the application can be a rasping rod locating rack, the surgical instrument can be a rasping rod, and other locating rack measuring methods suitable for orthopedic surgical instruments can also be realized by using the method.
In the embodiment of the invention, the preparation work before the test comprises the following steps of placing the measurement bracket 6 on a flat platform, wherein the measurement bracket 6 comprises a measurement base 601, a support clamp 602 and a plurality of bracket jackscrews 603, a clamping groove is formed in one side of the support clamp 602, a bottom support of the positioning frame 1 is inserted into the clamping groove, the positioning frame 1 is ensured to be in contact with the surfaces of the plurality of bracket jackscrews 603, and then the support jackscrews 6021 on the support clamp 602 are screwed, the support jackscrews 603 are ensured to be in contact with the bottom support of the positioning frame 1, and the positioning bracket is prevented from shaking.
In the embodiment of the invention, the navigation trolley 2 is moved to the front of the platform, and the distance and the angle between the optical positioning and measuring device 3 and the measuring support 6 and the positioning frame 1 are adjusted until the target distance and the target angle are reached.
In the embodiment of the present invention, the optical probe 4 is provided with a plurality of reflection components, the optical positioning and measuring device 3 emits light, the light is reflected by the reflection components, and the optical positioning and measuring device 3 obtains the reflected light.
In this embodiment of the present invention, the acquiring the position coordinates of each registration point in step 110 includes: and acquiring the position coordinates of each registration point based on the optical positioning and measuring device and the optical probe. For example, the tips of the optical probes 4 are placed one by one on the registration points 9, and the optical positioning and measuring device 3 and the optical probes 4 cooperate to obtain the position coordinates of each registration point 9. The optical positioning and measuring device 3 can transmit the position coordinates of each registration point 9 to the main control trolley to obtain matching information, and can also select the main control trolley to complete the matching steps.
Optionally, the distribution of the registration points 9 and the measurement points 8 is random.
Optionally, the main control trolley 5 stores theoretical models corresponding to the positioning frames 1 and the measurement supports 6 one to one, and the theoretical models include position coordinates of each theoretical registration point on the measurement supports 6 and position coordinates of theoretical measurement points. The theoretical model has a corresponding coordinate system, matching information is obtained by converting the actual position coordinates of the registration points 9 into the theoretical model coordinate system, the processing difficulty of the registration points 9 is low, and the processing precision is accurate, so that the registration points are used as a reference.
In the embodiment of the present invention, the coordinate conversion of the position coordinates of the registration point 9 includes: the method comprises the steps of determining the rotation angle of a coordinate system constructed by the position coordinates of the registration points 9 acquired by the optical positioning and measuring device 3 and a theoretical coordinate system corresponding to the position coordinates of the theoretical registration points in a theoretical model coordinate system, converting the position coordinates of the registration points 9 into the theoretical model coordinate system, aligning and matching the converted position coordinates with the position coordinates of the theoretical registration points to obtain matching information, wherein the matching information is the mapping relation between the registration points and the theoretical registration points.
It can be understood that the mapping relation between the registration point and the theoretical registration point is calculated, so that the theoretical position coordinate of the measurement point in the theoretical coordinate system can be calculated conveniently, and the identification precision of the orthopaedic robot can be improved.
In an embodiment of the present invention, the acquiring the position coordinates of each of the measurement points in step S120 includes: and acquiring the position coordinates of each measuring point based on the optical positioning measuring device and the optical probe. For example, when the tips of the optical probes 4 are placed one by one on the measurement points 8, the optical positioning and measuring device 3 and the optical probes 4 cooperate to obtain the position coordinates of each measurement point 8.
In an embodiment of the present invention, in step S120, determining the position coordinates of the measuring point 8 in the theoretical model coordinate system according to the position coordinates of the measuring point 8 and the matching information includes: and according to the matching information, performing coordinate conversion on the position coordinates of the measuring point 8 to obtain the position coordinates of the measuring point 8 in the theoretical model coordinate system. For example, according to the mapping relationship between the registered point and the theoretical registered point, the position coordinates of the measuring point 8 are subjected to coordinate conversion, so as to obtain the position coordinates of the measuring point 8 in the theoretical model coordinate system.
In the embodiment of the present invention, in step S130, by comparing the spatial distances between the position coordinates of all the measurement points 8 in the theoretical model coordinate system and the position coordinates of the theoretical measurement points, it can be determined whether the positioning frame is qualified, and if the spatial distances are smaller than the target threshold, it is determined that the surgical instrument positioning frame meets the processing precision of the positioning frame. In this embodiment, the target threshold may be set according to actual conditions.
Alternatively, as shown in fig. 6, the target threshold is set to 0.2mm. The calculation formula of the spatial distance is as follows:
wherein (x) 1 、y 1 、z 1 ) As the theoretical position coordinates of the measuring point, (x) 2 、y 2 、z 2 ) Is the position coordinate of the theoretical measuring point.
It can be understood that, according to the method for measuring the positioning frame of the surgical instrument based on the surgical robot provided by the invention, whether the positioning frame meets the condition of processing precision or not can be quickly prepared and measured according to the position coordinates of the registration points of the measuring support and the position coordinates of the measuring points of the positioning frame, so that the measuring efficiency and the measuring precision can be improved.
On the basis of the above embodiment, as an alternative embodiment, the method for measuring the positioning frame of the surgical instrument based on the surgical robot provided by the present invention further includes:
and determining a measurement file of the positioning frame of the surgical instrument according to the position coordinates of the measurement point 8 in the theoretical model coordinate system, wherein the measurement file comprises a position information file and a structure file of the positioning frame 1, the position information file is used for positioning the position of the positioning frame 1, and the structure file is used for displaying the structure characteristics of the positioning frame 1.
And obtaining a measurement file according to the position coordinates of the measurement points, and obtaining the position coordinates of the measurement points through actual measurement, so that whether the positioning frame meets the machining precision or not can be determined, and the identification precision of the orthopaedic surgical robot can be improved.
Optionally, the method for measuring the positioning frame of the surgical instrument based on the surgical robot further includes:
determining a first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system; and/or
Determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system;
and determining a measurement file of the surgical instrument positioning frame according to the first fitting plane and/or the second fitting plane.
Optionally, the determining a first fitting plane according to the position coordinates of the measurement points on the corners of the positioning frame in the theoretical model coordinate system includes:
determining the first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system by a least square method;
determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system comprises: and determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system by the least square method.
Optionally, in this embodiment of the application, the number of the measurement points is 8, four measurement points are distributed at four corners of the positioning frame, and the other four measurement points are distributed at the side of the positioning frame.
In the embodiment of the invention, the fitting plane is obtained according to the position coordinates of the measuring points, and the fitting plane is obtained according to the position coordinates of the measuring points corresponding to the four corners. And the fitting plane satisfies the condition that the sum of squares of distances from the four measuring points to the plane is minimum, so that the fitting plane establishes a position information file and a structure file. The position information file is a ROM file, the structure file is an STL file, and the navigation trolley can more accurately position the positioning frame by using the ROM file; the master control trolley displays the detail characteristics of the positioning frame more accurately through the STL file.
Setting the position coordinates of the four measuring points on the corner of the positioning frame 1 as (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3) and (x 4, y4, z 4), respectively, and obtaining a first fitting plane by least square fitting according to the following method:
obtaining a fitting plane equation set according to the position coordinates of the four measuring points
Obtaining a fitting matrix according to a fitting plane equation system
Then Ax = b;
x＝(A T A) -1 A T b
to obtain
And solving to obtain the fitted plane equation z = ax + b + c.
Optionally, determining a measurement file of the surgical instrument positioning frame according to the second fitting plane includes:
determining a correction parameter according to a first fitting plane and a second fitting plane in a theoretical model coordinate system;
in an embodiment of the present invention, the second fitting plane may be corrected based on the correction parameter to obtain a corrected fitting plane, and the measurement file of the surgical instrument positioning frame is determined according to the corrected fitting plane.
It can be understood that the embodiment of the present application facilitates accurate display of the positioning frame 1 in the main control trolley 5 and accurate identification by the optical positioning measurement device 3 by creating the STL file and the ROM file by using the fitting plane, thereby improving the identification accuracy.
On the basis of the above embodiment, as an optional embodiment, the method further includes:
and if the spatial distance between the position coordinate of the measuring point in the theoretical model coordinate system and the position coordinate of the theoretical measuring point is greater than or equal to the target threshold value, an out-of-tolerance prompt is sent, and the unqualified positioning frame is effectively prevented from being applied to the operation.
It can be understood that, in the embodiment of the application, the processing precision of the positioning frame is determined by determining the spatial distance between the position coordinate of the measuring point 8 in the theoretical model coordinate system and the position coordinate of the theoretical measuring point, and if the processing precision is greater than or equal to the target threshold, the positioning frame is determined to be unqualified to process, so that the precision of the subsequent orthopaedic surgical robot operation can be improved.
The following describes the device for measuring a surgical instrument spacer based on a surgical robot according to the present invention, and the device for measuring a surgical instrument spacer based on a surgical robot described below and the method for measuring a surgical instrument spacer based on a surgical robot described above may be referred to in correspondence with each other.
FIG. 7 is a schematic structural diagram of the device for measuring the positioning frame of the surgical instrument based on the surgical robot provided by the invention; referring to fig. 7, the present invention also provides a surgical robot-based apparatus for measuring a surgical instrument positioner, including:
a first obtaining module 710, configured to obtain a position coordinate of each registration point, and match the position coordinate of the registration point with a position coordinate of a theoretical registration point in a theoretical model coordinate system to obtain matching information;
a second obtaining module 720, configured to obtain the position coordinate of each measurement point, and determine the position coordinate of the measurement point in the theoretical model coordinate system according to the position coordinate of the measurement point and the matching information;
the determining module 730 is configured to determine that the positioning frame of the surgical instrument conforms to the processing accuracy of the positioning frame if the spatial distances between the position coordinates of all the measurement points in the theoretical model coordinate system and the position coordinates of the theoretical measurement points are smaller than a target threshold respectively.
For one embodiment, the determining module 730 is further configured to:
and determining a measurement file of the positioning frame of the surgical instrument according to the position coordinates of the measurement points in the theoretical model coordinate system, wherein the measurement file comprises a position information file and a structure file of the positioning frame, the position information file is used for positioning the position of the positioning frame, and the structure file is used for displaying the structure characteristics of the positioning frame.
For one embodiment, the determining module 730 is further configured to:
determining a first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system; and/or
Determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system;
and determining a measurement file of the surgical instrument positioning frame according to the first fitting plane and/or the second fitting plane.
For one embodiment, the determining module 730 is further configured to:
determining the first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system by a least square method;
determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system comprises: and determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system by the least square method.
For an embodiment, the first obtaining module 710 is configured to:
acquiring the position coordinates of each registration point based on an optical positioning and measuring device and an optical probe;
for an embodiment, the second obtaining module 720 is configured to:
and acquiring the position coordinates of each measuring point based on the optical positioning measuring device and the optical probe.
For an embodiment, the second obtaining module 720 is configured to:
and performing coordinate conversion on the position coordinates of the measuring points according to the matching information to obtain the position coordinates of the measuring points in the theoretical model coordinate system.
For one embodiment, the determining module 730 is further configured to:
and if the space distance between the position coordinate of the measuring point in the theoretical model coordinate system and the position coordinate of the theoretical measuring point is larger than or equal to the target threshold value, sending out an out-of-tolerance prompt.
Fig. 8 illustrates a physical structure diagram of an electronic device, and as shown in fig. 8, the electronic device may include: a processor (processor) 810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of measuring a surgical instrument positioner based on a surgical robot, the method comprising:
acquiring the position coordinates of each registration point, and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, is capable of performing a method of measuring a surgical instrument spacer based on a surgical robot, the method comprising:
acquiring the position coordinates of each registration point, and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, performs a method of surgical robot-based measurement of a surgical instrument spacer, the method comprising:
acquiring the position coordinates of each registration point, and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining that the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for measuring a surgical instrument positioning frame based on a surgical robot is characterized in that the positioning frame is arranged on a measuring support, the measuring support comprises a measuring base and a support fixture arranged on the measuring base, the positioning frame is provided with a plurality of measuring points, the measuring base and the support fixture are respectively provided with a plurality of registration points, and the method comprises the following steps:
acquiring the position coordinates of each registration point, and matching the position coordinates of the registration points with the position coordinates of the theoretical registration points in a theoretical model coordinate system to obtain matching information;
acquiring the position coordinates of each measuring point, and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and if the space distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value, determining whether the surgical instrument positioning frame conforms to the processing precision of the positioning frame.
2. The surgical robotically measured surgical instrument spacer method of claim 1, further comprising:
and determining a measurement file of the positioning frame of the surgical instrument according to the position coordinates of the measurement points in the theoretical model coordinate system, wherein the measurement file comprises a position information file and a structure file of the positioning frame, the position information file is used for positioning the position of the positioning frame, and the structure file is used for displaying the structure characteristics of the positioning frame.
3. The surgical robot-based method of measuring a surgical instrument spacer of claim 1, further comprising:
determining a first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system; and/or
Determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system;
and determining a measurement file of the surgical instrument positioning frame according to the first fitting plane and/or the second fitting plane.
4. The surgical robotically based method of measuring a surgical instrument spacer of claim 3, wherein said determining a first fitted plane from position coordinates of measurement points on corners of said spacer in said theoretical model coordinate system comprises:
determining the first fitting plane according to the position coordinates of the measuring points on the corners of the positioning frame in the theoretical model coordinate system by a least square method;
determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system comprises: and determining a second fitting plane according to the position coordinates of the measuring points on the side surface of the positioning frame in the theoretical model coordinate system by the least square method.
5. The surgical robotically measured surgical instrument spacer method of claim 1, wherein the obtaining the position coordinates of each of the registration points comprises:
acquiring the position coordinates of each registration point based on an optical positioning measurement device and an optical probe;
the acquiring of the position coordinates of each of the measurement points includes:
and acquiring the position coordinates of each measuring point based on the optical positioning measuring device and the optical probe.
6. The surgical robotically measured surgical instrument positioner according to claim 1, wherein the determining the position coordinates of the measurement points in the theoretical model coordinate system from the position coordinates of the measurement points and the matching information comprises:
and performing coordinate conversion on the position coordinates of the measuring points according to the matching information to obtain the position coordinates of the measuring points in the theoretical model coordinate system.
7. The surgical robotically measured surgical instrument spacer method of claim 1, further comprising:
and if the space distance between the position coordinate of the measuring point in the theoretical model coordinate system and the position coordinate of the theoretical measuring point is larger than or equal to the target threshold value, sending out an out-of-tolerance prompt.
8. A surgical robot-based device for measuring a surgical instrument spacer, comprising:
the first acquisition module is used for acquiring the position coordinates of each registration point and matching the position coordinates of the registration points with the position coordinates of theoretical registration points in a theoretical model coordinate system to obtain matching information;
the second acquisition module is used for acquiring the position coordinates of each measuring point and determining the position coordinates of the measuring points in the theoretical model coordinate system according to the position coordinates of the measuring points and the matching information;
and the determining module is used for determining that the surgical instrument positioning frame accords with the processing precision of the positioning frame if the spatial distances between the position coordinates of all the measuring points in the theoretical model coordinate system and the position coordinates of the corresponding theoretical measuring points are respectively smaller than a target threshold value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method of measuring the orthopedic surgical instrument spacer of any of claims 1 to 7.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements a method of measuring an orthopedic surgical instrument spacer according to any of claims 1 to 7.
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