CN115624385B

CN115624385B - Preoperative space registration method and device, computer equipment and storage medium

Info

Publication number: CN115624385B
Application number: CN202211327047.XA
Authority: CN
Inventors: 吴文杰; 谢海琼; 周忠娇
Original assignee: Chongqing Biological Intelligent Manufacturing Research Institute
Current assignee: Chongqing Biological Intelligent Manufacturing Research Institute
Priority date: 2022-09-19
Filing date: 2022-10-26
Publication date: 2024-05-10
Anticipated expiration: 2042-10-26
Also published as: CN115624385A; CN115553923A

Abstract

The invention provides a preoperative space registration method of an ankle joint surgical robot system, which relates to surgical robot image registration, and specifically comprises the following steps: the optical positioning system is used as a space registration core, and the transformation matrix between the base coordinate system and the three-dimensional image coordinate system of the mechanical arm is calculated by calculating the transformation matrix between the base coordinate system and the optical positioning system coordinate system, the optical positioning system coordinate system and the focus coordinate system, and the focus coordinate system and the three-dimensional image coordinate system of the mechanical arm. The spatial registration method based on the optical positioning system maps the focus spatial position to a base coordinate system of the mechanical arm, lays a foundation for accurately positioning the focus by a tool at the tail end of the mechanical arm, and simultaneously realizes the spatial posture registration of the ankle joint under the three-dimensional image and the real scene, so that a surgeon can use the three-dimensional medical image to formulate an ankle joint operation scheme and reasonably plan an operation path.

Description

Preoperative space registration method and device, computer equipment and storage medium

Priority application

The present application claims the priority of chinese patent application No. [ 2022111369349 ] filed in 9 and 19 of 2022, a method and apparatus for registration of preoperative space of ankle surgical system, and the priority of chinese patent application No. [ 2022111362405 ] filed in 9 and 19 of 2022, an ankle surgical robot system, both of which are incorporated by reference in their entirety.

Technical Field

The invention relates to an orthopedic surgery robot, in particular to a preoperative space registration method and device applied to an ankle surgery robot system, computer equipment for preoperative space registration and a storage medium.

Background

Ankle cartilage and bone injury are common diseases in sports medicine, and common surgical treatment schemes include arthroscopic bone marrow stimulation, autologous chondrocyte implantation, autologous periosteum and bone complex transplantation, allogeneic bone cartilage transplantation or allogeneic juvenile cartilage microparticle transplantation and the like. Arthroscopic bone marrow stimulation techniques (especially microfracture) are suitable for smaller lesions, autologous periosteum, bone complex implants are commonly used in patients with talus cartilage damage accompanied by larger cystic lesions.

The method aims at solving the problems that the existing medical operation planning system is single in function, low in model precision for segmentation and reconstruction of complex anatomical structures such as joints and the like, low in focus recognition precision, seriously depends on doctor experience in operation process planning, low in automatic processing capacity, incapable of performing autonomous analysis and evaluation on an operation scheme and the like. Therefore, there is a need for a new method for introducing into ankle surgery that improves accuracy, safety, and repeatability. With the improvement of computer performance and artificial intelligence technology and the development of medical imaging technology, the technology based on optical graph navigation is widely applied to the treatment of various diseases; the robot has the advantages of high precision, accurate positioning, good stability, good repeatability and the like, and is widely applied to medical procedures. At present, no surgical robot system specially used for ankle joint repair exists in China, and a preoperative space registration method specially aiming at the ankle joint surgical robot system is not provided.

Disclosure of Invention

The invention aims to provide a preoperative space registration method and device of an ankle joint operation robot system, which partially solve or relieve the defects in the prior art, can rapidly perform space registration and shorten the time consumption of the whole operation.

In order to solve the technical problems, the invention adopts the following technical scheme:

a first aspect of the present invention provides an ankle joint surgical robot system including:

the mechanical arm is used for executing an ankle joint operation scheme through an operation instrument arranged at the tail end of the mechanical arm;

The optical positioning system is used for performing image registration between the mechanical arm and a three-dimensional image of the foot of the patient and positioning between the mechanical arm and a focus; the three-dimensional image is formed by pre-operative CT scanning of the ankle tibia of a patient and based on CT data, a first positioning tool E1 is arranged at the focus of the ankle of the patient through a Kirschner wire before CT scanning, and the first positioning tool E1 is required to be scanned together during CT scanning;

The operating table is used for fixing the position and the posture of the ankle of the patient and ensuring that the position and the posture of the ankle are fixed in the operation; the operating table comprises an operating table body and a foot positioning mechanism, wherein the foot positioning mechanism is used for enabling feet of a patient to keep the same foot posture and the same position in an operation process and is detachably arranged on the operating table body;

The workstation is used for planning a preoperative surgical scheme according to the three-dimensional image, navigating the operation and controlling the mechanical arm to execute the surgical scheme;

wherein the surgical instrument at the distal end of the robotic arm comprises:

a first surgical instrument for cutting the tibia to fully expose a lesion located at an end of the talus;

a second surgical instrument for removing a lesion and forming a hole at the lesion site;

A third surgical instrument for extracting periosteum-bone complex at the patient's tibia, comprising a periosteum segmentation instrument, a periosteum inferior bone extraction instrument;

a fourth surgical instrument for placing the periosteum-bone complex into the hole replacement implant instrument;

A fifth surgical instrument for driving into the distal end of the tibia to form a reduction hole.

In some embodiments, the foot positioning mechanism includes an L-shaped foot positioning plate and a connecting member for removably connecting the foot positioning plate to the surgical bed body. The L-shaped foot positioning plate is used for conforming to the special structure of the ankle joint, so that the ankle joint of a patient can be kept at a certain comfort level, the tibia cutting is facilitated by the mechanical arm, and the angle of subsequent operation, namely, the comfort level and the operation convenience are balanced.

In some embodiments, the workstation comprises:

The data communication module is used for carrying out data communication with the CT scanning equipment so as to acquire the three-dimensional image;

the surgical plan planning module is used for identifying the focus based on the three-dimensional image and matching the focus to a corresponding surgical plan;

and the operation scheme execution module is used for controlling the mechanical arm to execute the operation scheme.

In some embodiments, the surgical plan execution module specifically includes:

a cutting module for controlling the robotic arm to cut a tibia with the first surgical instrument to accurately and fully expose a lesion located on a talus when the robotic arm is replaced with the first surgical instrument;

the focus removing module is used for controlling the mechanical arm to remove focuses by using the second surgical instrument when the mechanical arm is replaced by the second surgical instrument, and forming holes at the positions of the focuses;

and the implant extraction module is used for controlling the mechanical arm to extract healthy periosteum-bone complex from the tibia of the patient by using the third surgical instrument when the mechanical arm is replaced by the third surgical instrument.

In a second aspect of the present invention, there is provided a control method of an ankle surgery robot system based on the above ankle surgery robot system, the control method comprising the steps of:

responding to a first operation of a user, controlling a CT scanning device to perform CT scanning on the ankle of a patient and a first optical positioning tool E1 pre-installed at the focus of the ankle, and reconstructing a three-dimensional image of the ankle based on CT data obtained by scanning;

Controlling an optical positioning system to perform preoperative spatial registration in response to a second operation of a user, wherein the optical positioning system comprises a mechanical arm and focus positioning and the mechanical arm and three-dimensional image registration; in the space registration process, the ankle of the patient keeps a fixed ankle pose on an operating table through a foot positioning mechanism;

responding to a third operation of a user, and calling a surgery planning system to match a corresponding ankle joint surgery scheme based on the three-dimensional image;

and controlling the mechanical arm in the surgical robot system to execute the surgical scheme in response to a fourth operation of a user.

In some embodiments, the step of controlling a robotic arm in the surgical robotic system to perform the surgical plan specifically includes:

Controlling the mechanical arm to punch two reset holes on the tibia of a patient through a punching tool which is pre-installed at the end of the mechanical arm;

controlling the mechanical arm to cut the tibia through a first surgical instrument which is replaced at the tail end of the mechanical arm in advance so as to accurately and completely expose a focus positioned on the talus;

Controlling the mechanical arm to clear the talus focus through a second surgical instrument which is replaced at the tail end of the mechanical arm in advance and forming a hole;

and controlling the mechanical arm to divide the periosteum with the appointed size on the tibia through a third surgical tool which is replaced at the tail end of the mechanical arm in advance, and extracting the bone of the periosteum lower layer at the position of dividing the periosteum to finish periosteum-bone graft extraction.

In some embodiments, the step of controlling a robotic arm in the surgical robotic system to perform the surgical plan further comprises: controlling the mechanical arm to fill the periosteum-bone graft into the hole at the focus on the talus through a fourth surgical tool which is replaced at the tail end of the mechanical arm in advance.

In some embodiments, the step of controlling a robotic arm in the surgical robotic system to perform the surgical plan further comprises: the mechanical arm is controlled to cut the tibia through a fifth surgical instrument which is replaced at the tail end of the mechanical arm in advance, so that the tibia is reset through two reset holes by using screws.

In a third aspect of the present invention, there is provided a pre-operative spatial registration method of an ankle joint surgical robot system, wherein the ankle joint robot system adopts the above-mentioned ankle joint robot system, and accordingly, the pre-operative spatial registration method includes the steps of:

Respectively acquiring a coordinate system { O } of the optical positioning instrument, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;

Calculating a transformation matrix T _BE between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the mechanical arm; the second positioning tool E2 is pre-installed at the tail end of the mechanical arm for executing the ankle joint operation scheme, the Euler angle between the coordinate system of the second positioning tool E2 and the base coordinate system of the mechanical arm is N multiplied by 90 degrees, and the value range of an integer N is [ -3,3];

Calculating a transformation matrix T _EO between a coordinate system { O } of the optical positioner and a coordinate system { E } of the second positioning tool E2, and calculating transformation matrices T _BO＝T_BET_EO between the coordinate system { O } of the optical positioner and a base coordinate system { B } of the mechanical arm based on transformation matrices TBE and T _EO between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the mechanical arm and the coordinate system { O } of the optical positioner, respectively;

Calculating a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument; and calculates a transformation matrix T _BP＝T_BET_EOT_OP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm based on the transformation matrix T _BO、T_OP between the coordinate system { O } of the optical positioner and the base coordinate system { B } of the robot arm, respectively; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located;

Acquiring a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of a foot of a patient, calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 and the virtual coordinate system { V } of the first positioning tool E1 in the three-dimensional image, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system of the mechanical arm; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

In some embodiments, the support of the first positioning tool E1 is a non-metallic material.

In some embodiments, the support of the second positioning tool E2 is a metal support or a non-metal support.

In some embodiments, before the step of calculating the transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioner, the step of: and keeping the focus of the patient, the relative positions of the mechanical arm and the optical positioning instrument fixed until the operation is finished.

A fourth aspect of the present invention is to provide a pre-operative spatial registration apparatus of an ankle surgical robot system, comprising:

The data acquisition module is used for respectively acquiring a coordinate system { O } of the optical positioning instrument, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;

A first calculation module, configured to calculate a transformation matrix T _BE between a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm; the second positioning tool E2 is pre-installed at the tail end of the mechanical arm for executing the ankle joint operation scheme, the Euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the mechanical arm is N multiplied by 90 degrees, and the value range of an integer N is [ -3,3];

a second calculation module, configured to calculate a transformation matrix T _EO between the coordinate system { O } of the optical positioner and the coordinate system { E } of the second positioning tool E2, and calculate a transformation matrix T _BO＝T_BET_EO between the coordinate system { O } of the optical positioner and the base coordinate system { B } of the manipulator;

a third calculation module, configured to calculate a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument;

A focus positioning module that calculates a transformation matrix T _BP＝T_BET_EOT_OP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the manipulator based on the transformation matrix T _BO between the coordinate system { O } of the optical positioning tool and the base coordinate system { B } of the manipulator, and the transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool, thereby realizing focus positioning; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located;

An image registration module for calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 for positioning a real-space lesion and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of a patient's foot, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system { B } of the robot arm, thereby achieving image registration; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

In some embodiments, the third calculation module calculates a transformation matrix T _BP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robotic arm, the patient focus, the robotic arm, and the optical positioner are fixed in relative positions until surgery ends.

In a fifth aspect of the present invention, there is provided a computer device for performing pre-operative spatial registration of an ankle joint, comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform a method of pre-operative spatial registration, the method comprising:

Calculating a transformation matrix T _BE between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robotic arm; the second positioning tool E2 is pre-installed at the tail end of the mechanical arm for executing the ankle joint operation scheme, the Euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the mechanical arm is N multiplied by 90 degrees, and the value range of an integer N is [ -3,3];

Calculating a transformation matrix T _EO between the coordinate system { O } of the optical positioner and the coordinate system { E } of the second positioning tool E2; and calculates a transformation matrix T _BO＝T_BET_EO between the coordinate system { O } of the optical positioner and the base coordinate system { B } of the robot arm based on the transformation matrix T _BE between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the robot arm, the transformation matrix T _EO between the coordinate system { O } of the optical positioner and the coordinate system { E } of the second positioning tool E2;

Calculating a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument; and calculates a transformation matrix T _BP＝T_BET_EOT_OP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm based on a transformation matrix T _BO between the coordinate system { O } of the optical positioning tool and the base coordinate system { B } of the robot arm, a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located;

Calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system of the robotic arm; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

A sixth aspect of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform a method of pre-operative spatial registration, the method comprising:

Respectively acquiring an optical positioning instrument coordinate system { O }, a coordinate system { P } of a first positioning tool E1, a coordinate system { E } of a second positioning tool E2 and a base coordinate system { B } of a mechanical arm;

Calculating a transformation matrix T _EO between a coordinate system { O } of the optical positioner and a coordinate system { E } of the second positioning tool E2, and calculating a transformation matrix T _BO＝T_BET_EO between the coordinate system { O } of the optical positioner and the base coordinate system { B } of the mechanical arm based on a transformation matrix T _BE between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the mechanical arm, and a transformation matrix T _EO between the coordinate system { O } of the optical positioner and the coordinate system { E } of the second positioning tool E2;

Calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 in real space and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system of the mechanical arm; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

The invention has the beneficial effects that:

According to the preoperative space registration method, the Euler angle of the coordinate system of the second positioning tool E2 arranged at the tail end of the mechanical arm and the mechanical arm base coordinate system is set to be N multiplied by 90 degrees, so that after the second positioning tool E2 is arranged, a transformation matrix between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system can be rapidly calculated, space registration is rapidly carried out, the time consumption of the whole operation is shortened, particularly, in the whole operation, the ankle joint of a patient needs to keep a fixed foot gesture, the operation time is shortened, the time of the fixed foot gesture of the patient is shortened, the pressure of the patient is greatly reduced, and the comfort and user experience are improved. Compared with the prior art that the mechanical arm and the second positioning tool are subjected to various movements before each operation, an equation set is constructed according to various movement tracks, so that a transformation matrix between a coordinate system and the mechanical arm is obtained through solving, the time consumption of the whole operation is prolonged, the requirement on the calculation performance of the system is high, and correspondingly, the manufacturing cost and the operation cost are correspondingly increased.

According to the spatial registration method and device, based on the optical positioning system, the transformation matrix of the mechanical arm and the focus and the transformation matrix of the three-dimensional image and the focus in the real space (or the real scene) are calculated, so that the spatial registration of the base coordinate system of the mechanical arm and the three-dimensional image coordinate system is established, and a foundation is laid for a surgeon or an operation planning system to formulate/match an operation scheme based on the three-dimensional image and accurately execute the operation scheme by the mechanical arm.

The invention carries out three-dimensional reconstruction based on preoperative focus medical images, and carries out operation scheme planning, simulation, operation risk assessment and the like on an ankle joint three-dimensional model, thereby solving the problems of accuracy, reliability and the like in the joint operation process; the mechanical arm with high stability, repeatability and high precision is adopted to execute the operation steps, so that the secondary trauma to the patient is reduced, and the success rate of the operation is improved.

In the conventional ankle surgery, the tibia is usually cut by a corresponding operator to expose a lesion located on the talus, however, on one hand, since the operator cannot intuitively observe the internal structure of the ankle, the location of the lesion cannot be intuitively and accurately found; on the other hand, because different operators experience different, the cutting accuracy is difficult to ensure, that is to say, the cutting accuracy is completely dependent on the experience of the operators, so that the focus cannot be completely exposed by manual cutting, or the cutting position is deviated, and other operators are required to assist in pressing or rotating the feet of the patient during the follow-up focus removal, thereby exposing the complete focus. The invention locates the focus position by utilizing the optical locating mark in advance, registers the focus with the mechanical arm by the optical locating system, thereby controlling the mechanical arm to accurately locate the focus and accurately cut the tibia so as to accurately and completely expose the focus.

By arranging the foot positioning mechanism, the invention ensures that patients can keep the same foot posture at the same position in the whole operation process, thereby eliminating the need of CT scanning in real time in the operation process, correcting or changing the operation path of the mechanical arm in real time according to the CT scanning result, greatly reducing the operation cost and being more suitable for popularization and application of the whole operation system. Although the accuracy of the operation process can be ensured by carrying out real-time CT scanning in the operation process, the mode of carrying out real-time scanning and changing the operation path of the mechanical arm in real time inevitably greatly increases the cost of each operation, greatly increases the burden of patients and prevents the popularization and application of the whole operation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from these drawings without inventive faculty.

FIG. 1 is a schematic frame diagram of an ankle surgical robotic system according to an exemplary embodiment of the invention;

FIG. 2 is a schematic view illustrating a structure of an ankle surgical robot system according to an exemplary embodiment of the present invention;

FIG. 3 is a schematic view of an operating table and foot positioning mechanism in an ankle surgical robotic system according to an exemplary embodiment of the invention;

FIG. 4 is a schematic diagram of the operation of an ankle surgical robot system according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic diagram of an ankle surgery robot system according to an exemplary embodiment of the present invention applied to a specific ankle surgery;

FIG. 6a is a schematic diagram of a pre-operative registration method of an ankle surgical robotic system according to an exemplary embodiment of the invention;

FIG. 6b is a flow chart of a method of pre-operative registration of an ankle surgical robotic system according to an exemplary embodiment of the invention;

FIG. 7 is a functional block diagram of a pre-operative registration device of an ankle surgical robotic system according to an exemplary embodiment of the invention;

fig. 8 is a schematic diagram of a support structure of an optical positioning tool according to an exemplary embodiment of the present invention.

The marks in the figure: 1 mechanical arm (or surgical robot), 2 surgical instrument, 3 operation table body, 4 foot locating plate, 5 optical locating instrument, 6 connecting parts.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In this document, suffixes such as "module", "component", or "unit" used to represent elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

The terms "upper," "lower," "inner," "outer," "front," "rear," "one end," "the other end," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted," "configured to," "connected," and the like, herein, are to be construed broadly as, for example, "connected," whether fixedly, detachably, or integrally connected, unless otherwise specifically defined and limited; the two components can be mechanically connected, can be directly connected or can be indirectly connected through an intermediate medium, and can be communicated with each other. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Herein, "and/or" includes any and all combinations of one or more of the associated listed items.

Herein, "plurality" means two or more, i.e., it includes two, three, four, five, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The "foot posture" herein refers to the posture of the foot when the center of the knee joint and the ankle joint of the patient is on a straight line, and the ankle joint performs dorsiflexion, plantarflexion, varus, valgus, and the like. Accordingly, the term "foot posture is not changed" means that when the center of the knee joint and the ankle joint of the patient is on a straight line, the ankle joint does not perform any of dorsiflexion, plantarflexion, varus and valgus to cause a change in the posture of the foot.

Example 1: as shown in fig. 1 and 2, the present invention includes a robot arm 1, an optical positioning system, an operating table, and a control system (or workstation).

The mechanical arm 1 is used for executing a pre-matched ankle joint operation scheme through an end-mounted operation tool under the control of a workstation; in this embodiment, the mechanical arm 1 is preferably a 7-axis mechanical arm with a torque feedback module, and surgical instruments, such as a multifunctional surgical electric drill, are mounted at the end of the mechanical arm 1, and the types of the specific surgical instruments can be selected according to actual requirements. Because of the need of realizing autologous periosteum and bone complex transplantation, the method is used in the operation process according to the characteristics of ankle joint operation:

A first surgical instrument, such as a pendulum saw, for cutting the tibia to accurately and completely expose a lesion located on the talus;

A second surgical tool, such as a milling cutter, for removing the lesion and forming a hole at the lesion location;

A third surgical instrument for extracting a healthy periosteum-bone complex from the patient's tibia; the third surgical instrument includes a periosteum segmentation instrument such as a circular hole trepan, and a periosteum lower bone extraction instrument such as a saw tooth trepan;

a fourth surgical instrument for repositioning the tibia cut by the first instrument;

A fifth surgical instrument, such as a positioning needle, for driving into the distal end of the tibia to form a reduction hole;

a sixth surgical instrument, such as a k-wire, for driving into the tibia of a patient and pre-positioning a focal optical marker.

In other embodiments, the surgical device further comprises a grafting device, such as a pushrod, for placing the periosteum-bone complex into the hole at the focal site.

The 7-axis mechanical arm has high mobility, can perform various fine actions, is suitable for the requirements of ankle joint operation, and meanwhile, the moment feedback module is used for feeding back the moment of each joint, so that the force is convenient to control.

The optical positioning system is used for carrying out image registration between the mechanical arm and the three-dimensional image according to the three-dimensional image (or the three-dimensional model comprising the three-dimensional model of the first positioning tool E1) of the foot of the patient so as to ensure that the mechanical arm accurately positions the focus at the ankle joint of the patient. Wherein, the foot of the patient can be scanned by a CT scanner to acquire CT data of the foot, so that a three-dimensional image is reconstructed based on the CT data.

Specifically, the optical positioning system includes: a first optical positioning tool E1 fixed on a Kirschner wire driven into the foot of a patient before operation, a second optical positioning tool E2 fixed at the tail end of a mechanical arm before operation and an optical positioning instrument 5. The optical positioner 5 maps the focal space position (for example, the coordinate system of the first optical positioning tool E1 for positioning the focal position in the real space) to the base coordinate system of the mechanical arm in the real space, so as to lay a foundation for accurately positioning the focal by the surgical instrument at the tail end of the mechanical arm, and simultaneously, acquire CT data from the CT scanner to reconstruct a three-dimensional image of the foot, and realize the registration of the three-dimensional image and the spatial pose of the ankle joint in the real space, namely, the image registration.

The CT scanner is used for scanning the foot of a patient to obtain CT data of the foot, and reconstructing a medical three-dimensional image based on the CT data, so that focus measurement, operation scheme formulation, simulation, risk assessment and the like can be conveniently carried out based on the foot three-dimensional model. In some embodiments, the surgical plan formulation may be automatically matched in the library of surgical plans based on the specific lesion location and condition (e.g., pre-trained through a neural network model such that the neural network model can be automatically matched to the corresponding surgical plan based on the lesion location and condition), or may be entered by the physician in situ.

For the manipulator 1 performing the ankle surgery, the focal position in real space must be mapped to the manipulator base coordinate system, so that the manipulator 1 can perform the corresponding surgery according to the planned surgery scheme. Therefore, in order to accurately position the focus at the tail end of the mechanical arm, an optical positioning mark (namely a first optical positioning tool E1) is arranged on the Kirschner wire which is driven into the foot of the patient, an optical positioning mark (namely a second optical positioning tool E2) is arranged at the tail end of the mechanical arm, and then matrix transformation is carried out between a coordinate system of the base of the mechanical arm and a coordinate system of an optical positioning instrument, and a coordinate system of the optical positioning instrument and a coordinate system of the optical positioning mark which represents the focus position in the real space so as to accurately position the focus. The coordinate system of the optical locating mark for locating the focus, the optical locating mark at the tail end of the mechanical arm 1 and the optical locating instrument in the real space are all known, and the base coordinate system of the mechanical arm in the real space is also known, so that a transformation matrix between the coordinate system of the optical locating mark for locating the focus in the real space and the base coordinate system of the mechanical arm can be calculated, and the focus position is transformed into the coordinate system of the mechanical arm 1. The specific registration method can adopt a registration algorithm commonly used in the field, and can also adopt a spatial registration algorithm proposed by the invention aiming at the ankle joint operation robot control system.

Since the lesion is generally located at the distal talus of the ankle joint and is blocked by the tibia, in order to clear the lesion, the tibia needs to be cut first to expose the lesion, and thus, the k-wire needs to be positioned by driving in the tibia first, and then the optical positioning mark (i.e., the first optical positioning tool E1, see fig. 4) is mounted on the k-wire. In this embodiment, the focal optical positioning markers are four passive reflective spheres fixed on the k-wire driven into the patient's foot, and in particular, the passive reflective spheres are fixed on the k-wire using a non-metallic bracket (as shown in fig. 8). The non-metallic stent is chosen to avoid effects in CT scanning.

The mechanical arm optical positioning mark (i.e. the first optical positioning tool E1, see fig. 4) is a passive reflection ball fixed at the end of the mechanical arm, and specifically, the passive reflection ball is also fixed at the end of the mechanical arm by using a bracket. The bracket can be made of metal or nonmetal.

The operating bed is used for placing a patient and fixing the foot of the patient to be operated; the foot positioning mechanism is detachably arranged on the operating table body 3. The foot positioning mechanism includes an L-shaped foot positioning plate 4 and a connecting member 6 for detachably connecting the foot positioning plate 4 to the operating table body 3.

The L-shaped foot positioning plate 4 is used for maintaining the posture of the foot of the patient so as to perform CT scanning until the operation is finished, does not change the posture of the foot, conforms to the structure of the foot of the patient, and provides enough operation space for the subsequent cutting of the tibia while ensuring the comfort of the patient. When in use, the feet and the lower legs of a patient are placed on the foot positioning plate 4, and then are fastened by means of binding bands and the like so as not to be changed.

After CT scanning, the foot positioning plate 4 is fixed to the operating table body 3 via the connecting member 6. The form of the connecting member 6 is various, and may be a snap-in type, a bolt type, or any other form, so long as the relative position of the foot positioning plate 4 and the operation table body 3 is ensured to be unchanged and detachable. The foot positioning plate 4 itself has the function of ensuring that the posture of the foot does not change, and is fixed on the operating table body 1 for ensuring that the position of the foot does not change after calibration. Further, the connecting component 6 can also take the form of a guide rail, and correspondingly, a corresponding clamping type sliding block is arranged on the L-shaped foot positioning plate, so that the foot positioning plate can slide on the guide rail and can be locked (for example, the clamping type sliding block can be fastened and clamped on the guide rail through a screw) when the foot positioning plate slides to a position registered by a control system, thereby being suitable for patients with different leg lengths; on the other hand, the patient can properly move the legs during the operation process so as to relieve the discomfort when the patient keeps one posture for a long time; meanwhile, scales are arranged on the guide rail, so that foot movements of a patient can be input into a workstation, and the workstation recalibrates the position between the foot three-dimensional model and the mechanical arm according to the displacement of the foot movements, corrects the operation path in an operation scheme and the like. Of course, in other embodiments, a corresponding displacement sensor may be provided on the slider or rail, such that the displacement sensor detects the displacement of the patient's foot during the procedure, and feeds back to the workstation, from which the calibration is then performed.

Then the optical positioning instrument 5 is started to scan the focus optical positioning mark and the mechanical arm optical positioning mark, and the operation can be started after the calibration is completed.

In addition, in the present embodiment, the optical positioner is preferably a near infrared optical positioner.

The control system (or workstation) is used for acquiring CT data of the foot of the patient from the CT scanner, reconstructing a three-dimensional image of the foot based on the CT data, and controlling the optical positioning system and the mechanical arm to work, and concretely comprises a data communication module which is used for carrying out data communication with the CT scanning equipment so as to acquire the CT data and reconstruct the three-dimensional image; and communicating data with the optical positioning system and the robotic arm; the surgical plan planning module is used for recognizing the focus based on the three-dimensional image and matching the focus to a corresponding surgical plan (specifically, the surgical plan in the database can be automatically matched or the surgical plan planned by a doctor on site); and the operation execution module is used for controlling the mechanical arm to execute the operation scheme.

Specifically, the surgical execution module that controls the robotic arm includes:

A cutting module for controlling the robotic arm to cut the tibia with the first surgical instrument to accurately and fully expose a lesion located on the talus when the robotic arm is replaced with the first surgical instrument;

In some embodiments, the replacement surgical instrument may be replaced manually, or with a dedicated robotic arm, and the position of the surgical instrument manually calibrated after replacement; after the replacement, the robotic arm will, of course, send a corresponding feedback signal to the control system (or workstation) to inform it of the replacement of the corresponding surgical instrument, and the control system then controls the robotic arm to continue to perform the surgical procedure.

In other embodiments, the surgical execution module further comprises: the manipulator comprises a first replacement tool module for controlling the manipulator to replace a first surgical tool, a second replacement tool module for controlling the manipulator to replace a second surgical tool, a third replacement tool module for controlling the manipulator to replace a third surgical tool, and a fourth replacement tool module for controlling the manipulator to replace a fourth surgical tool. Specifically, when the mechanical arm performs a link (for example, cuts tibia), feedback is sent to the control system, and the control system sends a control signal to the mechanical arm through the corresponding tool replacing module to control the mechanical arm to be switched from the operation station to the tool replacing station so as to prepare for replacing the operation tool; when the control system receives the feedback signal of the replaced surgical instrument, a control signal is sent to the mechanical arm through the corresponding instrument replacing module to control the mechanical arm to return to the surgical station from the station of the replaced surgical instrument, and the mechanical arm is switched to the corresponding station to have a feedback signal fed back to the control system, so that the control system can accurately grasp the position, the state and the like of the mechanical arm.

The control system can construct a foot three-dimensional model according to CT data scanned by a CT scanner, and automatically identify a focus by means of AI and the like. Focus measurement, operation scheme formulation, simulation, risk assessment and the like can be performed based on the three-dimensional model. Meanwhile, the control system is used as a controller to control the optical positioning system to calibrate, and the mechanical arm is controlled to execute the operation.

Referring to fig. 4 and 5, the above-mentioned ankle robot system of the present embodiment operates as follows:

A first optical positioning tool E1 (namely an optical positioning mark) for positioning a focus is respectively arranged on the tibia of a patient before operation, and a second optical positioning tool E2 (namely an optical positioning mark) is arranged at the tail end of the mechanical arm; specifically, a Kirschner wire for positioning is driven into the foot talus of a patient to be operated by an operator, and a focus optical positioning mark (i.e., a first positioning tool E1) is mounted on the Kirschner wire; of course, there are also operators or other assistance personnel installing the second positioning tool E2 at the end of the mechanical arm;

the feet of the patient are fixed on the L-shaped foot positioning plate 4 and then CT scanning is carried out;

Constructing a foot three-dimensional model according to CT data of CT scanning (the foot three-dimensional model comprises a three-dimensional model of the optical positioning mark (namely a first optical positioning tool E1) on the Kirschner wire);

The foot positioning plate 4 and the feet of the patient are fixed on the operating table body 3 (namely a special operating table) so as to keep the fixed foot posture in the operation;

Scanning a focus optical positioning mark (namely a first optical positioning tool E1) and an optical positioning mark (namely a first optical positioning tool E1) at the tail end of the mechanical arm by using an optical positioning instrument so as to acquire respective coordinate systems of the focus optical positioning mark and the optical positioning mark in an optical positioning system, and based on a conversion relation between the coordinate system of the optical positioning instrument and the coordinate systems of the two positioning marks in the optical positioning system and a conversion relation between a base coordinate system of the mechanical arm and a coordinate system of a second optical positioning tool E2, namely, coordinate system transmission is used for acquiring a coordinate system conversion relation between the mechanical arm and the first optical positioning tool E1 fixed at a focus position, so that the focus position in a real space is mapped under the base coordinate system of the mechanical arm, and then the conversion relation between the coordinate system of the first optical positioning tool E1 at the focus position and a virtual coordinate system of the first optical positioning tool E1 in a three-dimensional model is combined, so that image registration is realized, namely, the mechanical arm, the first optical positioning tool E1, the second optical positioning tool E2 and a foot three-dimensional model are subjected to image registration;

a surgical planning system makes a surgical scheme according to the three-dimensional images of the foot; specifically, the surgical plan (i.e., the process file) includes data such as lesion location, surgical path planning, etc.;

the control system acquires the surgical plan from the surgical planning system and controls the mechanical arm 1 to execute the surgical plan, specifically, the method comprises the following steps:

Controlling the mechanical arm to punch a positioning needle at the tail end of the tibia twice according to the operation scheme to generate two reset holes;

When the surgical instrument at the tail end of the mechanical arm is replaced by: after the swing sawing, the mechanical arm is controlled to cut the tibia so as to expose the focus on the talus; in some embodiments, the tool can be manually replaced, and a mechanical arm special for replacing the tool can be controlled to automatically replace the tool at the tail end of the surgical mechanical arm;

When the surgical instrument at the tail end of the mechanical arm is replaced by: after milling, controlling the mechanical arm to clear the talus focus;

After the focus is cleared, the mechanical arm is controlled to take the autologous periosteum-bone graft.

In some embodiments, after each surgical instrument change, the calibration of the robotic arm tip and surgical instrument may be performed manually by the respective staff member so that the surgical instrument is installed in place.

In some embodiments, each time a link is performed by the robotic arm according to the surgical plan, a corresponding feedback signal is fed back to the control system.

After the mechanical arm finishes the operation, the periosteum-bone graft is put into the focus position by an operator, the cut tibia is manually reset, and the tibia is reset by screws on two reset holes.

In other embodiments, the periosteum-bone graft may also be placed into the focal site by a control robotic arm; in particular, since the implantation process is complicated, the robot arm can complete the implantation with the assistance of the operator.

In some embodiments, the step of controlling the robot arm to take the autologous periosteum-bone graft specifically includes the steps of:

When the operator manually resets the cut tibia, the tibia is reset by screws on the two reset holes, and the surgical instrument at the tail end of the mechanical arm is replaced by: after the circular ring is drilled, the mechanical arm is controlled to divide the tibia into the periosteum with the specified size;

when the surgical instrument at the tail end of the mechanical arm is replaced by: after the sawtooth trephine, the mechanical arm is controlled to extract the bone of the periosteum lower layer at the same position of the periosteum extraction, and the periosteum-bone graft integrated extraction is completed.

Embodiment 2 based on the ankle joint operation robot system, the invention further provides a control method of the ankle joint operation robot system, and the control method is described in detail below with reference to specific embodiments and drawings.

In some embodiments, a control method for controlling a mechanical arm to execute the surgical scheme by using the control system specifically includes the steps of:

(1) In response to a first operation of a user, the CT scanning device is controlled to perform CT scanning on the ankle of the patient and a first optical positioning tool E1 which is pre-installed at the focus position of the ankle, and a three-dimensional image of the ankle is reconstructed based on CT data obtained by scanning.

In some embodiments, the first operation refers to the operator triggering the corresponding function option on the user interface of the workstation, so that the workstation sends a control instruction to the CT scanning device to control the CT scanning device to perform scanning.

(2) In response to a second operation by the user, controlling the optical positioning system to perform preoperative spatial registration, including mechanical arm registration with the lesion (i.e., mapping the position of the lesion in real space (e.g., the coordinate system of the first positioning tool E1) to the base coordinate system of the mechanical arm), medical image registration (i.e., mapping the virtual coordinate system of the first positioning tool E1 to the base coordinate system of the mechanical arm by the coordinate system of the real space and its transfer between the virtual coordinate systems of the three-dimensional model); wherein, during the spatial registration process, the ankle of the patient maintains a fixed ankle pose on the operating table.

In some embodiments, the second operation is that the staff member triggers the corresponding functional options (e.g., spatial registration, and surgical plan) on the user interface of the workstation, such that the workstation sends a control command to the optical positioning system to cause it to perform the pre-operative spatial registration.

(3) In response to a third operation by the user, invoking a surgical planning system to formulate an ankle surgical plan, and then simulating the surgical plan.

In some embodiments, the third operation refers to the staff triggering the corresponding function option (e.g., surgical plan) on the user interface of the workstation, such that the workstation sends a control instruction to the surgical planning system to trigger it to perform the surgical plan planning and simulation.

(4) And controlling a mechanical arm in the surgical robot system to execute the surgical scheme in response to a fourth operation of a user.

In some embodiments, the fourth operation refers to the staff triggering a corresponding function option (e.g., executing a surgical procedure) on the user interface of the workstation, such that the workstation sends a corresponding control instruction to the robotic arm according to the surgical procedure to control the robotic arm to operate according to the surgical procedure.

Specifically, the step of controlling a robotic arm in a surgical robotic system to perform a surgical plan includes:

(41) Generating a control instruction for driving a positioning needle into the tibia according to the operation scheme so as to control the mechanical arm to punch the positioning needle twice at the tail end of the tibia of the patient and generate two reset holes.

In some embodiments, the mechanical arm is preloaded with a positioning needle, specifically, the mechanical arm can be manually installed by a worker or automatically installed through other mechanical arms for replacing the instrument, and the positioning needle is installed or the position of the mechanical arm is not moved as much as possible in the process of later replacing the instrument because the positioning needle is registered in advance, and the instrument is required to be registered with the focus position after the instrument is replaced; accordingly, the surgical instrument can be replaced manually or automatically in the subsequent process.

(42) And triggering the first replacement device module to control the mechanical arm to be replaced with the first surgical device in response to a feedback signal fed back by the mechanical arm for completing the positioning needle punching.

In some embodiments, the first surgical instrument is a surgical instrument.

(43) And responding to a feedback signal fed back by the mechanical arm for completing replacement, generating a control instruction for cutting the tibia according to the operation scheme, and sending the control instruction to the mechanical arm to control the mechanical arm to cut the tibia so as to accurately and completely expose the focus on the talus.

In some embodiments, the control command for cutting the tibia is generated when a feedback signal for completing the replacement is received and a feedback signal for completing the registration is also required to be received, wherein the feedback signal is fed back by the optical positioner.

(44) And triggering a second replacement tool module to control the mechanical arm to replace the second surgical tool in response to a feedback signal of cutting completion fed back by the mechanical arm.

In some embodiments, the second surgical instrument is a milling cutter.

(45) And responding to the replaced feedback signal fed back by the mechanical arm, generating a control instruction for removing the focus according to the operation scheme, and sending the control instruction to the mechanical arm so as to control the mechanical arm to perform the removal operation on the talus focus and form a hole.

In some embodiments, after receiving the feedback signal for completing the replacement, the control instruction for removing the focus is generated after receiving the registered feedback signal fed back by the optical positioner.

(46) And triggering a third replacement tool module to control the mechanical arm to replace a periosteum cutting tool in a third surgical tool in response to a feedback signal fed back by the mechanical arm and used for removing the focus.

In some embodiments, the periosteal divider is a round trephine with a blade at the forward end thereof, whereby a round periosteum of a certain size (still connected with bone tissue) is cut by the blade.

(47) And responding to a feedback signal fed back by the mechanical arm after the replacement is completed, generating and sending a control instruction for extracting periosteum to the mechanical arm according to a surgical scheme so as to control the mechanical arm to cut the periosteum with a specified size in the tibia.

In some embodiments, after receiving the feedback signal for completing the replacement, the control instruction for extracting periosteum is generated after receiving the registered feedback signal fed back by the optical positioner.

(48) And triggering a third replacement tool module to control the mechanical arm to replace the periosteum lower layer bone extraction tool in the third surgical tool in response to a feedback signal of the periosteum cutting completion fed back by the mechanical arm.

In some embodiments, the bone extraction device is a serrated trephine having an inner diameter equal to the inner diameter of the circular trephine, so that the bone tissue of the periosteum lower layer can be extracted from the incision formed by cutting the circular trephine, and the periosteum-bone tissue integrated implant can be integrally extracted.

(49) And responding to a feedback signal fed back by the mechanical arm after replacement is completed, generating and sending a control instruction for extracting the implant to the mechanical arm according to a surgical scheme so as to control the mechanical arm to extract the bone of the periosteum lower layer at the position of dividing the periosteum to complete periosteum-bone implant integrated extraction.

In other embodiments, the control method further comprises the steps of:

(410) And triggering a fourth replacement tool module to control the robotic arm to replace the grafting tool in the third surgical tool in response to a feedback signal of completion of the graft extraction fed back by the robotic arm. In some embodiments, the grafting instrument is a pusher rod for pushing the extracted periosteal bone tissue into the hole at the focal location.

(411) And responding to the replaced feedback signal fed back by the mechanical arm, generating and sending a transplanted control instruction to the mechanical arm according to the operation scheme so as to control the mechanical arm to fill the periosteum-bone graft into the hole formed at the focus on the talus in the step S5. Specifically, the trephine with periosteum-bone graft extracted is aligned to the transplanting site, then the push rod is inserted into the trephine to push the removed graft into the transplanting site, and finally the drill barrel and the push rod are withdrawn, thus completing the operation.

In other embodiments, the control method further comprises the steps of:

(412) And triggering a fifth replacement tool module to control the mechanical arm to replace a fourth surgical tool in response to a feedback signal fed back by the mechanical arm that the transplanting is completed.

(413) And responding to a feedback signal fed back by the mechanical arm after replacement is completed, generating and sending a reset control instruction to the mechanical arm according to the operation scheme so as to control the mechanical arm to cut the tibia, and resetting the tibia through the two reset holes by using screws.

Finally, the doctor manually suture and replace tissues such as joint skin, meat and the like to complete the whole ankle joint operation.

Based on the ankle joint operation robot system, the invention also provides a preoperative space registration method and a preoperative space registration device applied to the ankle joint operation robot system. The method and apparatus for pre-operative spatial registration are described in detail below with reference to specific embodiments and accompanying drawings.

Example 3: before performing preoperative space registration, a Kirschner wire is arranged on the tibia of the foot where the focus of a patient is located in advance, a first positioning tool E1 is arranged on the Kirschner wire, the first positioning tool E1 is composed of a bracket (the bracket is shown as figure 8) and a passive reflection small ball 4, and the material used for the bracket of the first bracket E1 is polylactic acid PLA; then, CT scanning is performed on the foot of the focus of the patient, and the first positioning tool E1 is required to be scanned during CT scanning, and a three-dimensional medical image is reconstructed based on CT data to obtain a three-dimensional model of the foot of the focus of the patient and a corresponding coordinate system thereof, wherein the CT scanning comprises the following steps: a three-dimensional model of the ankle joint of the foot where the focus of the patient is located and a coordinate system thereof, and a three-dimensional model of four passive reflective pellets of the first positioning tool E1 for positioning the focus of the patient and a coordinate system { V }.

Due to the specificity of ankle surgery, in order to ensure comfort of a patient, a sufficient operation space is provided for the surgery (for example, a sufficient space is provided for a mechanical arm to cut the tibia so as to completely expose a focus), and the foot of the patient is kept in a fixed posture by the foot fixing mechanism, however, if the foot is kept in a fixed posture for a long time, pressure and discomfort are inevitably caused to the patient, so that the smooth progress of the whole surgery is affected. Based on this, in order to avoid keeping a fixed posture for a long time, when the second positioning tool E2 (the bracket of which is made of iron or of non-metallic material) is installed at the end of the mechanical arm, the euler angle of the second positioning tool E2 relative to the base standard of the mechanical arm is n×90 °, and the value range of the integer N is [ -3,3], so that the coordinate system relationship between the second positioning tool E2 and the mechanical arm can be quickly determined by calculating the transformation matrix TBE between the second positioning tool E2 coordinate system { E } and the base coordinate system { B } of the mechanical arm, thereby accelerating the speed of spatial registration before surgery, reducing the overall time consumption of ankle surgery, reducing the duration of keeping the fixed or same foot posture of the patient, improving the comfort and experience of the user, and reducing the pressure and anxiety feeling of surgery.

The relative positions of the focus of the patient, the mechanical arm and the optical positioning instrument are kept fixed in the space registration process.

Referring to fig. 6a and 6b, a method for pre-operative spatial registration of an ankle surgical robot system according to an exemplary embodiment of the present invention includes the steps of:

S101, respectively acquiring an optical positioning instrument coordinate system { O }, a coordinate system { P } of a first positioning tool E1, a second positioning tool E2 coordinate system { E } and a mechanical arm base coordinate system { B }.

In some embodiments, the optical positioner coordinate system { O }, the first and second positioning tools E1, E2 coordinate systems { P }, { E }, may be obtained through an optical positioning system secondary development interface.

S11, calculating a transformation matrix T _BE between the second positioning tool E2 coordinate system { E } and the mechanical arm base coordinate system { B }.

In some embodiments, the second positioning tool E2 is pre-mounted at the end of the arm that performs the ankle surgery, and the Euler angle of the coordinate system of the second positioning tool E2 and the base coordinate system of the arm is N x 90 DEG, and the integer N is in the range of [ -3,3]. By setting the euler angle between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system to n×90 degrees, after the second positioning tool E2 is installed (the coordinate system of the second positioning tool E2 is known and provided by the optical positioning system), the transformation matrix between the coordinate system of the second positioning tool E2 and the mechanical arm base coordinate system (that is, the conversion relation between the coordinate system of the second positioning tool and the mechanical arm is determined) can be rapidly calculated, multiple movements are not needed before each operation, and the transformation matrix between the coordinate system and the mechanical arm is solved according to the equation set corresponding to the multiple movements, so that the time consumed by the whole operation is greatly shortened, and the requirement on the calculation performance of the system is also reduced.

In some embodiments, the support of the second positioning tool E2 is a metallic support or a non-metallic support.

S12, calculating a transformation matrix T _EO between the coordinate system { O } of the optical positioning instrument and the coordinate system { E } of the second positioning tool E2.

In some embodiments, the coordinate system of the second positioning tool is provided by an optical positioning system. Specifically, the second positioning tool and the optical positioning instrument of the optical positioning system are stored in advance in a database (e.g., stored at factory setting).

S13, calculating a transformation matrix T _BO＝T_BET_EO of the optical positioner coordinate system { O } and the mechanical arm base coordinate system { B } based on the transformation matrix T _BE between the second positioning tool E2 coordinate system { E } and the mechanical arm base coordinate system { B } calculated in the step S11 and the transformation matrix T _EO between the optical positioner coordinate system { O } and the second positioning tool E2 coordinate system { E } calculated in the step S12.

S14, respectively obtaining a first positioning tool E1 coordinate system { P } and an optical positioning instrument coordinate system { O }, and calculating a transformation matrix T _OP between the first positioning tool E1 coordinate system { P } and the optical positioning instrument coordinate system { O }.

In some embodiments, it may be desirable to keep the patient' S focus, the robotic arm, and the optical positioner fixed in relative position, either before or after performing this step S14, and until the end of the procedure.

Of course, in other embodiments, the relative position may not be maintained fixed, and accordingly, the step S14 needs to be re-performed once the patient' S focus has changed.

S15, calculating a transformation matrix T _BP＝T_BET_EOT_OP of the first positioning tool E1 coordinate system { P } and the mechanical arm base coordinate system { B } based on the transformation matrix T _BO of the optical positioning tool coordinate system { O } and the mechanical arm base coordinate system { B } calculated in the step S13 and the transformation matrix T _OP of the first positioning tool E1 coordinate system { P } and the optical positioning tool coordinate system { O } calculated in the step S14.

In some embodiments, the first positioning tool E1 is preoperatively mounted on a k-wire pre-applied to the tibia of the foot where the patient's lesion is located.

S16, calculating a transformation matrix TPV for locating the real space lesion, the first localization tool E1 coordinate system { P } and the first localization tool E1 coordinate system { V } in the three-dimensional image of the patient' S foot, and calculating a transformation matrix tbv= TBETEOTOPTPV between the three-dimensional image and the robot base coordinate system.

In some embodiments, the three-dimensional image is acquired before the step S16 is performed, specifically, giant is a three-dimensional image reconstructed based on CT data after CT scanning is performed on the foot of the patient with the focus and the first positioning tool E1.

Example 4: referring to fig. 7, a pre-operative spatial registration apparatus of an ankle surgical robot system according to an exemplary embodiment of the present invention includes:

The data acquisition module is used for acquiring an optical positioning instrument coordinate system { O }, a coordinate system { P } of a first positioning tool E1, a second positioning tool E2 coordinate system { E } and a mechanical arm base coordinate system { B }; specifically, the data acquisition module may directly acquire the coordinate system { O } of the optical positioning instrument, the coordinate system { P } of the first positioning tool E1, and the coordinate system { E } of the second positioning tool E2 from the database of the optical positioning system; the mechanical arm base coordinate system { B } can be directly obtained from a control system or a database of the mechanical arm;

The first calculation module is used for calculating a transformation matrix TBE of the second positioning tool E2 coordinate system { E } and the mechanical arm base coordinate system { B }; the second positioning tool E2 is pre-installed at the tail end of the mechanical arm for performing ankle joint operation, the Euler angle of a coordinate system of the second positioning tool E2 and a base coordinate system of the mechanical arm is N multiplied by 90 degrees, and the range of the integer N is [ -3,3];

a second calculation module, configured to calculate a transformation matrix TEO between the optical positioner coordinate system { O } and the second positioning tool E2 coordinate system { E }, and calculate a transformation matrix tbo= TBETEO between the optical positioner coordinate system { O } and the manipulator base coordinate system { B };

A third calculation module, configured to calculate a transformation matrix TOP between the first positioning tool E1 coordinate system { P } and the optical positioning instrument coordinate system { O };

A focus positioning module, configured to calculate a transformation matrix tbp= TBETEOTOP between the first positioning tool E1 coordinate system { P } and the manipulator base coordinate system { B } based on the transformation matrix TBO between the optical positioning tool coordinate system { O } and the manipulator base coordinate system { B } calculated by the first calculation module, and the transformation matrix TOP between the first positioning tool E1 coordinate system { P } and the optical positioning tool coordinate system { O } calculated by the second calculation module; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located;

The image registration module is used for acquiring a transformation matrix TPV of a first positioning tool E1 coordinate system { V } in a three-dimensional image of a patient foot, calculating a transformation matrix TPV of a first positioning tool E1 coordinate system { P } for positioning a real space focus and a first positioning tool E1 coordinate system { V } in the three-dimensional image of the patient foot, and calculating a transformation matrix TBV= TBETEOTOPTPV between the three-dimensional image and the mechanical arm base coordinate system; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the patient focus and the first positioning tool E1 which are driven into the Kirschner wire in advance.

In some embodiments, the support of the first positioning tool E1 is a non-metallic material, while the support of the second positioning tool E2 is a metallic support or a non-metallic support.

In some embodiments, in the process of calculating the transformation matrix TBP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the mechanical arm, the third calculation module fixes the relative positions of the patient focus, the mechanical arm and the optical positioning device until the operation is completed.

In other embodiments, the apparatus further comprises:

The database is used for storing a coordinate system { O } of the optical positioning instrument, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm in the optical positioning system.

Example 5: the invention also provides a computer device for performing ankle joint preoperative spatial registration, comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when executed by the processor, causes the processor to perform a method for preoperative spatial registration, the method comprising:

Respectively obtaining an optical positioning instrument coordinate system { O }, a coordinate system { P } of a first positioning tool E1, a second positioning tool E2 coordinate system { E } and a mechanical arm base coordinate system { B };

calculating a transformation matrix TBE between the second positioning tool E2 coordinate system { E } and the mechanical arm base coordinate system { B }; the second positioning tool E2 is pre-installed at the tail end of the mechanical arm for performing ankle joint operation, the Euler angle of a coordinate system of the second positioning tool E2 and a base coordinate system of the mechanical arm is N multiplied by 90 degrees, and the value range of an integer N is [ -3,3];

Calculating a transformation matrix TEO between an optical positioning instrument coordinate system { O } and the second positioning tool E2 coordinate system { E }; calculating a transformation matrix tbo= TBETEO of the optical positioner coordinate system { O } and the manipulator base coordinate system { B } based on a transformation matrix TBE between the second positioner E2 coordinate system { E } and the manipulator base coordinate system { B }, and a transformation matrix TEO between the optical positioner coordinate system { O } and the second positioner E2 coordinate system { E };

Calculating a transformation matrix TOP between the first positioning tool E1 coordinate system { P } and the optical positioning instrument coordinate system { O }; calculating a transformation matrix tbp= TBETEOTOP of the first positioning tool E1 coordinate system { P } and the manipulator base coordinate system { B } based on a transformation matrix tbo= TBETEO of the optical positioning tool coordinate system { O } and the manipulator base coordinate system { B }, and a transformation matrix TOP between the first positioning tool E1 coordinate system { P } and the optical positioning tool coordinate system { O }; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located;

calculating a transformation matrix TPV of the first localization tool E1 coordinate system { P } for locating a real space lesion and the first localization tool E1 coordinate system { V } in a three-dimensional image of a patient's foot, and calculating a transformation matrix tbv= TBETEOTOPTPV between the three-dimensional image and the robotic arm base coordinate system; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

Example 6: the present invention also provides a computer readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, causes the processor to perform a method of pre-operative spatial registration, the method comprising:

Calculating a transformation matrix TEO between an optical positioner coordinate system { O } and the second positioning tool E2 coordinate system { E }, and calculating a transformation matrix tbo= TBETEO between the optical positioner coordinate system { O } and the arm base coordinate system { B } based on a transformation matrix TBE between the second positioning tool E2 coordinate system { E } and the arm base coordinate system { B }, a transformation matrix TEO between the optical positioner coordinate system { O } and the second positioning tool E2 coordinate system { E };

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a computer terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims

1. A method of pre-operative spatial registration of an ankle surgical robotic system, comprising the steps of: respectively acquiring a coordinate system { O } of the optical positioning instrument, a coordinate system { P } of the first positioning tool E1, a coordinate system { E } of the second positioning tool E2 and a base coordinate system { B } of the mechanical arm;

Calculating a transformation matrix T _EO between a coordinate system { O } of the optical positioner and a coordinate system { E } of the second positioning tool E2, and calculating a transformation matrix T _BO＝T_BET_EO between the coordinate system { O } of the optical positioner and a base coordinate system { B } of the mechanical arm based on a transformation matrix T _BE、T_EO between the coordinate system { E } of the second positioning tool E2 and the base coordinate system { B } of the mechanical arm and the coordinate system { O } of the optical positioner, respectively;

2. The method according to claim 1, wherein the support of the first positioning tool E1 is a non-metallic material.

3. The method according to claim 1, wherein the support of the second positioning tool E2 is a metallic support or a non-metallic support.

4. The method according to claim 1, further comprising, before the step of calculating a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioner, the step of:

And keeping the focus of the patient, the relative positions of the mechanical arm and the optical positioning instrument fixed until the operation is finished.

5. A pre-operative spatial registration apparatus of an ankle surgical robot system, comprising:

6. The apparatus of claim 5, wherein the support of the first positioning tool E1 is a non-metallic material.

7. The device according to claim 5, wherein the support of the second positioning tool E2 is a metallic support or a non-metallic support.

8. The apparatus of claim 5, wherein the third calculation module calculates a transformation matrix T _BP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robotic arm, wherein the patient's lesion, the robotic arm, and the optical positioner are fixed in relative position until the procedure is completed.

9. A computer device for performing pre-operative spatial registration of an ankle joint, comprising a memory and a processor, the memory having stored therein a computer program, wherein execution of the computer program by the processor causes the processor to perform a method of pre-operative spatial registration, the method comprising:

Calculating a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument; and calculates a transformation matrix T _BP＝T_BET_EOT_OP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm based on a transformation matrix T _BO between the coordinate system { O } of the optical positioning tool and the base coordinate system { B } of the robot arm, a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located; calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system of the robotic arm; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.

10. A computer readable storage medium having a computer program stored thereon, which when executed by a processor causes the processor to perform a method of pre-operative spatial registration, the method comprising:

Calculating a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning instrument; and calculates a transformation matrix T _BP＝T_BET_EOT_OP between the coordinate system { P } of the first positioning tool E1 and the base coordinate system { B } of the robot arm based on a transformation matrix T _BO between the coordinate system { O } of the optical positioning tool and the base coordinate system { B } of the robot arm, a transformation matrix T _OP between the coordinate system { P } of the first positioning tool E1 and the coordinate system { O } of the optical positioning tool; wherein the first positioning tool E1 is arranged on a Kirschner wire which is pre-punched on the tibia of the foot where the focus of the patient is located; calculating a transformation matrix T _PV between a coordinate system { P } of the first positioning tool E1 in real space and a virtual coordinate system { V } of the first positioning tool E1 in a three-dimensional image of the patient's foot, and calculating a transformation matrix T _BV＝T_BET_EOT_OPT_PV between the virtual coordinate system { V } and the base coordinate system of the mechanical arm; the three-dimensional image is reconstructed based on CT data after CT scanning is performed on the foot of the focus of the patient and the first positioning tool E1, which are driven into the Kirschner wire in advance.