CN115804650A - Integrated surgical robot intraoperative registration system and method based on custom scale - Google Patents
Integrated surgical robot intraoperative registration system and method based on custom scale Download PDFInfo
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Abstract
The application discloses an intraoperative registration system and method of an integrated surgical robot based on a custom scale, wherein the system comprises an image scanning device, a surgical instrument guiding device, a registration updating module and the custom scale; the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the self-defined ruler is used for providing reference coordinates for image registration; the registration updating module is used for registering the coordinate position and updating the operation planning data; the surgical instrument guidance device is for performing a surgical procedure in accordance with the surgical planning data. The method comprises the following steps: acquiring a two-dimensional perspective image with scale information; and performing registration operation on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image, and updating operation planning data according to a result of the registration operation. The medical instrument guiding device can automatically correct operation planning data, adjust the spatial position and the posture of the medical instrument and enable the surgical instrument guiding device to always keep high positioning execution precision.
Description
Technical Field
The application belongs to the technical field of calibration of surgical robots, and particularly relates to an intraoperative registration system and method of an integrated surgical robot based on a user-defined scale.
Background
The incidence of global orthopedic diseases is gradually improved in recent years, and accurate treatment becomes the future development direction of orthopedic surgery. With the progress of medical images and instrument technologies, the surgical robot based on the mechanical arm technology is increasingly combined with medical image data and participates in the surgical process of assisting doctors, so that the operation of the doctors is greatly facilitated, and meanwhile, the surgical precision is improved. Because the traditional surgical robot auxiliary system and the medical imaging equipment are respectively a set of complete system, a ruler needs to be placed near the diseased part of a patient for intraoperative three-dimensional scanning, and the coordinate registration of the traditional surgical robot auxiliary system and the medical imaging equipment is convenient to realize a planned surgical navigation scheme. The scheme can effectively integrate medical images and a surgical robot, assists doctors to complete orthopedic surgery safely and accurately, such as screw internal fixation, reduces physical consumption of surgery, and achieves high-difficulty surgery safety, complex surgery simplification and routine surgery minimally invasive surgery.
Under the current system solution, the operation of the surgical robot on a patient in the operation needs to be performed under the control of a doctor, once the operation position is displaced, or the actual intervention angle and position of a surgical instrument have errors with the actual situation, the operation accuracy is greatly influenced, and higher requirements are provided for the doctor to operate the surgical robot. In addition, in conventional surgical navigation systems, infrared tracking devices are required to be mounted on the patient, and in order to ensure the stability of the relative displacement, the devices are generally fixed on the bone structures (such as vertebrae) of the patient in an invasive manner, which causes additional injury to the patient.
How to correct the intervention angle and position of a surgical instrument in real time in the process of performing an operation and ensure the accuracy of the operation is a research focus in the field of medical instruments.
Disclosure of Invention
The application provides registration system and method in the integrated operation robot operation based on self-defined scale, need not additionally to install tracer, but through carrying out multi-angle two-dimensional perspective scanning to patient at the operation in-process, the three-dimensional medical image before the reunion operation, formulate the operation compensation scheme of medical instrument among the operation process, revise operation data in real time to promote the execution precision of medical instrument in the art.
In order to achieve the above purpose, the present application provides the following solutions:
the intraoperative registration system of the integrated surgical robot based on the custom scale comprises image scanning equipment, surgical instrument guiding equipment, a registration updating module and the custom scale;
the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device;
the self-defined ruler is fixedly connected with the surgical instrument guiding device;
the surgical instrument guide device and the custom scale are both located in a scanning field of view of the image scanning device;
the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the two-dimensional perspective image comprises the image information of the self-defined ruler;
the self-defined scale is used for providing reference coordinates for image registration;
the registration updating module carries out coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updates preset operation planning data;
the surgical instrument guidance device is for performing a surgical operation in accordance with the surgical planning data.
Preferably, the image scanning device is a C-arm scanning device;
the C-shaped arm scanning device comprises a C-shaped supporting arm (12), a detector (11) and a bulb tube (13);
one end of the C-shaped supporting arm (12) is fixedly connected with the detector (11), and the other end of the C-shaped supporting arm (12) is fixedly connected with the bulb tube (13).
The bulb tube (13) is used for generating scanning rays;
the detector (11) is used for receiving the scanning ray and generating the two-dimensional perspective image.
Preferably, the surgical instrument guide apparatus comprises a base portion, a rigid connection arm (31) and a surgical instrument (32);
one end of the rigid connecting arm (31) is fixedly connected with the base part, and the other end of the rigid connecting arm (31) is movably connected with the surgical instrument (32);
the base portion is for adjusting an angle of the surgical instrument guide apparatus, and the surgical instrument (32) is for performing the surgical procedure.
Preferably, the custom scale is fixedly connected with the rigid connecting arm (31).
Preferably, the custom ruler is a tetrahedron structure;
each vertex of the self-defined scale is provided with a marker.
Preferably, the marker is made of rigid metal;
the markers are connected through connecting edges made of non-metal materials, and the lengths of the connecting edges are different.
Preferably, the self-defining ruler is fixedly connected with the rigid connecting arm (31) through a connecting non-metal connecting bracket (22).
Preferably, the registration updating module comprises a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit and a surgery planning unit which are connected in sequence;
the two-dimensional perspective drawing unit is also connected with the registration calculation unit;
the two-dimensional perspective drawing unit is also connected with the image scanning device;
the surgical planning module is further connected with the surgical instrument (32) guidance device;
the two-dimensional perspective unit is used for receiving the two-dimensional perspective image acquired by the image scanning device;
the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
the registration calculation unit is used for carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, and when the result of the similarity comparison processing reaches a standard, the registration is successful;
the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm (31) to the image scanning equipment according to the coordinate position of each vertex of the self-defined scale in the two-dimensional projection image after the registration is successful;
and the operation planning unit is used for updating the preset operation planning data according to the conversion matrix.
The application also discloses an intraoperative registration method of the integrated surgical robot based on the custom ruler, which comprises the following steps:
s1, acquiring two-dimensional perspective images of a patient at multiple angles, wherein the two-dimensional perspective images comprise self-defined scale image information;
s2, according to the two-dimensional perspective image, performing registration operation on a preset preoperative planning three-dimensional image, and updating operation planning data according to a result of the registration operation, wherein the operation planning data is used for controlling operation to complete intraoperative registration.
Preferably, the method of the registration operation is as follows:
s2.1, performing simulated projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
s2.2, carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, when the result of the similarity comparison processing meets the standard, successfully registering, if the registration is unsuccessful, adjusting the simulation projection angle, and repeating the steps S2.1-S2.2.
The beneficial effect of this application does:
1. the application discloses registration system and method in integrated operation robot operation based on self-defined scale, which integrate C-shaped arm scanning equipment and operation instrument guiding equipment, and register two-dimensional perspective images and two-dimensional projection images after simulated projection under the coordination of coordinate positioning of the self-defined scale, and correct operation planning data, thereby adjusting the spatial position and posture of medical instruments and enabling the operation instrument guiding equipment to always keep higher positioning execution precision. According to the technical scheme, an infrared tracer is not required to be additionally arranged on a patient, no additional injury is caused, error correction in the operation execution process is realized in a non-invasive mode, the operation precision is improved, infrared camera equipment is omitted, the space occupation of the operation equipment is further saved, and a good environment is provided for a doctor to perform an operation; the technical scheme of the application can not only correct the error of a single surgical planning point, but also correct the error of the whole system, thereby achieving the effects of once correction and multiple use, and saving the step of correcting the position of the surgical robot in the operation.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a user-defined ruler-based integrated intraoperative registration system of a surgical robot according to an embodiment of the present application;
FIG. 2 is a schematic view of a C-arm scanning apparatus used in an embodiment of the present application;
fig. 3 is a schematic structural view of a surgical instrument guide apparatus according to a first embodiment of the present application;
fig. 4 is a schematic structural diagram of a custom scale of a tetrahedral structure in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a registration update module in a first embodiment of the present application.
11. A detector; 12. a C-shaped support arm; 13. a bulb tube; 21. a tetrahedral scale; 22. a non-metallic linking bracket; 31. a rigid connecting arm; 32. a surgical instrument.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Human bones and surgical instruments (such as Kirschner wires, bone nails and the like) belong to rigid structures, and the CT tomographic image scanning result in different states does not deform. In consideration of factors such as displacement of an operation site in an operation, operation errors and the like, the operation plan needs to be updated and compensated in the operation.
Example one
As shown in fig. 1, an integrated surgical robot intraoperative registration system based on a custom scale according to an embodiment of the present application includes an image scanning device, a surgical instrument guiding device, a registration update module, and a custom scale;
specifically, the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device; the self-defined ruler is fixedly connected with the surgical instrument guide equipment; the surgical instrument guiding device and the self-defined ruler are both positioned in a scanning visual field of the image scanning device;
in the first embodiment, the image scanning device is configured to acquire a two-dimensional fluoroscopic image of a patient, where the two-dimensional fluoroscopic image includes image information of a custom scale; the self-defined scale is used for providing reference coordinates for image registration; the registration updating module performs coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updates preset operation planning data; the surgical instrument guidance device is for performing a surgical procedure in accordance with the surgical planning data.
In the first embodiment, a C-arm scanning device is used as an image scanning device to perform CT tomographic scanning on bones and metal surgical instruments (such as kirschner wires and bone nails) of a patient, which are rigid structures and do not deform during CT tomographic scanning.
As shown in fig. 2, which is a schematic structural diagram of a C-arm scanning apparatus used in this embodiment, the C-arm scanning apparatus includes a C-arm 12, a detector 11, and a bulb, wherein the detector 11 is located at an upper end of the C-arm 12, and the bulb is located at a lower end of the C-arm 12; the C-shaped supporting arm 12 is used for fixing the positions of the detector 11 and the bulb; the bulb tube is used for generating scanning rays; the detector 11 is used for receiving the scanning ray and generating a two-dimensional perspective image.
In the first embodiment, as shown in fig. 3, the surgical instrument guide apparatus includes a base portion, a rigid connection arm 31, and a surgical instrument 32; the rigid connecting arm 31 is fixedly connected with the base part and movably connected with the surgical instrument 32. The base portion is used to adjust the angle of the surgical instrument guide apparatus and the surgical instrument 32 is used to perform a surgical procedure.
In the first embodiment, a custom scale is fixedly mounted on the rigid connecting arm 31 for providing reference coordinates for image registration. Specifically, as shown in fig. 4, in the first embodiment, the self-defined scale is a tetrahedron structure, and is marked as a tetrahedron scale 21, and each of four vertexes a, B, C, and D is provided with a marker made of a rigid metal material, in the first embodiment, a metal ball is used as the marker, and a connecting edge between the four vertexes is used as an edge of a tetrahedron, and a nonmetal material is used, further, a nonmetal connecting support is additionally installed on one surface of the tetrahedron scale 21, and is used for the fixed connection between the tetrahedron scale 21 and the rigid connecting arm 31, so that the stable installation is achieved, and the rigid structure information in the image is not affected, and thus, when the tetrahedron scale 21 is scanned in a CT tomographic image, the positions of the vertexes of the four metal balls a, B, C, and D are not affected by deformation, and thus a reference coordinate point can be provided. In addition, in order to ensure the effectiveness of the reference coordinate point provided by the tetrahedral scale 21, four surfaces of the scale are not regular triangles, that is, six edges of the scale are not equal in length, so that when the CT tomography image is scanned, four vertexes do not generate a balanced coordinate point, but verify whether the position of the surgical instrument 32 is accurate from multiple angles through asymmetric coordinate point positions.
In the first embodiment, as shown in fig. 5, the registration updating module includes a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit, and a surgical planning unit, which are connected in sequence, and further, the two-dimensional perspective view unit is further connected to the registration calculation unit and the image scanning device; the surgical planning module is also connected with a surgical instrument guide device.
In the first embodiment, the two-dimensional perspective unit is configured to receive a two-dimensional perspective image acquired by an image scanning device; the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image; the registration calculation unit is used for comparing the similarity of the two-dimensional perspective image and the two-dimensional projection image, and when the structure subjected to similarity comparison reaches a standard, for example, the similarity reaches 95%, the registration can be considered to be successful; the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm 31 to the image scanning equipment according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after the registration is successful; and the operation planning unit is used for updating preset operation planning data according to the conversion matrix, and the operation planning data is used for controlling operation.
By adopting the registration system in the integrated surgical robot operation based on the user-defined ruler in the first embodiment, the two-dimensional perspective view with the ruler information is generated by scanning in the operation process, and the registration is performed with the three-dimensional image planned before the operation, so that the operation planning data is updated, and the operation precision is improved.
Example two
The intraoperative registration method of the integrated surgical robot based on the custom ruler comprises the following steps:
s1, two-dimensional perspective images of a patient at multiple angles are obtained, and the two-dimensional perspective images comprise self-defined scale image information.
In the second embodiment, a user-defined ruler with a tetrahedron structure is installed on the surgical instrument guiding device, as shown in fig. 4, four triangular surfaces of the tetrahedron ruler 21 are not regular triangles, and six edges are not equal in length; four vertexes of the tetrahedral scale 21 are marked as A, B, C and D respectively, metal steel balls are arranged on the four vertexes, and six edges are made of nonmetal materials. The tetrahedral scale 21 is fixedly connected with the surgical instrument guiding device through the non-metallic support 22, and is used as a reference coordinate position of a key position point in the operation. CT tomographic image scanning is performed using a scanning apparatus having a C-arm as an image acquisition apparatus.
When the surgical instrument guide device of the surgical robot is in place, two-dimensional fluoroscopic images of a plurality of angles are scanned, and it is necessary to scan the tetrahedral scale 21 on the guide device into the two-dimensional image and identify the vertex steel ball of the tetrahedral scale 21.
And S2, performing registration operation on the preset preoperative planning three-dimensional image according to the two-dimensional perspective image, updating operation planning data according to the result of the registration operation, wherein the operation planning data is used for controlling the operation, and finishing intraoperative registration.
Before the operation is started, the part of a patient needing the operation is scanned in three dimensions by medical imaging equipment, and a preoperative planning three-dimensional model and key target point coordinates are reconstructed according to imaging data.
In this embodiment, specifically, the registration operation includes the following steps:
s2.1, marking rigid structures such as bones, scale steel balls and the like on the two-dimensional perspective image, and then attaching information (such as a projection angle alpha) from the two-dimensional perspective image 1 ，α 2 ，……α n System magnification, distance from the source to the detector 11, SOD, etc.), a simulated projection is performed on the preoperative planned three-dimensional image to generate a two-dimensional projection image.
S2.2, registering the two-dimensional perspective image with the two-dimensional projection image, namely extracting key structures (such as bones and the like), and evaluating the similarity of the two images, wherein if the similarity meets the requirement, for example, the similarity reaches 95 percent, the registration can be considered to be successful. And if the similarity of the registration result does not reach the standard, finely adjusting the simulation projection angle, reacquiring the two-dimensional perspective image, re-registering, and acquiring the accurate imaging angle, position and other information of the perspective two-dimensional image.
Further, after registering a plurality of two-dimensional perspective images on the three-dimensional image, the actual coordinates of the steel ball at each vertex of the tetrahedral scale 21 in the three-dimensional image coordinate system can be calculated, and the new transformation relation from the surgical instrument (i.e. the scale) to the C-shaped arm can be obtained by combining the coordinates of each steel ball in the surgical instrument coordinate systemIs a matrix
Wherein, R is an Euler angle rotation matrix obtained by respectively rotating around each coordinate axis, and t is a translation parameter from the starting coordinate system to the target coordinate system. The transformation relation matrix is prior art and will not be described herein.
Further, according to the key point positions marked on the preoperative planning three-dimensional image, including the interest point P Interest Nail feeding point P Entry And a determined nailing direction V Entry Wherein the nailing direction V Entry From the point of interest P Interest Nail insertion point P Entry The connection line (c) is determined as shown in formula (1):
V Entry ＝P Interest -P Entry (1)
using a new transformation relation matrix T Base Recalculating Point of interest P Interest Nail feeding point P Entry Position P in the coordinate system of the device guided by the surgical instrument 23 Interest machine 、P Entry machine Comparison of P Interest machine 、P Entry machine If there is a difference from the actual position, then according to the latest P Interest machine 、P Entry machine To update and execute the surgical planning data and to convert the relationship matrix T Base And storing the operation data to be used as the basis for executing other planning points of the operation.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (10)
1. The intraoperative registration system of the integrated surgical robot based on the custom scale is characterized by comprising image scanning equipment, surgical instrument guiding equipment, a registration updating module and the custom scale;
the registration updating module is respectively connected with the image scanning device and the surgical instrument guiding device;
the self-defined scale is fixedly connected with the surgical instrument guide equipment;
the surgical instrument guide device and the custom scale are both located in a scanning field of view of the image scanning device;
the image scanning equipment is used for acquiring a two-dimensional perspective image of a patient, and the two-dimensional perspective image comprises the image information of the self-defined ruler;
the self-defined scale is used for providing reference coordinates for image registration;
the registration updating module carries out coordinate registration on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image and updates preset operation planning data;
the surgical instrument guidance device is configured to perform a surgical operation in accordance with the surgical planning data.
2. The integrated custom scale-based surgical robotic intra-operative registration system of claim 1, wherein the image scanning device is a C-arm scanning device;
the C-shaped arm scanning device comprises a C-shaped supporting arm (12), a detector (11) and a bulb (13);
one end of the C-shaped supporting arm (12) is fixedly connected with the detector (11), and the other end of the C-shaped supporting arm (12) is fixedly connected with the bulb tube (13).
The bulb (13) is used for generating scanning rays;
the detector (11) is used for receiving the scanning ray and generating the two-dimensional perspective image.
3. The integrated custom scale-based surgical robotic intra-operative registration system of claim 1, wherein the surgical instrument guide apparatus comprises a base portion, a rigid connection arm (31), and a surgical instrument (32);
one end of the rigid connecting arm (31) is fixedly connected with the base part, and the other end of the rigid connecting arm (31) is movably connected with the surgical instrument (32);
the base portion is for adjusting an angle of the surgical instrument guide apparatus, and the surgical instrument (32) is for performing the surgical procedure.
4. The integrated custom ruler-based surgical robotic intra-operative registration system of claim 3, wherein the custom ruler is fixedly connected with the rigid connection arm (31).
5. The integrated surgical robotic intra-operative registration system based on a custom scale of claim 4, wherein the custom scale is a tetrahedral structure;
each vertex of the self-defined ruler is provided with a marker.
6. The integrated surgical robotic intra-operative registration system based on a custom scale of claim 5, wherein the marker is a rigid metal material;
the markers are connected through connecting edges made of non-metal materials, and the lengths of the connecting edges are different.
7. The integrated surgical robotic intra-operative registration system based on a custom ruler of claim 6, wherein the custom ruler is fixedly connected with the rigid connection arm (31) by connecting non-metallic connection brackets (22).
8. The integrated surgical robotic intra-operative registration system based on a custom scale according to claim 7, wherein the registration update module comprises a two-dimensional perspective view unit, an analog projection unit, a registration calculation unit, a transformation matrix unit and a surgical planning unit which are connected in sequence;
the two-dimensional perspective drawing unit is also connected with the registration calculation unit;
the two-dimensional perspective drawing unit is also connected with the image scanning device;
the surgical planning module is further connected with the surgical instrument (32) guidance device;
the two-dimensional perspective unit is used for receiving the two-dimensional perspective image acquired by the image scanning device;
the simulation projection unit is used for performing simulation projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
the registration calculation unit is used for carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, and when the result of the similarity comparison processing meets the standard, the registration is successful;
the conversion matrix unit is used for obtaining a conversion matrix from the rigid connecting arm (31) to the image scanning equipment according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after the registration is successful;
and the operation planning unit is used for updating the preset operation planning data according to the conversion matrix.
9. The registration method in the integrated operation robot operation based on the self-defined ruler is characterized by comprising the following steps:
s1, acquiring two-dimensional perspective images of a patient at multiple angles, wherein the two-dimensional perspective images comprise self-defined scale image information;
s2, performing registration operation on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image, and updating operation planning data according to a result of the registration operation, wherein the operation planning data is used for controlling operation to complete intraoperative registration.
10. The integrated surgical robotic intra-operative registration method based on the custom scale according to claim 9, wherein the registration operation method is as follows:
s2.1, performing simulated projection on the preoperative planning three-dimensional image according to image information attached to the two-dimensional perspective image to generate a two-dimensional projection image;
s2.2, carrying out similarity comparison processing on the two-dimensional perspective image and the two-dimensional projection image, when the result of the similarity comparison processing meets the standard, successfully registering, if the registration is unsuccessful, adjusting the simulation projection angle, and repeating the steps S2.1-S2.2.
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