CN115844546B - Bone cutting device, storage medium, and processor - Google Patents
Bone cutting device, storage medium, and processor Download PDFInfo
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Abstract
The invention discloses a bone cutting method, a bone cutting device, a storage medium and a processor. The method comprises the following steps: acquiring medical images of a target bone and registration data of the target bone; determining a target cutting plane and a target coordinate system based on the medical image and the registration data; controlling the robot to move to a target position under the robot base coordinate system based on the target coordinate system; and controlling the robot to cut the operation plane of the target bone on the target cutting plane by utilizing the osteotomy device at the target position, so as to obtain a cutting result. The invention solves the technical problem that the robot can not be accurately controlled to move along with the operation part.
Description
Technical Field
The present invention relates to the medical field, and more particularly, to a bone cutting method, device, storage medium and processor.
Background
In the related art, the joint position of a patient is usually tracked by a serial robot, and a doctor is assisted in performing operations such as positioning and posture fixing of an operation tool, but the relative position of the operation tool at the tail end of the robot and an operation position is easy to deviate, so that the technical problem that the robot cannot be accurately controlled to move along with the operation position is caused.
Aiming at the problem that the robot cannot be accurately controlled to move along with the operation part, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a bone cutting method, a bone cutting device, a storage medium and a processor, which at least solve the technical problem that a robot cannot be accurately controlled to move along with an operation position.
According to one aspect of an embodiment of the present invention, a method of cutting bone is provided. The method may include: acquiring medical images of a target bone and registration data of the target bone, wherein the registration data are used for registering different images of the target bone at space positions, and the different images are images of the target bone at different visual angles in the medical images; determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; controlling the robot to move to a target position under the robot base coordinate system based on the target coordinate system; and controlling the robot to cut the operation plane of the target bone on the target cutting plane by using the osteotomy device at the target position to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed.
Optionally, determining the target cutting plane and the target coordinate system based on the medical image and the registration data comprises: registering different images of a target bone at space positions to obtain a feed direction and a visual detector facing direction, wherein registration data comprise the feed direction and the visual detector facing direction; the target cutting plane and the target coordinate system are determined based on the medical image, the feed direction, and the vision detector direction.
Optionally, controlling the robot to move to the target position under the robot-based coordinate system based on the target coordinate system includes: and controlling the robot to move to the target position through a tracking control model corresponding to the target coordinate system, wherein the tracking control model is used for controlling the robot to move.
Optionally, before controlling the robot to move to the target position in the robot-based coordinate system based on the target coordinate system, the cutting method further comprises: acquiring a first periodic target position and a current latest target position; and inputting the first periodic target position and the current latest target position into a planning model for processing to obtain a second periodic target position, and taking the second periodic target position as a target position, wherein the planning model is used for representing the relationship among the first periodic target position, the latest target position and the second periodic target position, and the second period is positioned after the first period.
Optionally, controlling the robot to perform surgical plane cutting on the target bone at the target cutting plane using the osteotomy device to obtain a cutting result, including: on the plane after cutting, obtaining the difference between the plane position after cutting and the target plane position; the cutting result is determined based on the difference.
Optionally, determining the cutting result based on the difference value includes: determining that the plane after cutting is successfully detected as a cutting result in response to the difference value being smaller than the target threshold; and determining that the plane after cutting is not successfully detected as the cutting result in response to the difference value being greater than or equal to the target threshold.
Optionally, after determining that the cut result is unsuccessful passing the detection of the plane after the cut is completed in response to the difference being greater than or equal to the target threshold, the cutting method further comprises: and controlling the robot to perform operation plane cutting on the target bone on the target cutting plane by using the osteotomy device at the target position until the difference between the plane position after cutting and the target plane position is smaller than a target threshold value.
According to one aspect of an embodiment of the present invention, there is provided a bone cutting device, the device may include: the first acquisition unit is used for acquiring medical images of the target bones and registration data of the target bones, wherein the registration data are used for registering different images of the target bones at space positions, and the different images are images of the target bones at different visual angles in the medical images; a determining unit for determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; a first control unit for controlling the robot to move to a target position in the robot-based coordinate system based on the target coordinate system; and the cutting unit is used for controlling the robot to cut the target bone on the target cutting plane by utilizing the osteotomy device to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed or not.
According to another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium comprises a stored program, wherein the device in which the computer readable storage medium is located is controlled to execute the bone cutting method according to the embodiment of the invention when the program runs.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program is executed by the processor to execute the bone cutting method according to the embodiment of the invention.
In the embodiment of the invention, firstly, the medical image of the target bone and the registration data of the target bone are acquired, then, different images of the target bone are registered in the space position by utilizing the acquired registration data, the coordinate axis direction is obtained, the target cutting plane and the target coordinate system are further determined, then, the robot is controlled to move to the target position by a tracking control model corresponding to the target coordinate system, and after the robot reaches the target position, the robot is controlled to perform operation plane cutting on the target bone, so that the purpose that the relative position of an operation tool at the tail end of the robot and an operation part is kept unchanged is achieved, the technical problem that the movement of the robot along with the operation part cannot be accurately controlled is solved, and the technical effect that the movement of the robot along with the operation part can be accurately controlled is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a method of bone cutting according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling a robot to follow motion in accordance with an embodiment of the present invention;
FIG. 3 (a) is a schematic illustration of a femoral cut plane relative to a vision acquisition device coordinate system and a tibial cut plane relative to a vision acquisition device coordinate system, in accordance with an embodiment of the present invention;
FIG. 3 (b) is a schematic diagram of an osteotomy guide coordinate system, according to an embodiment of the invention;
FIG. 3 (c) is a schematic diagram of a tracking process coordinate system distribution according to an embodiment of the present invention;
FIG. 3 (d) is a schematic diagram of a detection tool according to an embodiment of the present invention;
FIG. 3 (e) is a flow chart of tracking control logic according to an embodiment of the present invention;
fig. 4 is a schematic view of a bone cutting apparatus according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. 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, shall fall within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, a bone cutting method is provided, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.
Fig. 1 is a flowchart of a bone cutting method according to an embodiment of the present invention, as shown in fig. 1, the method may include the steps of:
step S101, acquiring medical image of the target bone and registration data of the target bone.
In the technical scheme provided in the step S101 of the present invention, the lesion degree and the structure information of the target bone are acquired through the acquisition device, the acquired lesion degree and structure information of the target bone are presented in the form of images, and then the medical image of the target bone and the registration data of the target bone are downloaded and acquired from the server of the image archiving and communication system by using the computer, wherein the registration data can be used for registering different images of the target bone in spatial positions, and the different images can be images of the target bone in different view angles in the medical image.
Step S102, determining a target cutting plane and a target coordinate system based on the medical image and the registration data.
In the technical scheme provided in the step S102, after the medical image and the registration data are acquired, the registration is performed on different images of the target bone in space positions based on the registration data to obtain a coordinate axis direction, and then the target cutting plane and the target coordinate system are determined based on the acquired medical image and the obtained coordinate axis direction, wherein the target cutting plane may include a femur cutting plane and/or a tibia cutting plane, and the target coordinate system may include a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system.
Optionally, the relative coordinate system of the femur cutting plane and/or the relative coordinate system of the tibia cutting plane is a coordinate system established on a bone, the relative coordinate system of the osteotomy guide is a coordinate system established on an osteotomy device, and when the relative coordinate system of the femur cutting plane and/or the relative coordinate system of the tibia cutting plane is coincident with the relative coordinate system of the osteotomy guide, the robot is controlled to complete the cutting of the bone lesion.
Step S103, controlling the robot to move to the target position under the robot base coordinate system based on the target coordinate system.
In the technical solution provided in the above step S103 of the present invention, after determining the target coordinate system, a tracking control model corresponding to the target coordinate system is determined, and then the target position under the visual coordinate system is converted into the target position under the robot base coordinate system by using the tracking control model, so as to control the robot to move to the target position under the robot base coordinate system, where the target position may correspond to the movement cycle of the robot, that is, the robot needs to reach the target position of the current movement cycle in each movement cycle.
For example, the range of the motion cycle may be 0.5 ms to 0.9 ms, and if the motion cycle is 0.6 ms, the robot needs to reach the target position of the current motion cycle every 0.6 ms, which is only illustrated herein and not limited specifically.
Step S104, controlling the robot to cut the operation plane of the target bone on the target cutting plane by utilizing the osteotomy device at the target position, and obtaining a cutting result.
In the technical solution provided in the above step S104 of the present invention, after the robot moves to the target position under the robot base coordinate system, the robot is controlled to perform an operation plane cutting on the femur cutting plane and/or perform an operation plane cutting on the tibia cutting plane by using the osteotomy device at the target position, so as to obtain a cutting result corresponding to the femur and/or tibia, wherein the cutting result may be used to represent whether the cutting of the target bone is successfully completed, that is, the cutting result may be used to represent whether the cutting of the femur and/or tibia is successfully completed.
In the steps S101 to S104, medical images of the target bone and registration data of the target bone are obtained, wherein the registration data are used for registering different images of the target bone at spatial positions, and the different images are images of the target bone at different angles in the medical images; determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; controlling the robot to move to a target position under the robot base coordinate system based on the target coordinate system; and controlling the robot to cut the operation plane of the target bone on the target cutting plane by using the osteotomy device at the target position to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed. That is, in the embodiment of the invention, firstly, the medical image of the target bone and the registration data of the target bone are acquired, then, different images of the target bone are registered in the space position by utilizing the acquired registration data, the coordinate axis direction is obtained, the target cutting plane and the target coordinate system are further determined, then, the robot is controlled to move to the target position by a tracking control model corresponding to the target coordinate system, and after the robot reaches the target position, the robot is controlled to perform the operation plane cutting on the target bone, so that the purpose that the relative position of the operation tool at the tail end of the robot and the operation position is kept unchanged is achieved, the technical problem that the movement of the robot along with the operation position cannot be accurately controlled is solved, and the technical effect that the movement of the robot along with the operation position can be accurately controlled is achieved.
The above-described method of this embodiment is further described below.
As an alternative embodiment, step S102, determining the target cutting plane and the target coordinate system based on the medical image and the registration data, includes: registering different images of the target bone at the space positions to obtain a feed direction and a direction facing the visual detector; the target cutting plane and the target coordinate system are determined based on the medical image, the feed direction, and the vision detector direction.
In this embodiment, after the medical image and the registration data are acquired, registering the different images of the femur and/or tibia at the spatial positions to obtain a feed direction and a visual detector-facing direction, determining the feed direction as a Y-axis positive direction, determining the visual detector-facing direction as an X-axis positive direction, and determining the Z-axis direction, i.e., determining the coordinate axis direction, according to a right-hand rule, wherein the registration data may include the feed direction and the visual detector-facing direction; and then determining a femur cutting plane and/or a tibia cutting plane based on the acquired medical image and the determined coordinate axis direction, and determining a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system.
As an alternative embodiment, step S103, based on the target coordinate system, controls the robot to move to the target position under the robot base coordinate system, including: and controlling the robot to move to the target position through a tracking control model corresponding to the target coordinate system.
In this embodiment, after determining the target coordinate system, a tracking control model corresponding to the target coordinate system is determined, and then, target position conversion under different coordinate systems is completed by using the tracking control model, so as to control the robot to move to the target position, wherein the tracking control model can be used for controlling the robot to move.
Alternatively, the tracking control model may be used to perform the steps of:
step one, converting a target position in a visual coordinate system into a target position in a robot base coordinate system, wherein the target position is shown in the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
feedback pose matrix for robot tool, +.>
For the transformation matrix of the tool coordinate system under the tracking mark array of the robot tool tip +.>
For the tracking mark array transformation matrix in the visual coordinate system,
for the target position in the visual coordinate system, +.>
Is the target position in the robot base coordinate system.
Alternatively, it can be obtained by the following formula 
That is, the target position in the visual coordinate system is obtained:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for a femoral cut plane relative coordinate system and/or a tibial cut plane relative coordinate system,
conversion relation of virtual coordinate system and visual coordinate system obtained for registration algorithm>
Is the target pose in the virtual coordinate system.
And secondly, controlling the robot to move to a target position under a robot base coordinate system.
Step three, feeding back a pose matrix of the current tool plane under a visual coordinate system through a tracking mark array of the tail end of the robot tool as shown in the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for tool position->
To track the marker array relative to the vision acquisition device coordinate system,
to track the marker array relative to the tool plane coordinate system.
As an alternative embodiment, before controlling the robot to move to the target position in the robot-based coordinate system based on the target coordinate system, the cutting method further comprises: acquiring a first periodic target position and a current latest target position; and inputting the first periodic target position and the current latest target position into a planning model for processing to obtain a second periodic target position, and taking the second periodic target position as a target position.
In this embodiment, before controlling the robot to move to the target position in the robot-based coordinate system, the target position reached by the robot in each movement cycle is tracked, thereby obtaining a first-cycle target position and a current latest target position, and then the obtained first-cycle target position and the current latest target position are input into a planning model for processing, that is, the obtained first-cycle target position and the current latest target position are input into the planning model for weighted summation, thereby obtaining a second-cycle target position, that is, obtaining the target position in the robot-based coordinate system, wherein the planning model can be used for representing the relation among the first-cycle target position, the latest target position and the second-cycle target position, and the second-cycle can be located after the first cycle.
Alternatively, the planning model may be represented by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the second period target position +.>
As a first period of the target position,
for the current most recent target location,αas the weight coefficient of the light-emitting diode,αthe value of (2) is in the range of 0 to 0.5 whenαThe closer to 0, the slower the tracking, the more gradual the motion, whenαThe closer to 0.5, the faster the tracking and the jerky the movement.
As an optional embodiment, step S104, controlling the robot to perform surgical plane cutting on the target bone at the target cutting plane by using the osteotomy device, to obtain a cutting result, includes: on the plane after cutting, obtaining the difference between the plane position after cutting and the target plane position; the cutting result is determined based on the difference.
In the embodiment, after the robot moves to the target position under the robot base coordinate system, the robot is controlled to cut the operation plane on the target bone on the target cutting plane by using the osteotomy device, then the detection tool is placed on the plane after cutting, the difference value operation is carried out on the plane position after cutting and the target plane position, so that the difference value between the plane position after cutting and the target plane position is obtained, and then whether the target bone is successfully cut is judged based on the difference value, so that the cutting result is determined.
Optionally, the difference between the cut plane position and the target plane position is calculated as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for detecting the plane position of the tool after cutting is completed, < > >
For the target plane position +.>
Is the projected distance between the two planes.
As an alternative embodiment, determining the cutting result based on the difference value includes: determining that the plane after cutting is successfully detected as a cutting result in response to the difference value being smaller than the target threshold; and determining that the plane after cutting is not successfully detected as the cutting result in response to the difference value being greater than or equal to the target threshold.
In this embodiment, after the difference between the plane position after the cutting is completed and the target plane position is obtained, the relationship between the difference and the target threshold is determined, and if the difference is smaller than the target threshold, then the situation is responded, the cutting result is determined to be that the plane after the cutting is successfully detected, and if the difference is greater than or equal to the target threshold, then the situation is responded, and the cutting result is determined to be that the plane after the cutting is successfully detected, wherein the target threshold may be a standardized error value which is defined by the cutting result in a standardized manner, for example, the target threshold may be 0.001 mm, which is merely illustrated herein and is not particularly limited.
As an alternative embodiment, after determining that the cut result is unsuccessful passing detection of the plane after the cutting is completed in response to the difference being greater than or equal to the target threshold, the cutting method further includes: and controlling the robot to perform operation plane cutting on the target bone on the target cutting plane by using the osteotomy device at the target position until the difference between the plane position after cutting and the target plane position is smaller than a target threshold value.
In this embodiment, after determining that the cut result is that the cut-out plane has not successfully passed the detection in response to the difference being greater than or equal to the target threshold, continuing to control the robot to cut the operative plane of the femur on the femoral cut plane and/or cut the operative plane of the tibia on the tibial cut plane, until the difference between the cut-out femoral plane position and the femoral target plane position is less than the target threshold, and/or the difference between the cut-out tibial plane position and the tibial target plane position is less than the target threshold.
In the embodiment of the invention, firstly, the medical image of the target bone and the registration data of the target bone are acquired, then, different images of the target bone are registered in the space position by utilizing the acquired registration data, the coordinate axis direction is obtained, the target cutting plane and the target coordinate system are further determined, then, the robot is controlled to move to the target position by a tracking control model corresponding to the target coordinate system, after the robot reaches the target position, the robot is controlled to perform operation plane cutting on the target bone, and the cutting result is detected, so that the technical problem that the robot cannot be accurately controlled to move along with the operation position is solved, and the technical effect that the robot can be accurately controlled to move along with the operation position is achieved.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
With the continuous improvement of economic development and medical level, robots are not only used as a daily operation tool, but also used for meeting the requirement on accuracy in the operation process, and the development of robots is more and more diversified. However, in the conventional medical prosthesis replacement operation, the joint position of a patient is tracked through serial robots, and a doctor is assisted in performing operations such as positioning, posture fixing and the like on an operation tool, so that the relative position of the operation tool at the tail end of the robot and an operation part is easily deviated, and the problem that the robot can not be accurately controlled to move along with the operation part is solved.
Accordingly, in order to overcome the above-mentioned problems, in a related art, a robot tracking method and system are disclosed, the method comprising: when geomagnetic data sent by a client side due to the fact that the client side accords with a preset triggering condition is received, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map; selecting a robot meeting preset target conditions as a target robot according to the user position information; planning a path reaching a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information; and controlling the target robot to track to the target position according to the planned path. However, the method adopts geomagnetic data as guidance to locate the target position, and does not mention a tracking method of the robot, so that the method cannot accurately control the robot to move along with the operation position.
However, embodiments of the present invention provide a bone cutting method. The method is based on a tracking control model, the position of the robot is tracked, and after the robot reaches a target position, the bone lesion part of a patient is cut, so that the technical problem that the robot cannot be accurately controlled to move along with the operation part is solved, and the technical effect that the robot can be accurately controlled to move along with the operation part is achieved.
Fig. 2 is a flowchart of a method of controlling a robot to follow a motion according to an embodiment of the present invention, as shown in fig. 2, the method may include the steps of:
step S201, a target cutting plane is determined.
Optionally, based on the CT image and the registration process, determining a plane of femur and/or tibia of the human body, defining an osteotomy target plane, setting a feed direction as a Y-axis positive direction, a direction facing the visual detector as an X-axis positive direction, determining a Z-axis direction based on a right-hand rule, and completing the femur cutting plane relative to a lower coordinate system of the visual acquisition equipment
And the tibial cutting plane is +_ relative to the visual acquisition device coordinate system>
。
After determining the target cutting plane, step S202 is advanced to determine the tool coordinate system.
Specifically, determining the tool coordinate system requires determining the following: the femoral side tool plane is relative to the flange end coordinate system, the tibial side tool is relative to the flange end coordinate system, the flange is relative to the robot base coordinate system, the femoral side tool plane is relative to the base coordinate system, the tibial side tool is relative to the base coordinate system, the tracking mark array is relative to the vision acquisition equipment coordinate system, and the tracking mark array is relative to the tool plane coordinate system.
After determining the tool coordinate system, the process advances to step S203, where tracking control is performed on the robot.
After the tracking control of the robot, the process advances to step S204, where the motion interpolation is performed on the robot.
Optionally, in the following process, in order to meet the micro-motion condition of the patient, the target position needs to be tracked in real time, the motion track is planned in real time, and the planning model can be shown as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the next period target position +.>
In order to achieve the target position for the previous cycle,
for the current most recent target location,αas the weight coefficient of the light-emitting diode,αthe value of (2) is in the range of 0 to 0.5 whenαThe closer to 0, the slower the tracking, the more gradual the motion, whenαThe closer to 0.5, the faster the tracking and the jerky the movement.
After the motion interpolation of the robot, the process proceeds to step S205, where the target bone is subjected to the planar cutting on the target cutting plane.
After the target bone is subjected to the plane cutting, the process advances to step S206, and the cut plane is subjected to the cutting verification.
Specifically, the difference value operation is performed on the plane position after cutting is completed and the target plane position through the following steps:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for detecting the plane position of the tool after cutting is completed, < > >
For the target plane position +.>
Is the projected distance between the two planes.
Fig. 3 (a) is a schematic diagram of a femoral resection plane relative to a vision acquisition device coordinate system and a tibial resection plane relative to a vision acquisition device coordinate system, as shown in fig. 3 (a), according to an embodiment of the present invention, the femoral resection plane relative to the vision acquisition device coordinate system may include: the femoral marker array, the femoral target plane, and the vision acquisition device, the tibial cutting plane may include, relative to a vision acquisition device coordinate system: a tibial marker array, a tibial target plane, and a visual acquisition device.
FIG. 3 (b) is a schematic diagram of an osteotomy guide coordinate system, as shown in FIG. 3 (b), which may include: plane of femoral side tool relative to flange end coordinate system
Tibia side tool relative to the flange end coordinate system>
The flange is +.>
Femur side tool plane +.>
Tibia side tool relative to the base coordinate system>
Tracking the mark array relative to the vision acquisition device coordinate system
Tracking mark array relative to tool plane coordinate system>
。
FIG. 3 (c) is a schematic diagram of a tracking process coordinate system distribution according to an embodiment of the present invention, as shown in FIG. 3 (c), the tracking process coordinate system distribution may be: a vision acquisition device 3031, a target plane 3032, an array of tracking marks 3033, a tool plane 3034, a robotic flange 3035, and a robotic base 3036.
Fig. 3 (d) is a schematic diagram of a detection tool according to an embodiment of the present invention.
FIG. 3 (e) is a flow chart of tracking control logic according to an embodiment of the present invention, as shown in FIG. 3 (e), which may include the steps of:
in step S3051, the coordinate system is converted.
Converting the target position under the visual coordinate system into the target position under the robot base coordinate system, wherein the coordinate system conversion process is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
feedback pose matrix for robot tool, +.>
For the transformation matrix of the tool coordinate system under the tracking mark array of the robot tool tip +.>
For the tracking mark array transformation matrix in the visual coordinate system,
for the target position in the visual coordinate system, +.>
Is the target position in the robot base coordinate system.
Alternatively, it can be obtained by the following formula
That is, the target position in the visual coordinate system is obtained:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for a femoral cut plane relative coordinate system and/or a tibial cut plane relative coordinate system,
conversion relation of virtual coordinate system and visual coordinate system obtained for registration algorithm>
Is the target pose in the virtual coordinate system.
After the coordinate system conversion is completed, the process advances to step S3052, where the robot is controlled to move to the target position under the robot base coordinate system.
After controlling the robot to move to the target position under the robot base coordinate system, step S3053 is performed to feed back the pose matrix, that is, the pose matrix of the current tool plane under the visual coordinate system is fed back through the tracking mark array at the end of the robot tool, where the feedback pose matrix process is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for tool position->
To track the marker array relative to the vision acquisition device coordinate system,
to track the marker array relative to the tool plane coordinate system.
In the embodiment, firstly, the medical image of the femur and/or the tibia and registration data of the femur and/or the tibia are acquired, then, different images of the femur and/or the tibia are registered in space positions by utilizing the acquired registration data, so that coordinate axis directions are obtained, a femur cutting plane and/or a tibia cutting plane are further determined, a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system are determined, then, the robot is controlled to move to a target position by a determined tracking control model, after the robot reaches the target position, the robot is controlled to perform operation plane cutting on the femur and/or the tibia, and the cutting result is detected, so that the technical problem that the movement of the robot along with the operation position cannot be accurately controlled is solved, and the technical effect that the movement of the robot along with the operation position can be accurately controlled is achieved.
Example 3
According to an embodiment of the invention, there is also provided a bone cutting device. The bone cutting device may be used to perform a bone cutting method according to embodiment 1.
Fig. 4 is a schematic view of a bone cutting apparatus according to an embodiment of the present invention. As shown in fig. 4, a bone cutting apparatus 400 may include: a first acquisition unit 401, a determination unit 402, a first control unit 403, and a cutting unit 404.
The first obtaining unit 401 is configured to obtain a medical image of a target bone and registration data of the target bone, where the registration data is configured to register different images of the target bone at spatial positions, and the different images are images of the target bone at different perspectives in the medical image.
A determining unit 402, configured to determine a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide coordinate system.
A first control unit 403 for controlling the robot to move to a target position in the robot-based coordinate system based on the target coordinate system.
And a cutting unit 404, configured to control the robot to perform surgical plane cutting on the target bone on the target cutting plane by using the osteotomy device, so as to obtain a cutting result, where the cutting result is used to represent whether the cutting of the target bone is successfully completed.
Alternatively, the determining unit 402 may include: the registration module is used for registering different images of the target bone at space positions to obtain a feed direction and a visual detector direction, wherein registration data comprise the feed direction and the visual detector direction; the first determining module is used for determining a target cutting plane and a target coordinate system based on the medical image, the feeding direction and the direction facing the visual detector.
Alternatively, the first control unit 403 may include: and the control module is used for controlling the robot to move to the target position through a tracking control model corresponding to the target coordinate system, wherein the tracking control model is used for controlling the robot to move.
Optionally, the bone cutting device 400 may further include: the second acquisition unit is used for acquiring the first periodic target position and the current latest target position; the processing unit is used for inputting the first periodic target position and the current latest target position into the planning model for processing to obtain a second periodic target position, and taking the second periodic target position as the target position, wherein the planning model is used for representing the relation among the first periodic target position, the latest target position and the second periodic target position, and the second period is positioned after the first period.
Alternatively, the cutting unit 404 may include: the acquisition module is used for acquiring the difference value between the plane position after cutting and the target plane position on the plane after cutting; and the second determining module is used for determining a cutting result based on the difference value.
Optionally, the second determining module may include: the first determining submodule is used for determining that the plane after cutting is successfully detected as a cutting result in response to the difference value being smaller than the target threshold value; and the second determining submodule is used for determining that the plane after cutting is finished does not pass detection successfully according to the cutting result in response to the difference value being greater than or equal to the target threshold value.
Optionally, the bone cutting device 400 may further include: and the second control unit is used for controlling the robot to perform operation plane cutting on the target bone on the target cutting plane by using the osteotomy device until the difference between the plane position after cutting and the target plane position is smaller than a target threshold value.
In this embodiment, a first acquiring unit is configured to acquire a medical image of a target bone and registration data of the target bone, where the registration data is configured to register different images of the target bone at spatial positions, and the different images are images of the target bone at different perspectives in the medical image; a determining unit for determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; a first control unit for controlling the robot to move to a target position in the robot-based coordinate system based on the target coordinate system; the cutting unit is used for controlling the robot to cut a target bone by utilizing osteotomy equipment on a target position and performing operation plane cutting on the target cutting plane to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed or not, the technical problem that the robot cannot be accurately controlled to move along with an operation position is solved, and the technical effect that the robot can be accurately controlled to move along with the operation position is achieved.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is located is controlled to execute the bone cutting method in embodiment 1 when the program is run.
Example 5
According to an embodiment of the invention, a processor is also provided. The processor is used to run a program, wherein the program when run by the processor performs the bone cutting method of example 1.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A bone cutting device, comprising:
the first acquisition unit is used for acquiring medical images of a target bone and registration data of the target bone, wherein the registration data are used for registering different images of the target bone at space positions, and the different images are images of the target bone at different visual angles in the medical images;
a determining unit, configured to determine a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane includes a femur cutting plane and/or a tibia cutting plane, and the target coordinate system includes a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system, and an osteotomy guide coordinate system;
the first control unit is used for controlling the robot to move to a target position under the robot base coordinate system based on the target coordinate system;
The cutting unit is used for controlling the robot to cut the target bone on the target cutting plane by utilizing osteotomy equipment to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed or not;
wherein the determining unit is configured to determine a target cutting plane and a target coordinate system based on the medical image and the registration data by: registering different images of the target bone at space positions to obtain a feed direction and a visual detector-facing direction, wherein the registration data comprises the feed direction and the visual detector-facing direction; the target cutting plane and the target coordinate system are determined based on the medical image, the feed direction, and the vision detector-facing direction.
2. A computer-readable storage medium, comprising a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium resides to perform a bone cutting method, wherein the bone cutting method comprises: acquiring medical images of a target bone and registration data of the target bone, wherein the registration data are used for registering different images of the target bone at space positions, and the different images are images of the target bone at different visual angles in the medical images; determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; controlling the robot to move to a target position under a robot base coordinate system based on the target coordinate system; controlling the robot to cut the target bone on the target cutting plane by utilizing osteotomy equipment to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed; wherein determining the target cutting plane and the target coordinate system based on the medical image and the registration data comprises: registering different images of the target bone at space positions to obtain a feed direction and a visual detector-facing direction, wherein the registration data comprises the feed direction and the visual detector-facing direction; the target cutting plane and the target coordinate system are determined based on the medical image, the feed direction, and the vision detector-facing direction.
3. A processor for running a program, wherein the program when run by the processor performs a method of cutting bone, wherein the method of cutting bone comprises: acquiring medical images of a target bone and registration data of the target bone, wherein the registration data are used for registering different images of the target bone at space positions, and the different images are images of the target bone at different visual angles in the medical images; determining a target cutting plane and a target coordinate system based on the medical image and the registration data, wherein the target cutting plane comprises a femur cutting plane and/or a tibia cutting plane, and the target coordinate system comprises a femur cutting plane relative coordinate system and/or a tibia cutting plane relative coordinate system and an osteotomy guide plate coordinate system; controlling the robot to move to a target position under a robot base coordinate system based on the target coordinate system; controlling the robot to cut the target bone on the target cutting plane by utilizing osteotomy equipment to obtain a cutting result, wherein the cutting result is used for representing whether the cutting of the target bone is successfully completed; wherein determining the target cutting plane and the target coordinate system based on the medical image and the registration data comprises: registering different images of the target bone at space positions to obtain a feed direction and a visual detector-facing direction, wherein the registration data comprises the feed direction and the visual detector-facing direction; the target cutting plane and the target coordinate system are determined based on the medical image, the feed direction, and the vision detector-facing direction.
4. The computer readable storage medium of claim 2, wherein the computer readable storage medium includes a stored program, wherein when the program is executed, controlling the device in which the computer readable storage medium is located to execute the control of the robot to move to the target position in the robot-based coordinate system based on the target coordinate system, includes:
and controlling the robot to move to the target position through a tracking control model corresponding to the target coordinate system, wherein the tracking control model is used for controlling the robot to move.
5. The computer readable storage medium of claim 2, wherein the computer readable storage medium includes a stored program, wherein the program when run controls a device in which the computer readable storage medium resides to perform the method before controlling the robot to move to a target position in a robot-based coordinate system based on the target coordinate system, the method further comprising:
acquiring a first periodic target position and a current latest target position;
and inputting the first periodic target position and the current latest target position into a planning model for processing to obtain a second periodic target position, and taking the second periodic target position as the target position, wherein the planning model is used for representing the relation among the first periodic target position, the latest target position and the second periodic target position, and the second period is positioned after the first period.
6. The computer readable storage medium of claim 2, wherein the computer readable storage medium includes a stored program, wherein controlling a device in which the computer readable storage medium is located to perform controlling the robot to perform surgical plane cutting on the target bone with an osteotomy device at the target location when the program is run, comprises:
on a plane after cutting, obtaining a difference value between the plane position after cutting and a target plane position;
the cutting result is determined based on the difference.
7. The computer-readable storage medium according to claim 6, wherein the computer-readable storage medium includes a stored program, wherein controlling an apparatus in which the computer-readable storage medium is located to execute the cutting result by judging whether a difference between the planar position after the cutting is completed and the target planar position satisfies a preset condition when the program is run, comprises:
determining that the cutting result is that the plane after cutting is successfully detected in response to the difference value being smaller than a target threshold value;
And determining that the plane after the cutting is finished does not pass detection successfully according to the cutting result in response to the difference value being greater than or equal to the target threshold.
8. The computer readable storage medium of claim 7, wherein the computer readable storage medium includes a stored program, wherein the program when run controls a device in which the computer readable storage medium resides to perform the method further comprising, after determining that the cut result is unsuccessful in detecting the cut completed plane in response to the difference being greater than or equal to the target threshold:
and controlling the robot to perform operation plane cutting on the target bone on the target cutting plane by using the osteotomy device until the difference between the plane position after cutting and the target plane position is smaller than the target threshold value.
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| CN111658065A (en) * | 2020-05-12 | 2020-09-15 | 北京航空航天大学 | Digital guide system for mandible cutting operation |
| CN113842213B (en) * | 2021-09-03 | 2022-10-11 | 北京长木谷医疗科技有限公司 | Surgical robot navigation positioning method and system |
| CN113855233B (en) * | 2021-11-01 | 2023-05-05 | 杭州柳叶刀机器人有限公司 | Surgical range determining method, device, electronic equipment and storage medium |
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| CN115634007A (en) * | 2022-10-21 | 2023-01-24 | 苏州微创畅行机器人有限公司 | Bone cutting control method, bone cutting system, and storage medium |
| CN115645063A (en) * | 2022-10-24 | 2023-01-31 | 北京航空航天大学 | Vertebral plate cutting control method and surgical robot |
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