CN116712168B - Vertebral plate grinding control method and surgical robot system - Google Patents
Vertebral plate grinding control method and surgical robot system Download PDFInfo
- Publication number
- CN116712168B CN116712168B CN202311002091.8A CN202311002091A CN116712168B CN 116712168 B CN116712168 B CN 116712168B CN 202311002091 A CN202311002091 A CN 202311002091A CN 116712168 B CN116712168 B CN 116712168B
- Authority
- CN
- China
- Prior art keywords
- grinding
- dimensional
- dimensional model
- vertebral plate
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000227 grinding Methods 0.000 title claims abstract description 245
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 abstract description 7
- 238000003384 imaging method Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000002684 laminectomy Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006996 mental state Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1659—Surgical rasps, files, planes, or scrapers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses a vertebral plate grinding control method and a surgical robot system, and relates to the field of surgical robots. The key points of the technical scheme include: acquiring a medical image of a vertebral plate, and establishing a three-dimensional model of the vertebral plate according to the medical image; acquiring a moving travel range of a grinding tool, and establishing a grinding three-dimensional model according to the moving travel range; intersecting the three-dimensional model to be ground with the three-dimensional model of the vertebral plate to obtain a region to be ground of the vertebral plate. According to the invention, the grinding three-dimensional model is intersected with the vertebral plate three-dimensional model to obtain the area to be ground of the vertebral plate, so that the operation difficulty and the requirement can be reduced, and the efficiency is improved; meanwhile, the imaging grinding three-dimensional model can enable a doctor to have clearer and more visual knowledge on grinding actions, so that proper areas to be ground can be respectively determined for the vertebral plate three-dimensional models with different forms, and further efficiency and operation quality can be improved.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a vertebral plate grinding control method and a surgical robot system.
Background
Laminectomy is a common surgical procedure in spinal surgery and is one of the high risk surgical procedures. The traditional vertebral plate decompression operation requires that a doctor holds surgical tools such as a medical bone drill and the like to cut and grind the vertebral plate of a focus area of a patient so as to remove the vertebral plate and relieve the nerve pressure at the position. However, the traditional operation has extremely high requirements on doctors, and the traditional operation not only requires the doctors to have skilled operation skills and strong psychological diathesis, but also requires the doctors to keep full mental state in the operation process, and once the doctors are tired or tense, the doctors can cause misoperation, thereby causing serious consequences.
The prior Chinese patent with the bulletin number of CN110936379B discloses a robot control method, a robot control device and a robot, wherein the control method comprises the steps of acquiring a vertebral plate area to be cut from a three-dimensional reconstructed image, and then acquiring a motion path of the robot in the cutting process according to each position point of the vertebral plate; when acquiring a vertebral plate area to be cut, establishing a surrounding box surrounding the vertebral plate area to be cut; the doctor can drag the control point by using a mouse to realize the adjustment of the size of the bounding box, and can acquire the area of the vertebral plate to be cut from the three-dimensional reconstruction image through the deep learning network and establish the bounding box which surrounds the area of the vertebral plate to be cut without manually adjusting the bounding box by the doctor.
The bounding box is automatically built through the deep learning network, and is also based on a large number of actual operation cases of doctors. Therefore, the creation of the bounding box in the above patent is also mainly dependent on the doctor dragging the control point with the mouse to adjust.
However, the doctor uses the mouse control point to adjust the size of the bounding box, and the operation mode is not only low in efficiency, but also has high requirements on the doctor.
Disclosure of Invention
Aiming at the defects existing in the prior art, one of the purposes of the invention is to provide a vertebral plate grinding control method, which is used for intersecting a three-dimensional model to be ground with a vertebral plate three-dimensional model to obtain a region to be ground of the vertebral plate, so that the operation difficulty and the requirement can be reduced, and the efficiency can be improved; meanwhile, the imaging grinding three-dimensional model can enable a doctor to have clearer and more visual knowledge on grinding actions, so that proper areas to be ground can be respectively determined for the vertebral plate three-dimensional models with different forms, and further efficiency and operation quality can be improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a lamina grinding control method, the grinding control method comprising:
acquiring a medical image of a vertebral plate, and establishing a three-dimensional model of the vertebral plate according to the medical image;
acquiring a moving travel range of a grinding tool, and establishing a grinding three-dimensional model according to the moving travel range;
intersecting the three-dimensional model to be ground with the three-dimensional model of the vertebral plate to obtain a region to be ground of the vertebral plate.
Further, after the three-dimensional grinding model is intersected with the three-dimensional lamina model, the three-dimensional grinding model is adjusted to obtain a region of the lamina to be ground;
and establishing one or more intersecting cross sections of the three-dimensional grinding model and the three-dimensional vertebral plate model to assist in adjusting the three-dimensional grinding model.
Further, the grinding control method further includes: and establishing a starting point indication model at the vertex angle of the grinding three-dimensional model.
Further, a cross-sectional contour line of the region to be ground is acquired, a grinding boundary line is established along the cross-sectional contour line, and a grinding safety margin is set with the grinding boundary line as a reference.
Further, the grinding control method further includes: the grinding path is established along the guide path with the grinding boundary line as the guide path.
Further, taking the grinding boundary line as a guide path and taking the grinding safety margin as a radius, and establishing a plurality of circles arranged along the guide path array; the grinding path includes a grinding line located within the cross-sectional profile line tangential to the plurality of circles.
Further, the grinding path includes a plurality of grinding lines; wherein the later-performed grinding line serves as a guide path for the adjacent earlier-performed grinding line.
Further, the number of the grinding three-dimensional models is one;
alternatively, the number of the three-dimensional models is plural, and the plural three-dimensional models are intersected with different positions of the three-dimensional model of the lamina, respectively.
Further, the grinding tool moves in a two-dimensional plane, wherein the moving travel range comprises a first direction travel and a second direction travel, and the first direction is perpendicular to the second direction;
or the grinding tool moves in the three-dimensional space, wherein the moving range comprises a first direction stroke, a second direction stroke and a third direction stroke, and the first direction, the second direction and the third direction are mutually perpendicular.
Another object of the present invention is to provide a surgical robot system, and to provide the following technical solutions:
a surgical robotic system for performing the above-described lamina grinding control method.
Further, the surgical operation device comprises a grinding tool, a surgical motion platform for driving the grinding tool to move to execute grinding action and a mechanical arm for driving the surgical motion platform to move;
the operation motion platform is a two-axis motion platform and is used for driving the grinding tool to move in a two-dimensional plane;
or the operation motion platform is a triaxial motion platform and is used for driving the grinding tool to move in a three-dimensional space.
In summary, the invention has the following beneficial effects:
the doctor can drag the grinding three-dimensional model to move or rotate through the mouse, and then the intersecting area is changed according to the specific form of the vertebral plate three-dimensional model, so that a proper area to be ground is obtained; the doctor does not need to adjust the shape and the volume of the grinding three-dimensional model, and only needs to control the grinding three-dimensional model to translate or rotate, so that the operation difficulty and the requirement can be reduced, and the efficiency is improved; meanwhile, the imaging grinding three-dimensional model can enable a doctor to have clearer and more visual knowledge on grinding actions, so that proper areas to be ground can be respectively determined for the vertebral plate three-dimensional models with different forms, and further the efficiency and the operation quality can be improved;
the grinding boundary line is established along the section contour line, the grinding boundary line is used as a guide path, and then the grinding path is established along the guide path, so that the grinding safety can be improved, and the situation of grinding through is avoided.
Drawings
FIG. 1 is a schematic flow chart of a lamina grinding control method of example 1;
FIG. 2 is a schematic view of a three-dimensional model of a lamina and two three-dimensional models of a mill in example 1;
FIG. 3 is a schematic view of a three-dimensional model of a lamina, a three-dimensional model of a mill, and three intersecting cross-sections of example 1;
FIG. 4 is a schematic view of a three-dimensional model of a lamina and a three-dimensional model of a mill in example 1;
FIG. 5 is a schematic view of a cross-sectional profile line in example 1;
fig. 6 is a schematic diagram of a cross-sectional contour line and a grinding boundary line in embodiment 1;
fig. 7 is a schematic view of a cross-sectional contour line, a grinding boundary line, and a grinding path in embodiment 1;
fig. 8 is a schematic view of the grinding boundary line, the first circle, and the first grinding line in embodiment 1;
fig. 9 is a schematic view of the grinding boundary line, the first circle, the first grinding line, the second circle, and the second grinding line in example 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Example 1:
referring to fig. 1 to 9, a lamina grinding control method includes establishing a lamina three-dimensional model and a grinding three-dimensional model, respectively, and then intersecting the grinding three-dimensional model with the lamina three-dimensional model to obtain a region to be ground; specifically, a three-dimensional model of the lamina is established, a medical image of the lamina, such as a CT image, is required to be acquired, and then the three-dimensional model of the lamina is established according to the medical image; establishing a grinding three-dimensional model, acquiring a moving travel range of a grinding tool, and then establishing the grinding three-dimensional model according to the moving travel range; the method comprises the steps that a grinding three-dimensional model is intersected with a vertebral plate three-dimensional model to obtain a region to be ground, then the shape or the volume of the intersected region can be changed by adjusting the grinding three-dimensional model, and the intersected region after being determined is the region to be ground of the vertebral plate.
After the grinding tool and the moving travel range of the grinding tool are selected, the shape and the volume of the grinding three-dimensional model are fixed, so that a doctor only needs to control the grinding three-dimensional model to translate or rotate; for example, a doctor can drag the three-dimensional model to move or rotate through a mouse, and can also input a specific translation distance or a specific rotation angle by matching with a keyboard, so that an intersection area is changed according to the specific form of the three-dimensional model of the vertebral plate, and a proper area to be ground is obtained; the doctor does not need to adjust the shape and the volume of the grinding three-dimensional model, and only needs to control the grinding three-dimensional model to translate or rotate, so that the operation difficulty and the requirement can be reduced, and the efficiency is improved; meanwhile, the imaging grinding three-dimensional model can enable a doctor to have clearer and more visual knowledge on grinding actions, so that proper areas to be ground can be respectively determined for the vertebral plate three-dimensional models with different forms, and further the efficiency and the operation quality can be improved; of course, in other alternative embodiments, the appropriate region to be abraded may also be obtained by intersecting the three-dimensional model of the abrading and the three-dimensional model of the lamina through a deep learning network, without limitation.
The grinding three-dimensional model is established according to the moving travel range of the grinding tool, so that the shape of the grinding three-dimensional model is more regular and simpler than that of the vertebral plate three-dimensional model, and the intersection area is more convenient to change by adjusting the grinding three-dimensional model; of course, in other alternative embodiments, the lamina three-dimensional model may be adjusted to change the intersection area, or the grinding three-dimensional model and lamina three-dimensional model may be adjusted to change the intersection area, respectively, without limitation; in order to more accurately adjust the position or angle of the three-dimensional grinding model, one or more intersecting sections of the three-dimensional grinding model and the lamina three-dimensional grinding model can be established to assist in adjusting the three-dimensional grinding model; specifically, referring to fig. 3, three different intersecting cross sections (sagittal view, coronal view, axial view) are established in the embodiment to assist in adjusting the grinding three-dimensional model, and the relative position of the grinding three-dimensional model and the vertebral plate three-dimensional model can be more clearly observed through the intersecting cross sections, so that the position or angle of the grinding three-dimensional model can be more accurately adjusted, thereby obtaining a more suitable region to be ground, and further improving the operation quality; the positions and the number of the intersecting cross-sections may be selected as desired, and are not limited thereto.
The number of the three-dimensional models of the vertebral plate is one, and the number of the three-dimensional models to be ground can be one or more; the number of the three-dimensional models to be ground can be selected according to the need, and is not limited herein; wherein, fig. 2 shows a three-dimensional model of a lamina and two three-dimensional models of grinding, and fig. 4 shows a three-dimensional model of a lamina and one three-dimensional model of grinding; in fig. 2, two three-dimensional grinding models respectively intersect different positions of the three-dimensional vertebral plate model, and each three-dimensional grinding model is independently adjusted, so that two different areas to be ground can be respectively obtained; in fig. 2, two grinding three-dimensional models are built by the same grinding tool and the moving travel range thereof; that is, only the position and the posture are different between the two grinding three-dimensional models; of course, in alternative embodiments, multiple grinding three-dimensional models may be created from different grinding tools or ranges of travel, respectively, without limitation.
Specifically, the grinding tool in this embodiment is a ball grinding drill; of course, in other alternative embodiments, the grinding tool may be an ultrasonic bone knife or milling cutter, etc., without limitation; in this embodiment, the grinding tool moves in a two-dimensional plane, and the moving range includes a first direction travel and a second direction travel, where the first direction is perpendicular to the second direction; that is, the ball nose abrasive drill is movable in a plane defined by the first direction travel and the second direction travel; the grinding tool moves in a two-dimensional plane, so that the size of a ball grinding drill is also required to be combined when a grinding three-dimensional model is built; namely, a cuboid grinding three-dimensional model is established according to the radius of the ball head grinding drill, the first direction travel and the second direction travel; for example, defining the radius of the ball grinding bit as r, the first direction travel as a and the second direction travel as b, wherein a is the length of the grinding three-dimensional model, 2r is the width of the grinding three-dimensional model, and b is the height of the grinding three-dimensional model, so that a cuboid grinding three-dimensional model can be established; the moving travel range of the grinding tool is usually far larger than the area to be ground, so that the length or width of the grinding three-dimensional model can be set up without considering the grinding radius r of the ball head; of course, the radius r of the ball grinding bit may be increased to the length or width of the grinding three-dimensional model, which is not limited herein; in other alternative embodiments, the edges of the cuboid may be rounded according to the radius of the ball grinding drill, which is not limited herein; the grinding tool is controlled to move in the two-dimensional plane, so that the three-dimensional grinding model can be simplified, the grinding path can be conveniently planned, and the grinding efficiency is improved; of course, in other alternative embodiments, the grinding tool may also move in three dimensions, where the range of movement includes a first direction of travel, a second direction of travel, and a third direction of travel, where the first direction, the second direction, and the third direction are perpendicular to each other, and is not limited herein; if the grinding tool moves in the three-dimensional space, the width of the grinding three-dimensional model may be defined by the radius of the ball grinding bit together with the third directional stroke, or may be defined by only the third directional stroke, which is not limited herein.
Preferably, the grinding control method further includes: establishing a starting point indication model at the vertex angle of the grinding three-dimensional model; the relative positions of the starting point indication model and the grinding three-dimensional model are kept unchanged, so that the visualized starting point indication model can bring convenience for doctors to have clearer and more visual knowledge on the posture of the grinding three-dimensional model, and is also convenient for adjusting the grinding three-dimensional model; in the embodiment, the starting point indication model is a cone, and the vertex of the cone is opposite to the grinding three-dimensional model; of course, in other alternative embodiments, other shapes may be selected for the origin indicating model, without limitation.
Specifically, the grinding control method further includes: acquiring a cross-sectional contour line of a region to be ground (refer to fig. 5), establishing a grinding boundary line along the cross-sectional contour line (refer to fig. 6), and setting a grinding safety margin by taking the grinding boundary line as a reference; then taking the grinding boundary line as a guide path, and establishing a grinding path along the guide path; in the embodiment, the section contour lines are automatically identified and shown by software, so that the efficiency can be improved; of course, in alternative embodiments, the cross-sectional profile may also be drawn by the physician via a mouse, without limitation; the thicker line segment at the bottom of the cross-sectional profile line in fig. 6 is the ground boundary line; in this embodiment, according to the position of the area to be ground, in order to avoid grinding through downwards, a grinding boundary line is established at the bottom of the section contour line; in other alternative embodiments, the position and number of the grinding boundary lines may be adjusted as needed for grinding safety, without limitation; in this embodiment, the cross section of the cross section profile is parallel to a plane defined by the first direction travel and the second direction travel; in the embodiment, the grinding boundary line is established along the section contour line, then the grinding safety margin is set by taking the grinding boundary line as a reference, and the grinding path is established by taking the grinding boundary line as a guide path, so that downward grinding can be effectively avoided; specifically, the doctor draws a grinding boundary line along the section contour line by means of a mouse, the grinding boundary line being located at the bottom position of the section contour line and having a start point and an end point; of course, in alternative embodiments, the ground boundary lines may be automatically identified and generated without the need for a physician to draw, without limitation.
Referring to fig. 7 and 8, a plurality of first circles arranged along a guide path array are established with the ground boundary line as a guide path and the ground safety margin as a radius; the grinding boundary line is used as a guide path, namely, the circle centers of a plurality of first circles are all positioned on the grinding boundary line; the grinding path comprises a first grinding line positioned in the cross-sectional profile line and tangential to the plurality of first circles; that is, the tangential points on the plurality of first circles are connected into a line, and then a portion located within the cross-sectional profile line is taken as a first grinding line; the minimum distance between any point on the first grinding line and the grinding boundary line is larger than or equal to the grinding safety margin, so that the grinding safety can be effectively ensured; if single grinding is adopted, a first grinding line is established, and all the area above the first grinding line is ground along the first grinding line; if multiple grinding is employed, more grinding lines may be established on the basis of the first grinding line, the grinding path including a plurality of grinding lines; wherein the later-performed grinding line serves as a guide path for the adjacent earlier-performed grinding line, thereby contributing to ensuring the safety of grinding; for example, referring to fig. 7 and 9, a plurality of second circles arranged along the guide path array are established with the first grinding line as a guide path and the radial dimension of the ball head grinding bit as a radius, and the grinding path includes a second grinding line positioned in the cross-sectional contour line and tangential to the plurality of second circles, the second grinding line being positioned above the first grinding line; the circle centers of the second circles are all positioned on the first grinding line; similarly, referring to fig. 7, the grinding path in the present embodiment includes a first grinding line, a second grinding line, a third grinding line, a fourth grinding line, and a fifth grinding line distributed from bottom to top; when grinding, grinding is sequentially carried out from top to bottom from the fifth grinding line; the number of circles arranged along the guide path array can be adjusted as required, and of course, a larger number is preferable; in the embodiment, the circles arranged along the third, fourth and fifth grinding line arrays are the radii of the circles with the radius dimensions of the ball grinding drills, so that grinding paths are formed conveniently; of course, the radius of the circles of the array arrangement may be adjusted as desired, without limitation.
Example 2:
a surgical robot system for performing the laminectomy control method of embodiment 1; specifically, the surgical robot system includes a grinding tool, a surgical motion platform for driving the grinding tool to move to perform a grinding action, and a mechanical arm for driving the surgical motion platform to move; the surgical robot system further comprises a positioning mark, a visual identification mechanism and a control system; the surgical motion platform is a two-axis motion platform and is used for driving the grinding tool to move in a two-dimensional plane; the two-axis motion platform in this embodiment is the prior art, and will not be described here.
Specifically, the visual recognition mechanism scans the identification pattern on the positioning identification, so as to position the movement of the mechanical arm; the control system drives the mechanical arm to move the operation motion platform to a designated position, and then the operation motion platform drives the grinding tool to move according to the grinding path; the surgical motion platform is adopted to drive the grinding tool to move, so that the moving precision is improved; of course, in other alternative embodiments, the surgical motion platform may be a three-axis motion platform for driving the grinding tool to move in three dimensions, which is not limited herein; meanwhile, in other alternative embodiments, when the lamina grinding control method in embodiment 1 is adopted, the mechanical arm may directly drive the grinding tool to move, which is not limited herein.
Claims (10)
1. A lamina grinding control method, characterized in that the grinding control method comprises:
acquiring a medical image of a vertebral plate, and establishing a three-dimensional model of the vertebral plate according to the medical image;
acquiring a moving travel range of a grinding tool, and establishing a grinding three-dimensional model according to the moving travel range;
intersecting the grinding three-dimensional model with the vertebral plate three-dimensional model to obtain a region to be ground of the vertebral plate;
after the grinding three-dimensional model is intersected with the vertebral plate three-dimensional model, the grinding three-dimensional model is adjusted to obtain a region to be ground of the vertebral plate;
the number of the grinding three-dimensional models is one; alternatively, the number of the three-dimensional models is plural, and the plural three-dimensional models are intersected with different positions of the three-dimensional model of the lamina, respectively.
2. The lamina grinding control method of claim 1, wherein: and establishing one or more intersecting cross sections of the three-dimensional grinding model and the three-dimensional vertebral plate model to assist in adjusting the three-dimensional grinding model.
3. The lamina grinding control method of claim 1, wherein: the grinding control method further includes: and establishing a starting point indication model at the vertex angle of the grinding three-dimensional model.
4. The lamina grinding control method of claim 1, wherein: and acquiring a section contour line of the area to be ground, establishing a grinding boundary line along the section contour line, and setting grinding safety margin by taking the grinding boundary line as a reference.
5. The lamina grinding control method of claim 4, wherein: the grinding control method further includes: the grinding path is established along the guide path with the grinding boundary line as the guide path.
6. The lamina grinding control method of claim 5, wherein: taking the grinding boundary line as a guide path and taking the grinding safety margin as a radius, and establishing a plurality of circles arranged along the guide path array; the grinding path includes a grinding line located within the cross-sectional profile line tangential to the plurality of circles.
7. The lamina grinding control method of claim 6, wherein: the grinding path includes a plurality of grinding lines; wherein the later-performed grinding line serves as a guide path for the adjacent earlier-performed grinding line.
8. The lamina grinding control method of claim 1, wherein: the grinding tool moves in a two-dimensional plane, and the moving range of the grinding tool comprises a first direction travel and a second direction travel, wherein the first direction is perpendicular to the second direction;
or the grinding tool moves in the three-dimensional space, wherein the moving range comprises a first direction stroke, a second direction stroke and a third direction stroke, and the first direction, the second direction and the third direction are mutually perpendicular.
9. A surgical robotic system, characterized by: for performing the lamina grinding control method of any one of claims 1-8.
10. The surgical robotic system of claim 9, wherein: the surgical operation device comprises a grinding tool, a surgical motion platform for driving the grinding tool to move to execute grinding action and a mechanical arm for driving the surgical motion platform to move;
the operation motion platform is a two-axis motion platform and is used for driving the grinding tool to move in a two-dimensional plane;
or the operation motion platform is a triaxial motion platform and is used for driving the grinding tool to move in a three-dimensional space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311002091.8A CN116712168B (en) | 2023-08-10 | 2023-08-10 | Vertebral plate grinding control method and surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311002091.8A CN116712168B (en) | 2023-08-10 | 2023-08-10 | Vertebral plate grinding control method and surgical robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116712168A CN116712168A (en) | 2023-09-08 |
| CN116712168B true CN116712168B (en) | 2023-11-21 |
Family
ID=87875613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311002091.8A Active CN116712168B (en) | 2023-08-10 | 2023-08-10 | Vertebral plate grinding control method and surgical robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116712168B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260306A (en) * | 2017-06-28 | 2017-10-20 | 深圳市鑫君特智能医疗器械有限公司 | Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail |
| CN110154019A (en) * | 2019-05-13 | 2019-08-23 | 中国科学院深圳先进技术研究院 | Robot control method, robot controller and robot |
| CN110400328A (en) * | 2019-07-09 | 2019-11-01 | 中国科学院深圳先进技术研究院 | Calculation method, computing system and the terminal of the movement velocity of operation auxiliary robot |
| CN113164215A (en) * | 2018-12-13 | 2021-07-23 | 马科外科公司 | Techniques for patient-specific virtual boundary deformation |
| CN113876429A (en) * | 2021-06-23 | 2022-01-04 | 上海极睿医疗科技有限公司 | Path planning system of spine surgery robot and robot system |
| CN114449969A (en) * | 2019-09-30 | 2022-05-06 | 马科外科公司 | System and method for guiding movement of a tool |
| CN115462900A (en) * | 2022-09-19 | 2022-12-13 | 山东科技大学 | Vertebral plate grinding track planning method of spinal surgery robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015168781A1 (en) * | 2014-05-06 | 2015-11-12 | Conceptualiz Inc. | System and method for interactive 3d surgical planning and modelling of surgical implants |
| EP3581121A1 (en) * | 2018-06-15 | 2019-12-18 | MAKO Surgical Corp. | Techniques for patient-specific milling path generation |
| WO2021130670A1 (en) * | 2019-12-23 | 2021-07-01 | Mazor Robotics Ltd. | Multi-arm robotic system for spine surgery with imaging guidance |
-
2023
- 2023-08-10 CN CN202311002091.8A patent/CN116712168B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260306A (en) * | 2017-06-28 | 2017-10-20 | 深圳市鑫君特智能医疗器械有限公司 | Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail |
| CN113164215A (en) * | 2018-12-13 | 2021-07-23 | 马科外科公司 | Techniques for patient-specific virtual boundary deformation |
| CN110154019A (en) * | 2019-05-13 | 2019-08-23 | 中国科学院深圳先进技术研究院 | Robot control method, robot controller and robot |
| CN110400328A (en) * | 2019-07-09 | 2019-11-01 | 中国科学院深圳先进技术研究院 | Calculation method, computing system and the terminal of the movement velocity of operation auxiliary robot |
| CN114449969A (en) * | 2019-09-30 | 2022-05-06 | 马科外科公司 | System and method for guiding movement of a tool |
| CN113876429A (en) * | 2021-06-23 | 2022-01-04 | 上海极睿医疗科技有限公司 | Path planning system of spine surgery robot and robot system |
| CN115462900A (en) * | 2022-09-19 | 2022-12-13 | 山东科技大学 | Vertebral plate grinding track planning method of spinal surgery robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116712168A (en) | 2023-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6615924B2 (en) | Method and system for inducing tool movement in hair transplant procedures | |
| US20230285093A1 (en) | Methods for performing medical procedures using a surgical robot | |
| US20230098080A1 (en) | Two degree of freedom system and method | |
| US10531927B2 (en) | Methods for performing invasive medical procedures using a surgical robot | |
| CN104688341B (en) | A kind of vertebral column digital operation device positioned based on microgap | |
| US11564749B2 (en) | Techniques for patient-specific milling path generation | |
| WO2020048545A1 (en) | Tooth implantation system and navigation method therefor | |
| JP7319970B2 (en) | Instrument guide device and corresponding method | |
| CN102429726A (en) | Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method | |
| Mattos et al. | A virtual scalpel system for computer-assisted laser microsurgery | |
| Davies et al. | Neurobot: a special-purpose robot for neurosurgery | |
| US20210228282A1 (en) | Methods of guiding manual movement of medical systems | |
| CN106408652B (en) | Screw path positioning method and system for acetabulum anterior column forward screw | |
| CN116712168B (en) | Vertebral plate grinding control method and surgical robot system | |
| CN113876429B (en) | Path planning system of spine surgery robot and robot system | |
| CN203609518U (en) | Digitized spinal surgery device based on microgap positioning | |
| US11925426B2 (en) | Surgical robot with anti-skive feature | |
| US20190000572A1 (en) | Robotic assisted prostate surgery device | |
| CN101259028B (en) | Device system for removing or processing material | |
| CN104688300B (en) | A kind of vertebral column digital operation clears up knife with nucleus pulposus | |
| Marisetty et al. | System design of an automated drilling device for neurosurgical applications | |
| CN203619629U (en) | Nucleus pulposus cleaning knife for digital spine operation | |
| US20230033676A1 (en) | Robotic dilator | |
| EP3984487A1 (en) | Technique for visualization of a spherically shaped tip of a tracked instrument relative to a tracked object | |
| CN218606812U (en) | Parallel six-axis robot operating platform for long tubular bone fracture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |