CN116793334A - Precision test system and test method of bone surgery navigation system - Google Patents
Precision test system and test method of bone surgery navigation system Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 218
- 238000001356 surgical procedure Methods 0.000 title claims description 54
- 210000000988 bone and bone Anatomy 0.000 title claims description 25
- 238000010998 test method Methods 0.000 title abstract description 13
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention provides a precision test system and a test method of an orthopedic operation navigation system, wherein the test system comprises: the device comprises a test tool, an operation tool, a mechanical arm, an optical tracking system and an upper computer; the surgical tool is arranged on the mechanical arm, and the mechanical arm is used for driving the surgical tool to move towards a direction approaching or away from the test tool; the test tool is provided with a plurality of sensors, and the sensors are used for collecting pose signals of the surgical tool; the optical tracking system is electrically connected with the mechanical arm and is used for tracking the pose of the surgical tool and the test tool; the optical tracking system is also used for guiding the mechanical arm to move according to the planning position of the mechanical arm; the upper computer is connected with the optical tracking system and the sensor; the upper computer is used for acquiring the precision of the orthopedic operation navigation system according to the pose signal fed back by the sensor and the planning position of the mechanical arm. The precision testing system and the testing method provided by the invention can solve the problems of low testing precision and complex testing process of the precision testing system in the prior art.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a precision test system and a test method of an orthopedic operation navigation system.
Background
The surgical operation tends to be minimally invasive, the visual field of doctors is reduced while the convenience of small wound, little blood loss, quick recovery and the like is brought, direct observation is not facilitated, moreover, the focus tissue structure of partial operation is complex, frequent exploration is needed, and some focuses with deeper concealment even need blind operation by doctors by skill, so that the accuracy and safety of the surgical operation are greatly influenced. In recent years, navigation positioning system technology becomes the main stream of innovation in the medical field, and especially the innovative application of robot technology improves the safety and effectiveness of surgery.
The orthopedic operation robot is a robot system widely applied to orthopedic operations at present, can realize more personalized operation scheme design and simulation, and provides operation positioning accuracy exceeding the limit of hands, thereby greatly facilitating the operation of doctors, effectively reducing the risk of complications, improving the operation quality, shortening the postoperative rehabilitation period and reducing the medical cost as a whole.
The basic function of the orthopedic operation robot system is to process, display and combine the optical tracking system with the image provided by the medical image equipment by using the computer, and finally control the robot to safely and effectively perform operation positioning.
It should be noted that, for surgical robots including orthopedic robots, the navigation tracking system is one of the core technical barriers, for example, the orthopedic navigation system can be used for making a surgical plan before surgery and navigating in surgery, and can track surgical instruments during surgery and update and display the positions of the surgical instruments on images before or during surgery of a patient in real time, so that a doctor knows the relationship between the positions of the surgical instruments and the anatomy of the patient at any time. In surgical applications, the high measurement accuracy navigation system can more accurately locate the lesion, thereby accurately controlling the robotic arm to manipulate the surgical instrument to the lesion site for surgical procedures, avoiding damaging delicate and/or important anatomical sites.
Therefore, the accurate evaluation and detection of the positioning accuracy of the bone surgery navigation system is a key link for evaluating the performance of products and guaranteeing the safety and effect of surgery, and is an important foundation for technical research and development, product development and verification.
In the precision verification method of the orthopedic surgery navigation system in the prior art, three-dimensional coordinates of related components are acquired by external three-dimensional measurement equipment, for example, image information comprising a test mold and a navigation system mechanical arm is acquired by external imaging equipment, and the precision of the navigation system is verified by processing the images to obtain the related coordinate information of the mechanical arm and the test mold. However, according to the verification method, on one hand, auxiliary test is required by external measurement equipment, and the space coordinate data obtained after image processing has larger errors, so that the precision test is rough, and the precision value of the navigation system cannot be accurately known; on the other hand, the testing process is complicated, the image information needs to be processed, the processing process is complicated, and when the image information acquired by the external equipment is deformed and other deviations occur, the accuracy testing is directly caused to have larger errors.
Disclosure of Invention
The invention aims to provide a precision testing system and a testing method of an orthopedic operation navigation system, which are used for solving the problems that in the prior art, the precision testing system needs to rely on external imaging equipment for testing, so that the testing precision is low and the testing process is complex.
In order to solve the technical problems, the invention provides a precision test system of an orthopedic operation navigation system, comprising: the device comprises a test tool, an operation tool, a mechanical arm, an optical tracking system and an upper computer; the surgical tool is arranged on the mechanical arm, and the mechanical arm is used for driving the surgical tool to move towards a direction approaching or away from the test tool; the test tool is provided with a plurality of sensors, and the sensors are used for collecting pose signals of the surgical tool; the optical tracking system is electrically connected with the mechanical arm and is used for tracking the pose of the surgical tool and the test tool; the optical tracking system is also used for guiding the mechanical arm to move according to the planning position of the mechanical arm; the upper computer is connected with the optical tracking system and the sensor; the upper computer is used for acquiring the precision of the orthopedic operation navigation system according to the pose signal fed back by the sensor and the planning position of the mechanical arm.
Further, the test system further comprises a registration probe, one end of the registration probe is used for registering the appearance of the test fixture, the other end of the registration probe is provided with a registration target, the registration target can be identified and tracked by the optical tracking system, the surface of the test fixture is further provided with a plurality of registration targets, and the registration probe is used for completing registration of the test fixture by contacting the registration targets.
Further, a plurality of registration targets are arranged on the surface of the test tool, and metal balls are installed in the registration targets.
Further, a tool target which can be identified by the optical tracking system is arranged on the surgical tool, and a tool target which can be identified by the optical tracking system is arranged on the test tool.
Furthermore, the precision testing system further comprises imaging equipment, wherein the imaging equipment is used for acquiring images containing the surgical tool and/or the testing tool and transmitting the images to the upper computer, and the upper computer is further used for acquiring the pose of the surgical tool and/or the testing tool according to the received images.
Further, a part of the surface of the test tool is inwards recessed to form a hemispherical groove, the shape of the tail end of the surgical tool is matched with that of the hemispherical groove, and the tail end of the surgical tool is far away from one end of the mechanical arm.
Further, the number of the sensors comprises a first sensor and a second sensor, the first sensor is arranged at the bottom center position of the hemispherical groove, and the first sensor is used for collecting distance signals of the surgical tool; the second sensors are arranged on the spherical surface of the hemispherical groove at intervals, and the second sensors are used for collecting angle signals of the surgical tool.
The invention also provides a precision test method of the bone surgery navigation system, which comprises the following steps:
s1: acquiring an initial pose of a surgical tool and a test tool;
s2: acquiring a planning position of the mechanical arm according to initial pose of the surgical tool and the test tool;
s3: guiding the mechanical arm to move to a planning position, and driving the surgical tool to move towards a direction approaching to the test tool when the mechanical arm moves;
s4: a sensor on the test tool collects actual pose signals of the surgical tool and transmits the signals to the upper computer;
s5: acquiring the actual pose of the surgical tool according to the actual pose signal of the surgical tool;
s6: and acquiring the precision of the bone surgery navigation system according to the actual pose of the surgery tool and the planning position of the mechanical arm.
Further, between S1 and S2, the test method further includes a tool registration step: the optical tracking system identifies and tracks the registration probe and the test fixture in real time; the registration probe registers the test fixture and acquires registration position data of the registration probe; fitting according to the registered position data of the registered probe to obtain an actual model of the test fixture; registering the actual model and the virtual model of the test fixture, and registering the fixture.
Further, the surface of the test fixture is provided with a plurality of registration targets, and one end of the registration probe registers the test fixture by clicking the registration targets of the test fixture.
Further, a plurality of registration targets are arranged on the surface of the test tool, metal balls are arranged in the registration targets, the imaging equipment collects images of the test tool, and a virtual model of the test tool is obtained according to the images of the test tool.
Further, in S1, the acquiring, by the optical tracking system, the initial pose of the surgical tool specifically includes: the surgical tool is provided with a tool target which can be identified and tracked by an optical tracking system, and the optical tracking system acquires the initial pose of the surgical tool through identifying the tool target.
Further, in S1, the acquiring, by the optical tracking system, the initial pose of the surgical tool specifically includes: a sensor on the test tool collects initial pose signals of the surgical tool and sends the signals to the upper computer; the upper computer acquires the initial pose of the surgical tool according to the received initial pose signal and transmits the initial pose to the optical tracking system.
Further, in S1, the optical tracking system obtaining the initial pose of the test tool specifically includes: the optical tracking system acquires the initial pose of the test tool by identifying the tool target.
Further, in S1, the optical tracking system obtaining the initial pose of the test tool specifically includes: the imaging equipment acquires an image containing the test tool and transmits the image to the upper computer; and the upper computer acquires the initial pose of the test tool according to the received image and transmits the initial pose to the optical tracking system.
Further, in S6, the upper computer obtains a theoretical pose of the surgical tool according to the planning position of the mechanical arm, and compares the theoretical pose of the surgical tool with an actual pose to obtain accuracy of the orthopedic surgery navigation system.
Further, the test method further includes S7: when the difference value between the theoretical pose and the actual pose of the surgical tool is larger than a preset range, the upper computer sends alarm information to the optical tracking system and transmits the difference value to the optical tracking system; the optical tracking system re-plans the planning position of the mechanical arm according to the difference value.
In summary, compared with the prior art, the precision test system and the test method of the bone surgery navigation system provided by the invention have the following advantages:
the test tool can simulate the bone joint in the bone surgery, the operation of the test tool can simulate the common bone surgery process, such as the hip joint replacement surgery, the knee joint replacement surgery or the bone grinding surgery, and the like, the sensor on the test tool can acquire the pose signal of the surgical tool, so that the actual pose of the surgical tool is obtained, and the actual pose is compared with the planned theoretical pose, so that the precision of the bone surgery navigation system can be obtained. Compared with the prior art that external imaging equipment is required to indirectly calculate and obtain the position coordinates of the surgical tool, the position and posture signal acquisition method and device are higher in accuracy, faster in acquisition speed, free of complicated image processing process and more convenient to operate due to the fact that the position and posture signal is directly acquired by the sensor.
In addition, the precision testing method can obtain the accurate deviation value of the surgical tool and give an alarm to the optical tracking system, and the optical tracking system can re-plan the movement of the mechanical arm according to the accurate deviation value, so that the precision correction function of the navigation system is realized.
Drawings
FIG. 1 is a schematic diagram of a precision testing system of an orthopedic surgery navigation system according to an embodiment of the present invention;
fig. 2 and fig. 3 are schematic structural diagrams of a test tool in a precision test system of an orthopedic operation navigation system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a registration probe performing registration scanning on a test tool in a precision test system of an orthopedic surgery navigation system according to an embodiment of the present invention;
fig. 5 and fig. 6 are schematic docking diagrams of a simulation of an orthopedic operation process by an operation tool and a test tool in a precision test system of an orthopedic operation navigation system according to an embodiment of the present invention;
fig. 7 and 8 are schematic flow diagrams of a precision testing method of an orthopedic operation navigation system according to an embodiment of the present invention;
fig. 9 to 12 are schematic flow diagrams of bone registration and planning of a mechanical arm in the precision test method of the orthopedic operation navigation system according to an embodiment of the present invention;
fig. 13 to 14 are flowcharts of the operation of the upper computer in the accuracy testing method of the navigation system for orthopedic operation according to the embodiment of the present invention.
Detailed Description
The invention provides an accuracy test system and a test method of an orthopedic operation navigation system, which are further described in detail below with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description.
It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
The invention aims to provide a precision testing system and a testing method of an orthopedic operation navigation system, which are used for solving the problems that in the prior art, the precision testing system needs to rely on external imaging equipment for testing, so that the testing precision is low and the testing process is complex.
Example 1
As shown in fig. 1 to 5, the present invention provides an accuracy testing system of an orthopedic operation navigation system, comprising: the device comprises a test tool 10, a surgical tool 20, a mechanical arm 30, an optical tracking system 40 and an upper computer 50; the surgical tool 20 is arranged on the mechanical arm 30, and the mechanical arm 20 is used for driving the surgical tool 20 to move towards or away from the test tool 10; the test tool 10 is provided with a plurality of sensors 60, and the plurality of sensors 60 are used for collecting pose signals of the surgical tool 20; the optical tracking system 40 is electrically connected with the mechanical arm 30 and is used for tracking the pose of the surgical tool 20 and the test tool 10; the optical tracking system 40 is further configured to guide the movement of the robotic arm 30 according to the planned position of the robotic arm; the upper computer 50 is connected with the optical tracking system 40 and the sensor 60; the upper computer 50 is used for acquiring the precision of the orthopedic operation navigation system according to the pose signal fed back by the sensor 60 and the planning position of the mechanical arm.
In the scheme of the invention, the test tool 10 can simulate a bone joint in an orthopedic operation, the operation of the test tool 10 by the operation tool 20 can simulate a common orthopedic operation process, such as a hip joint replacement operation, a knee joint replacement operation, a spine surgery operation, an orthopedic trauma operation and the like, the sensor 60 on the test tool 10 can acquire the pose signal of the operation tool 20, so that the actual pose of the operation tool 20 is obtained, and the actual pose is compared with the planned theoretical pose, so that the precision of the orthopedic operation navigation system can be obtained. Compared with the prior art that the external imaging equipment is required to indirectly calculate the position coordinates of the surgical tool, the position and posture signal is directly acquired by the sensor 60, the accuracy is higher, the speed of acquiring the result is higher, a complicated image processing process is not required, and the operation is more convenient.
As shown in fig. 2, in one embodiment of the present invention, the surgical tool 20 may include a core 21 and an end tool 22, wherein the core 21 may be directly coupled to the end of the robotic arm 30 by a detachable attachment, and the end tool 22 may be an instrument required in a simulated bone surgery, for example, in a joint replacement surgery, the end tool 22 may simulate a joint to be replaced and transplanted into a patient. In addition, a tool target 23 that can be recognized by the optical tracking system 40 can be provided on the surgical tool 20, thereby enabling the optical tracking system 40 to recognize and track the surgical tool 20.
As shown in fig. 3 and 4, as an implementation manner of the present invention, a part of the surface of the test tool 10 may be recessed inward to form a hemispherical recess 11 for simulating the acetabular fossa in the hip replacement surgery, and a plane near the recess 11 corresponds to the pelvic bone feature near the acetabular fossa, accordingly, the end of the surgical tool 20, that is, the shape of the end tool 22 matches with the recess 11, is one end far away from the mechanical arm 30, and during the surgery, the mechanical arm 30 drives the surgical tool 20 to move towards the direction approaching the test tool 10, and after moving in place, the end tool 22 of the surgical tool 20 just abuts against the recess 11, as shown in fig. 6 and 7. Of course, it will be understood by those skilled in the art that the shape of the test fixture 10 of the present invention is not limited to the above-mentioned structure, but may be a shape corresponding to the shape of a joint in other orthopedic operations, for example, the surface of the test fixture 10 may have a convex portion for simulating the shape of a joint in knee replacement operations, and those solutions in which the shape of the test fixture 10 is simply deformed for different orthopedic operations fall into the protection scope of the present invention. In addition, the test fixture 10 is also provided with a fixture target 12 that can be identified by the optical tracking system 40, so that the optical tracking system 40 can identify and track the test fixture 10.
In the above embodiment, the sensor 60 installed on the test tool 10 includes the first sensor 61 and the second sensor 62, where the first sensor 61 is disposed at the bottom center position of the hemispherical groove 11, and the first sensor 61 is used to collect the distance signal of the surgical tool 20; the second sensors 62 are disposed on the spherical surface of the hemispherical recess 11 at intervals, and the second sensors 62 are used for acquiring angle signals of the surgical tool 20. The number of the first sensors 61 is at least one, the number of the second sensors 62 may be preferably 3, and the position information of the surgical tool 20 may be reflected by the distance signals and the angle signals acquired by the cooperation of the four sensors. For example, the first sensor 61 may be a sensor type capable of sensing a distance signal, such as an optical sensor, a displacement sensor, or an ultrasonic sensor, and after collecting the distance signal, the distance between the first sensor 61 and the distal end of the surgical tool 20 may be obtained after analysis and calculation by the host computer 50; the second sensor 62 may be a sensor type capable of sensing an angle signal, such as a visual sensor or a laser sensor, and the like, and after three angle signals related to the surgical tool 20 are collected, the angle information of the surgical tool 20 relative to the test tool 10 can be obtained through processing of the upper computer 50, and the information of the pose of the test tool 10 and the like is determined due to the spatial positions of the four sensors 60 and the shape of the surgical tool 20, and the actual pose information of the surgical tool 20 can be obtained after analysis and calculation.
Further, the first sensor 61 may be disposed at a bottom center position of the hemispherical recess 11, and the three second sensors 62 are disposed at intervals on the spherical surface of the hemispherical recess 11. Preferably, three second sensors 62 may be evenly spaced, for example, three second sensors 62 may define a unique circle, the locations of the three second sensors 62 bisecting the circle. Further preferably, the plane in which the three second sensors 62 are located may be parallel to the surface in the vicinity of the hemispherical groove 11 of the test fixture 10. By the position optimization setting of the sensor 60, the amount of calculation for subsequently acquiring the pose of the surgical tool 20 can be reduced.
Further, as shown in fig. 5, the precision testing system of the present invention further includes a registration probe 70, one end of the registration probe 70 is used for registering the topography of the test fixture 10, and the other end of the registration probe 70 is provided with a registration target 71, where the registration target 71 can be identified and tracked by the optical tracking system 40. In the navigation process of the orthopedic surgery, the optical tracking system 40 can accurately identify and track the test fixture 10, so that the navigation process is more accurate, after the optical tracking system 40 identifies and tracks the test fixture 10, in order to verify the pose accuracy of the test fixture 10, the test fixture 10 can be registered, specifically, the registration probe 70 can be used for registering the test fixture 10, for example, a plurality of registration targets 13 can be arranged on the surface of the test fixture 10, the tips of the registration probes 70 are sequentially contacted with the registration targets 13, then the pose of the registration probes 70 is identified by the optical tracking system 40, the position coordinates of the tips of the registration probes 70 are obtained, the position coordinates of the registration targets 13 of the test fixture 10 are obtained, registration position data of the registration probes 70 are obtained, an actual 3D model of the test fixture 10 can be obtained by fitting according to the registration position data, and the actual 3D model of the test fixture 10 is registered and aligned with a virtual 3D model stored in advance, and therefore the fixture registration of the test fixture 10 is completed.
Further, the precision testing system of the present invention may further include an imaging device, where the imaging device is connected to the upper computer 50, and the imaging device is configured to collect an image including the surgical tool 20 and/or the test tool 10 and transmit the image to the upper computer 50, and the upper computer 50 is further configured to obtain a pose of the surgical tool 20 and/or the test tool 10 according to the received image. Besides directly identifying and tracking the pose of the surgical tool 20 and/or the test tool 10 through the optical tracking system 40, the invention can also obtain pose information by shooting images containing the surgical tool 20 and/or the test tool 10 through imaging equipment and calculating and analyzing the images through the upper computer 50. Preferably, the imaging device may be a Computed Tomography (CT) device. For example, when the virtual 3D model of the test fixture 10 is obtained, a metal ball may be installed in the registration target 13 of the test fixture 10, so that the CT can conveniently scan the test fixture 10 in an imaging manner, and the virtual 3D model of the test fixture can be obtained by reconstructing the CT image of the test fixture 10 and stored in the test system for subsequent fixture registration. .
Example 2
Based on the precision test system of the orthopedic operation navigation system disclosed in the embodiment 1 of the present invention, the present invention also discloses a precision test method of the orthopedic operation navigation system, as shown in fig. 8, the precision test method comprises the following steps:
s1: the optical tracking system 40 acquires the initial pose of the surgical tool 20 and the test fixture 10;
s2: acquiring planning positions of the mechanical arm 30 according to initial positions of the surgical tool 20 and the test tool 10;
s3: the optical tracking system 40 guides the mechanical arm 30 to move to a planning position, and the mechanical arm 30 drives the surgical tool 20 to move towards the direction approaching to the test tool 10 when moving;
s4: the sensor 60 on the test tool 10 collects the actual pose signal of the surgical tool 20 and transmits the actual pose signal to the upper computer 50;
s5: the upper computer 50 obtains the actual pose of the surgical tool 20 according to the actual pose signal of the surgical tool 20;
s6: the accuracy of the orthopaedic surgical navigation system is obtained from the actual pose of the surgical tool 20 and the planned position of the robotic arm.
According to the precision testing method provided by the invention, the bone joint in the orthopedic operation is simulated through the testing tool 10, the common orthopedic operation process is simulated through the operation tool 20, the actual pose of the operation tool is acquired through the sensor 60, and the actual pose is compared with the theoretical pose, so that the precision verification of the orthopedic operation navigation system is realized. In addition, the pose signal is directly acquired through the sensor 60, so that the accuracy of the accuracy test is improved, and in the test process, a complicated image processing process is not needed when the actual pose of the surgical tool is acquired, so that the operation is more convenient.
Further, in order to improve the tracking accuracy of the optical tracking system 40, as shown in fig. 9, in the accuracy testing method of the present invention, between S1 and S2, a tool registration step is further included: the optical tracking system 40 identifies the tracking registration probe 70 and the test fixture 10 in real time; the registration probe 70 registers the test fixture 10, and acquires registration position data of the registration probe 70; fitting according to the registered position data of the registered probe to obtain an actual model of the test fixture 10; registering the actual model and the virtual model of the test fixture 10, and performing fixture registration. For example, the surface of the test fixture 10 has a plurality of registration targets 13, and one end of the registration probe 70 registers the test fixture 10 by clicking on the registration target 13 of the test fixture 10. At this time, the optical tracking system 40 is used to identify the actual pose of the registration probe 70 and the test tool, and obtain the position coordinate of the tip of the registration probe 70, where the position coordinate of the tip of the registration probe 70 is the position coordinate of the registration target 13 of the test tool 10, so as to obtain the registration position data of the registration probe 70, and according to these registration position data, the actual 3D model of the test tool 10 can be obtained by fitting, and then the actual 3D model of the test tool 10 is registered and aligned with the virtual 3D model stored in advance, so as to complete the tool registration of the test tool 10.
In step S1 of the accuracy testing method provided by the present invention, the optical tracking system 40 may acquire the initial pose of the surgical tool 20 by various means.
As shown in fig. 10 and 11, one of the schemes is: the surgical tool 20 is provided with a tool target 23 that can be recognized and tracked by the optical tracking system 40, and the optical tracking system 40 acquires the initial pose of the surgical tool 20 by recognizing the tool target 23. Since the shape of the tool target 23 and its location on the surgical tool 20 are determined, the optical tracking system 40 can track the surgical tool 20 by identifying the tracked tool target 23 to obtain the initial pose information. Preferably, the light-reflecting pellets are disposed on the tool target 23, which is more beneficial for the optical tracking system 40 to identify and track, where NDI is the optical tracking system 40 according to the embodiment of the present invention.
In addition, as shown in fig. 12 and 13, the present invention may employ another approach to achieve the optical tracking system 40 to obtain the initial pose of the surgical tool 20: the sensor 60 on the test tool 10 can be utilized to directly collect the initial pose signal of the surgical tool 20 and send the initial pose signal to the upper computer 50; the upper computer 50 obtains the initial pose of the surgical tool 20 from the received initial pose signal and communicates to the optical tracking system 40. Generally, the space occupied by the navigation process of the orthopedic operation is not large, and the range of the sensor 60 can cover the space range, so that the sensor 60 arranged on the test tool 10 can be used for directly collecting the initial pose signal of the surgical tool 20, and the initial pose signal of the surgical tool 20 is processed by the upper computer 50 to obtain the initial position information of the surgical tool 20 and then transmitted to the optical tracking system 40.
It will be appreciated by those skilled in the art that, in addition to the two solutions mentioned above, the initial pose of the surgical tool 20 may be obtained by other means, which fall within the scope of the present invention, for example, by obtaining an image containing the surgical tool 20 using an external imaging device, and then processing and analyzing the image to obtain the initial pose of the surgical tool 20.
Furthermore, in the step S1 of the precision testing method, the initial pose of the testing tool can be obtained by the optical tracking system by adopting various means.
As shown in fig. 10 and 13, one of the schemes is: the test fixture 10 is provided with a fixture target 12 which can be identified and tracked by the optical tracking system 40, and the optical tracking system 40 acquires the initial pose of the test fixture 10 by identifying the fixture target 12.
As shown in fig. 11 and 12, another scheme is that an image including the test tool 10 is acquired by an imaging device and transmitted to the upper computer 50; the upper computer 50 obtains the initial pose of the test fixture 10 according to the received image and transmits the initial pose to the optical tracking system 40. For example, a plurality of metal pellets capable of fitting the basic morphology of the test fixture 10 may be disposed on the test fixture 10, and the image of the test fixture 10 may be obtained by using CT technology.
In step S2 of the precision testing method of the present invention, when the planned positions of the mechanical arm 30 are obtained according to the initial pose of the surgical tool 20 and the test tool 10, the coordinate systems of the test tool 10 and the surgical tool 20 need to be transformed uniformly, which can be achieved by the following method: after the optical tracking system 40 obtains the initial pose of the test tool 10, the position coordinate of the first sensor 61 of the test tool 10, that is, the position coordinate of the first sensor 61 in the M1 coordinate system can be obtained; after the initial pose of the surgical tool 20 is acquired, the optical tracking system can obtain the position coordinate of the end of the surgical tool 20, that is, the position coordinate of the end of the surgical tool 20 in the M2 coordinate system; then, the sensor 60 is used for sensing and acquiring an initial pose signal of the surgical tool 20, and after the processing of the upper computer 50, the position coordinates of the tail end of the surgical tool 20 in the M1 coordinate system are obtained, so that the two coordinate systems can be converted according to the position coordinates of the tail end of the surgical tool 20 in the M1 coordinate system and the M2 coordinate system.
In step S6 of the precision testing method of the orthopedic operation navigation system provided by the invention, the upper computer 50 obtains the theoretical pose of the surgical tool 20 according to the planning position of the mechanical arm, and compares the theoretical pose of the surgical tool 20 with the actual pose to obtain the precision of the orthopedic operation navigation system. Specifically, in the previous step, after the initial pose of the surgical tool 20 and the test tool 10 is obtained, the optical tracking system 40 plans the path of the mechanical arm 30, so that when the mechanical arm 30 moves according to the planned path, the mechanical arm 30 can reach the planned position, and at this time, in theory, the mechanical arm 30 drives the surgical tool 20 to move to the designated position and just abuts against the test tool 10, so as to complete the simulated orthopaedic surgery. Since the installation position and the posture of the surgical tool 20 on the mechanical arm 30 are determined, the theoretical pose of the corresponding surgical tool 20 after the mechanical arm 30 reaches the planned position can be calculated according to the planned position of the mechanical arm 30. When the navigation system formally simulates the bone surgery, the optical tracking system 40 drives the mechanical arm 30 to actually move in place, the upper computer 50 can obtain the actual pose of the surgical tool 20 through the actual pose signal of the surgical tool 20 sensed by the sensor 60, the accuracy of the navigation process of the navigation system can be obtained by comparing the theoretical pose with the actual pose, when the deviation between the theoretical pose and the actual pose is overlarge, the accuracy of the navigation system is proved to be the bottom, when the deviation is within the allowable range, the navigation process of the navigation system is reliably, the navigation system can be used for carrying out bone surgery navigation, and thus, the accuracy test process of the bone surgery navigation system is completed.
The process of comparing the actual pose of the surgical tool 20 with the theoretical pose specifically includes that the pose information of the surgical tool 20 includes relative distance information, included angle information and normal vector information. For example, when the surgical tool 20 is exactly in the theoretical pose, the surgical tool 20 is exactly docked with the test tool 10 at this time, the distance between the end of the surgical tool 20 and the first sensor 61 is the theoretical relative distance, the axial direction of the surgical tool 20 is perpendicular to the surface of the test tool 10 at this time, the included angle between the surgical tool 20 and the surface of the test tool 10 is 0 at this time, and the included angles between the normal vector and the surface of the test tool 10 are both 90 degrees at this time, i.e., the X-axis and Y-axis included angles between the normal vector and the surface of the test tool 10 are both 90 degrees. When the actual pose of the surgical tool 20 deviates from the theoretical pose, the real-time distance between the end of the surgical tool 20 and the first sensor 61 is the real-time relative distance, and the axial and Z-direction included angles of the surgical tool 20 may deviate by more than 0 degrees, and the same is true, and the included angles with the X-axis and the Y-axis are not equal to 90 degrees, so that the deviation of the actual pose of the surgical tool 20 from the theoretical pose can be accurately known by comparing the real-time pose information with the theoretical pose information. And accurately obtaining the precision value of the navigation system.
Based on the above precision values, as shown in fig. 9, the precision testing method of the present invention may further include step S7: when the difference between the theoretical pose and the actual pose of the surgical tool 20 is greater than the preset range, the upper computer 50 sends alarm information to the optical tracking system 40 and transmits the difference to the optical tracking system 40; the optical tracking system 40 may reprogram the planned position of the robotic arm 30 based on the difference. Thereby realizing the precision correction of the navigation system.
In the embodiment of the present invention, the upper computer 50 may be integrated into the optical tracking system 40 or may be independent from the optical tracking system 40. The workflow of the upper computer 50 in the embodiment of the present invention is shown in fig. 13 and 14. In step S1 of the precision testing method, when the optical tracking system 40 is adopted to directly obtain the initial pose of the surgical tool 40, the working flow of the upper computer is shown in fig. 13; when the sensor 60 is used to collect the initial pose signal of the surgical tool 40, and then the upper computer 50 is used to process the initial pose signal to obtain the initial pose of the surgical tool 10 and transmit the initial pose signal to the optical tracking system 40, the working flow of the upper computer is shown in fig. 14.
In summary, compared with the prior art, the precision test system and the test method of the bone surgery navigation system provided by the invention have the following advantages:
the test tool can simulate the bone joint in the bone surgery, the operation of the test tool can simulate the common bone surgery process, such as the hip joint replacement surgery, the knee joint replacement surgery or the bone grinding surgery, and the like, the sensor on the test tool can acquire the pose signal of the surgical tool, so that the actual pose of the surgical tool is obtained, and the actual pose is compared with the planned theoretical pose, so that the precision of the bone surgery navigation system can be obtained. Compared with the prior art that external imaging equipment is required to indirectly calculate and obtain the position coordinates of the surgical tool, the position and posture signal acquisition method and device are higher in accuracy, faster in acquisition speed, free of complicated image processing process and more convenient to operate due to the fact that the position and posture signal is directly acquired by the sensor.
In addition, the precision testing method can obtain the accurate deviation value of the surgical tool and give an alarm to the optical tracking system, and the optical tracking system can re-plan the movement of the mechanical arm according to the accurate deviation value, so that the precision correction function of the navigation system is realized.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any changes and modifications made by those skilled in the art in light of the above disclosure are intended to fall within the scope of the appended claims. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (11)
1. An accuracy testing system of an orthopedic surgery navigation system, comprising: the device comprises a test tool, an operation tool, a mechanical arm, an optical tracking system and an upper computer;
the surgical tool is arranged on the mechanical arm, and the mechanical arm is used for driving the surgical tool to move towards a direction approaching or far away from the test tool;
the test tool is provided with a plurality of sensors, and the sensors are used for collecting pose signals of the surgical tool;
the optical tracking system is electrically connected with the mechanical arm and is used for tracking the pose of the surgical tool and the test tool; the optical tracking system is also used for guiding the mechanical arm to move according to the planning position of the mechanical arm;
the upper computer is connected with the optical tracking system and the sensor; the upper computer is used for acquiring the precision of the orthopedic operation navigation system according to the pose signals fed back by the sensor and the planning position of the mechanical arm.
2. The precision test system of an orthopedic surgery navigation system according to claim 1, further comprising a registration probe, wherein one end of the registration probe is used for registering the appearance of the test fixture, and a registration target is installed at the other end of the registration probe and can be identified and tracked by the optical tracking system; the surface of the test fixture is also provided with a plurality of registration targets, and the registration probes complete registration of the test fixture by contacting the registration targets.
3. The precision testing system of an orthopedic surgery navigation system according to claim 1, wherein a plurality of registration targets are arranged on the surface of the testing tool, and metal balls are installed in the registration targets.
4. The precision testing system of an orthopedic surgery navigation system according to claim 1, wherein a tool target which can be identified by an optical tracking system is arranged on the surgery tool, and a tool target which can be identified by the optical tracking system is arranged on the testing tool.
5. The precision testing system of an orthopedic surgery navigation system according to claim 1, further comprising an imaging device for acquiring images containing the surgical tool and/or the test fixture and transmitting the images to the host computer, wherein the host computer is further configured to acquire the pose of the surgical tool and/or the test fixture according to the received images.
6. The precision testing system of an orthopedic surgery navigation system according to claim 1, wherein a part of the surface of the testing tool is recessed inward to form a hemispherical groove, the shape of the tail end of the surgery tool is matched with the hemispherical groove, and the tail end of the surgery tool is the end far away from the mechanical arm.
7. The precision testing system of an orthopedic surgery navigation system according to claim 7, wherein the sensor comprises a first sensor and a second sensor, the first sensor is disposed at a bottom center position of the hemispherical groove, and the first sensor is used for collecting a distance signal of the surgical tool; the second sensors are arranged on the spherical surface of the hemispherical groove at intervals, and the second sensors are used for collecting angle signals of the surgical tool.
8. The precision testing method of the bone surgery navigation system is characterized by comprising the following steps of:
s1: acquiring an initial pose of a surgical tool and a test tool;
s2: acquiring planning positions of the mechanical arm according to the initial pose of the surgical tool and the testing tool;
s3: guiding the mechanical arm to move to the planning position, and driving the surgical tool to move towards the direction close to the test tool when the mechanical arm moves;
s4: a sensor on the test tool collects actual pose signals of the surgical tool and transmits the pose signals to an upper computer;
s5: acquiring the actual pose of the surgical tool according to the actual pose signal of the surgical tool;
s6: and acquiring the precision of the orthopedic operation navigation system according to the actual pose of the operation tool and the planning position of the mechanical arm.
9. The method for testing the accuracy of an orthopedic surgery navigation system according to claim 8, wherein between S1 and S2, the method further comprises a tool registration step:
the optical tracking system identifies and tracks the registration probe and the test fixture in real time;
registering the test fixture by the registration probe and acquiring registration position data of the registration probe;
fitting according to the registration position data of the registration probe to obtain an actual model of the test tool;
registering the actual model and the virtual model of the test fixture, and registering the fixture.
10. The method for testing the precision of the orthopedic surgery navigation system according to claim 9, wherein the surface of the test fixture is provided with a plurality of registration targets, and one end of the registration probe registers the test fixture by clicking the registration targets of the test fixture; or alternatively
The surface of the test fixture is provided with a plurality of registration targets, metal balls are installed in the registration targets, imaging equipment acquires images of the test fixture, and a virtual model of the test fixture is acquired according to the images of the test fixture.
11. The method for testing the precision of the navigation system for the orthopedic surgery according to claim 10, further comprising S7: when the difference value between the theoretical pose and the actual pose of the surgical tool is larger than a preset range, sending alarm information to the optical tracking system, and transmitting the difference value to the optical tracking system;
and re-planning the planning position of the mechanical arm according to the difference value.
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| CN117372661A (en) * | 2023-12-07 | 2024-01-09 | 华科精准（北京）医疗科技有限公司 | Surgical navigation system, surgical robot system and registration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117372661A (en) * | 2023-12-07 | 2024-01-09 | 华科精准（北京）医疗科技有限公司 | Surgical navigation system, surgical robot system and registration method |
| CN117372661B (en) * | 2023-12-07 | 2024-03-12 | 华科精准（北京）医疗科技有限公司 | Surgical navigation system, surgical robot system and registration method |
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