CN116919590B - Surgical robot control method, device and medium for hallux valgus minimally invasive surgery - Google Patents
Surgical robot control method, device and medium for hallux valgus minimally invasive surgery Download PDFInfo
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- 206010061159 Foot deformity Diseases 0.000 title claims abstract description 66
- 208000001963 Hallux Valgus Diseases 0.000 title claims abstract description 66
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 43
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 144
- 210000002683 foot Anatomy 0.000 claims abstract description 74
- 238000001356 surgical procedure Methods 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims description 65
- 239000013598 vector Substances 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 16
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- 238000013519 translation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 210000001906 first metatarsal bone Anatomy 0.000 description 7
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- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000000281 joint capsule Anatomy 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 206010005949 Bone cancer Diseases 0.000 description 1
- 208000018084 Bone neoplasm Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
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- 210000004744 fore-foot Anatomy 0.000 description 1
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- 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
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- 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
- A61B34/32—Surgical robots operating autonomously
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- 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
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- 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
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Abstract
The present disclosure discloses a surgical robot control method, apparatus, and medium for minimally invasive hallux valgus surgery. The method comprises the following steps: and carrying out coordinate system positive operation on the position information of the first metatarsal under the first metatarsal coordinate system, the position information of the tail end of the mechanical arm of the surgical robot under the mechanical arm coordinate system and the position information and path information of the hallux valgus minimally invasive surgery planning data information under the foot virtual model coordinate system so as to obtain the information of the first metatarsal, the tail end of the mechanical arm and the hallux valgus minimally invasive surgery planning data information under the world coordinate system, generating a first target position and a first moving path of the tail end of the mechanical arm under the world coordinate system based on the information, converting the first target position and the first moving path into a second target position and a second moving path through the coordinate system inverse operation, and driving the tail end of the mechanical arm to move according to the information. According to the embodiment of the disclosure, the operation of the surgical robot can be guided based on the information of the same coordinate system, so that the automatic control error is reduced, and the surgical accuracy is improved.
Description
Technical Field
The present disclosure relates generally to the field of minimally invasive surgery of hallux valgus. More particularly, the present disclosure relates to a surgical robot control method, apparatus, and medium for minimally invasive hallux valgus surgery.
Background
Hallux valgus is a clinically common deformity of the forefoot, severely affecting foot function and appearance, reducing quality of life. Minimally invasive surgery of hallux valgus is accepted by more and more patients because of the advantages of small trauma and rapid postoperative recovery, and becomes a main stream means for treating hallux valgus.
Typically, a minimally invasive hallux valgus procedure will fix the Kirschner wire in the patient's metatarsal position, pulling the patient's bone back through the traction of the Kirschner wire. With the development of robot technology at present, surgical robots are widely applied to the medical field, wherein the surgical robots for hallux valgus minimally invasive surgery can apply acting force to a kirschner wire under automatic control so as to complete target osteotomy and internal fixation guiding of each key step of the surgery and traction reduction of a target bone structure.
Because the requirement of the hallux valgus minimally invasive surgery on the operation precision is high, and the coordinate systems of the hallux valgus minimally invasive surgery planning scheme, the driving surgical robot and the patient foot are all different, the data information in the hallux valgus minimally invasive surgery planning scheme cannot be directly used for controlling the hallux valgus minimally invasive surgery robot. In addition, bone types for which bone surgery is aimed are different, and coordinate systems involved in the surgery are also different.
For the above-mentioned various reasons, there is a need to provide a surgical robot control scheme for minimally invasive surgery of hallux valgus, so as to achieve precise control of the minimally invasive surgical robot of hallux valgus.
Disclosure of Invention
To address at least one or more of the technical problems mentioned above, the present disclosure proposes, in various aspects, a surgical robotic control scheme for minimally invasive surgery of hallux valgus.
In a first aspect, the present disclosure provides a surgical robotic control method for minimally invasive hallux valgus surgery comprising: performing coordinate system positive operation on the position information of the first metatarsal under the first metatarsal coordinate system to obtain the position information of the first metatarsal under the world coordinate system; carrying out coordinate system positive operation on the position information of the tail end of the mechanical arm of the surgical robot under the mechanical arm coordinate system so as to obtain the position information of the tail end of the mechanical arm of the surgical robot under the world coordinate system; performing coordinate system forward operation on the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the foot virtual model coordinate system to obtain the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the world coordinate system; generating a first target position and a first moving path of the tail end of the mechanical arm under the world coordinate system based on the position information of the first metatarsal under the world coordinate system, the position information of the tail end of the mechanical arm under the world coordinate system and the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the world coordinate system; performing coordinate system inverse operation on the first target position and the first moving path to obtain a second target position and a second moving path of the first target position and the first moving path under the coordinate system of the mechanical arm; and driving the tail end of the mechanical arm to move to a second target position along a second moving path.
In some embodiments, wherein prior to performing the coordinate system positive operation on the position information of the first metatarsal in the first metatarsal coordinate system, the method further comprises: the first metatarsal coordinate system is calibrated using a first optical tracker fixed to the proximal first metatarsal k-wire and a second optical tracker fixed to the distal first metatarsal k-wire.
In some embodiments, wherein the axial direction of the first metatarsal proximal k-wire is parallel to the axial direction of the first metatarsal distal k-wire, and the center of the first optical tracker and the center of the second optical tracker are on the same vertical line; wherein, the perpendicular line is perpendicular to the axial direction of first metatarsal proximal kirschner wire and first metatarsal distal kirschner wire simultaneously, and intersects with first metatarsal proximal kirschner wire and first metatarsal distal kirschner wire.
In some embodiments, wherein calibrating the first metatarsal coordinate system comprises: determining the center of the optical tracker number one as the origin of coordinates O 2 of the first metatarsal coordinate system O 2X2Y2Z2; determining a straight line passing through O 2 and parallel to the axial direction of the first metatarsal proximal Kirschner wire as the X 2 axis of the first metatarsal coordinate system; determining the central line of the first optical tracker and the second optical tracker as the Y 2 axis of the first metatarsal coordinate system; and determining a straight line passing through O 2 and perpendicular to the plane formed by the X 2 axis and the Y 2 axis as the Z 2 axis of the first metatarsal coordinate system.
In some embodiments, wherein prior to performing the coordinate system positive operation on the position information of the manipulator end of the surgical robot under the manipulator coordinate system, the method further comprises: and calibrating a mechanical arm coordinate system by using a third optical tracker fixed on the tail end of the mechanical arm.
In some embodiments, the third optical tracker is fixed on the transfer disc at the end of the mechanical arm, the center of the third optical tracker coincides with the center of the transfer disc, and the plane of the third optical tracker is parallel to the plane of the transfer disc.
In some embodiments, wherein calibrating the robotic arm coordinate system comprises: determining the center of the third optical tracker as the origin of coordinates O 3 of the mechanical arm coordinate system O 3X3Y3Z3; any two straight lines perpendicular to each other on a plane where the third optical tracker is located are respectively determined to be an X 3 axis and a Y 3 axis of a mechanical arm coordinate system; and determining a straight line passing through the O 3 and perpendicular to the plane of the No. three optical tracker as a Z 3 axis of the mechanical arm coordinate system.
In some embodiments, wherein prior to coordinate system positive operation of the hallux valgus minimally invasive surgery planning data information with respect to the position information and the path information under the foot virtual model coordinate system, the method further comprises: calibrating a foot virtual model coordinate system; the calibration process of the foot virtual model coordinate system O 1X1Y1Z1 comprises the following steps: sequentially determining the lowest points of the first metatarsal, the fifth metatarsal and the root bone in the foot virtual model as a first positioning point a, a second positioning point b and a third positioning point c; determining the geometric center of the triangle formed by a, b and c as the origin O 1 of coordinates of a foot virtual model coordinate system; determining a straight line passing through O 1 and perpendicular to a connecting line ab as an X 1 axis of a foot virtual model coordinate system; taking a straight line passing through O 1 and parallel to a connecting line ab as a Y 1 axis of a foot virtual model coordinate system; and taking a straight line passing through O 1 and perpendicular to the plane formed by a, b and c as a Z 1 axis of the foot virtual model coordinate system.
In some embodiments, wherein prior to performing the coordinate system positive operation on the position information of the first metatarsal in the first metatarsal coordinate system, the method further comprises: calibrating a world coordinate system by using a binocular positioning camera in a control system of the surgical robot; the calibration process of the world coordinate system OXYZ comprises the following steps: determining the midpoint of the optical center connecting line of the left-eye camera and the right-eye camera in the binocular positioning camera as a coordinate origin O of a world coordinate system; determining the direction of the optical center of the left-eye camera pointing to the optical center of the right-eye camera as the positive direction of the X axis of the world coordinate system; determining a direction satisfying a Z-axis defining condition as a Z-axis positive direction of a world coordinate system, wherein the Z-axis defining condition includes: through the origin of coordinates O, is coplanar with the optical axes of the X-axis and the left-eye camera, is perpendicular to the X-axis and points to the direction of the field of view; and determining the direction passing through the origin of coordinates O and being perpendicular to the X axis and the Z axis and meeting the right hand rule of the coordinate system as the positive direction of the Y axis of the world coordinate system.
In some embodiments, wherein the coordinate system positive operation comprises converting the positional information under the first metatarsal coordinate system, the robotic arm coordinate system, or the foot virtual model coordinate system to positional information under the world coordinate system, wherein the conversion formula of the coordinate system positive operation is: wherein/> Representing position information in world coordinate System,/>Representing position information in a first metatarsal coordinate system, a mechanical arm coordinate system or a foot virtual model coordinate system, W representing a coordinate system positive operation conversion matrix,Wherein/> And/> And/>The unit vector representing three coordinate axes of the first metatarsal coordinate system, the robot arm coordinate system or the foot virtual model coordinate system is a four-dimensional homogeneous coordinate vector under world coordinates.
In some embodiments, wherein the coordinate system inverse operation comprises converting the positional information in the world coordinate system into positional information in the first metatarsal coordinate system, the robotic arm coordinate system, or the foot virtual model coordinate system, wherein the conversion formula for the coordinate system inverse operation is: Wherein W -1 denotes a coordinate system inverse operation conversion matrix, which is an inverse of the coordinate system positive operation conversion matrix.
In some embodiments, wherein the hallux valgus minimally invasive procedure planning data information comprises: position information of the virtual osteotomy guiding position, vector direction information of the virtual osteotomy guiding position, position information of the reset traction translation position, position information of the reset traction rotation position, path information of translation motion and rotation motion, position information of the internal fixation guiding position and vector direction information of the internal fixation guiding position.
In some embodiments, wherein the driving the arm tip to move along the second movement path to the second target position further comprises: updating the position information of the first metatarsal under the first metatarsal coordinate system and the position information of the tail end of the mechanical arm under the mechanical arm coordinate system in real time; converting the position information of the first metatarsal and the tail end of the mechanical arm acquired in real time into position information under a world coordinate system; converting the position information of the first metatarsal and the tail end of the mechanical arm, which are acquired in real time, under a world coordinate system into the position information of the foot virtual model coordinate system; and visually displaying the position change information of the first metatarsal and the tail end of the mechanical arm according to the position information of the first metatarsal and the tail end of the mechanical arm under the foot virtual model coordinate system, which is acquired in real time.
In a second aspect, the present disclosure provides an electronic device comprising: a processor; and a memory storing executable program instructions that, when executed by the processor, cause the apparatus to implement a method as in any of the first aspects.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by one or more processors, implement the method of any of the first aspects.
Through the surgical robot control method for the hallux valgus minimally invasive surgery provided by the embodiment of the disclosure, the position information of the first metatarsal bone under the first metatarsal bone coordinate system, the position information of the tail end of the mechanical arm under the mechanical arm coordinate system and the position information of the hallux valgus minimally invasive surgery planning data information under the foot virtual model coordinate system are unified into the world coordinate system through positive operation of the coordinate system, so that the mechanical arm can accurately control the tail end of the mechanical arm to move from the current position of the tail end of the mechanical arm to the first metatarsal bone by referring to the hallux valgus minimally invasive surgery planning data information, and accuracy deviation of automatic control of the surgical robot is reduced.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 illustrates an exemplary flow chart of a method of controlling a hallux valgus minimally invasive surgical robot in accordance with some embodiments of the present disclosure;
FIG. 2 illustrates a schematic view of a first metatarsal coordinate system according to some embodiments of the present disclosure;
FIG. 3 illustrates a schematic diagram of a robotic arm coordinate system in accordance with some embodiments of the present disclosure;
FIG. 4 illustrates a schematic diagram of a foot virtual model coordinate system in accordance with some embodiments of the present disclosure;
FIG. 5 illustrates a schematic diagram of a world coordinate system of some embodiments of the present disclosure;
FIG. 6 illustrates an exemplary flow chart of a real-time updated surgical robot control method of some embodiments of the present disclosure;
fig. 7 shows an exemplary block diagram of the electronic device of an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that may be made by those skilled in the art without the inventive effort are within the scope of the present disclosure.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present disclosure is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in the specification and claims of this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the present disclosure and claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Exemplary application scenarios
Minimally invasive surgery of hallux valgus is accepted by more and more patients because of the advantages of small trauma and rapid postoperative recovery, and becomes a main stream means for treating hallux valgus. The hallux valgus minimally invasive surgery is to fix a Kirschner wire at the metatarsal position of a patient, and traction and reduction of bones of the patient are performed through traction action of the Kirschner wire.
With the development of robotics, surgical robots are widely used in the medical field, wherein surgical robots for hallux valgus minimally invasive surgery can apply forces to kirschner wires under automated control to accomplish targeted osteotomies and internal fixation of guides for each critical step of the surgery and traction reduction of targeted bone structures.
However, because the requirement of the hallux valgus minimally invasive surgery on the operation precision is high, and the coordinate systems of the generation of the hallux valgus minimally invasive surgery planning scheme, the driving of the surgery robot and the placement of the feet of the patient are different, the surgery robot cannot be controlled directly according to the data information in the hallux valgus minimally invasive surgery planning scheme.
Exemplary application scenario
In view of this, the embodiment of the disclosure provides a surgical robot control scheme for hallux valgus minimally invasive surgery, which can unify the position information of the first metatarsal under the first metatarsal coordinate system, the position information of the tail end of the mechanical arm under the mechanical arm coordinate system and the position information of the planning data information of the hallux valgus minimally invasive surgery under the foot virtual model coordinate system into a world coordinate system through positive operation of a coordinate system, so that the surgical robot is guided to perform the hallux valgus minimally invasive surgery by the position information under the same coordinate system, the automatic control error is reduced, and the precision of the hallux valgus minimally invasive surgery is improved.
Fig. 1 illustrates an exemplary flowchart of a method 100 of controlling a minimally invasive surgical robotic hallux valgus in accordance with some embodiments of the present disclosure.
As shown in fig. 1, in step S101, coordinate system positive operation is performed on the position information of the first metatarsal in the first metatarsal coordinate system to obtain the position information thereof in the world coordinate system. The hallux valgus minimally invasive surgery aims at the first metatarsal bone of a patient, the hyperplasia bone neoplasm is removed in the joint capsule of the first metatarsal joint through a small incision technology, and the displacement and fixation of the head osteotomy of the metatarsal bone are completed in the joint capsule.
During the operation, the doctor needs to set the acting force and direction of the mechanical arm according to the hallux valgus deflection angle of the patient, and the hallux valgus deflection angle of the patient takes the adjacent bone of the first metatarsal as a reference, so that a local coordinate system, namely the first metatarsal coordinate system, exists on the foot of the patient. Based on this, in some embodiments, it is also necessary to calibrate the first metatarsal coordinate system before performing step S101.
To assist those skilled in the art in understanding the first metatarsal coordinate system, the following describes a calibration procedure of the first metatarsal coordinate system, and fig. 2 shows a schematic view of the first metatarsal coordinate system 200 according to some embodiments of the present disclosure, where it is to be noted in advance that the first metatarsal coordinate system is calibrated based on a first optical tracker fixed to the first metatarsal proximal k-wire and a second optical tracker fixed to the first metatarsal distal k-wire.
First, the fixing manner of the first optical tracker and the second optical tracker is described, specifically, the first proximal k-wire of the metatarsal is placed at the end of the first metatarsal near the heel, the first distal k-wire of the metatarsal is placed at the end of the first metatarsal far from the heel, and the first optical tracker and the second optical tracker are respectively fixed at the portions of the first proximal k-wire of the metatarsal and the first distal k-wire of the metatarsal exposed outside the bone.
Further, in some embodiments, the centers of the first optical tracker and the second optical tracker are leveled. That is, in the case where the axial direction of the first metatarsal proximal k-wire is parallel to the axial direction of the first metatarsal distal k-wire, the center of the first optical tracker and the center of the second optical tracker are located on the same vertical line and the axial direction of the first metatarsal proximal k-wire is parallel to the axial direction of the first metatarsal distal k-wire, wherein the vertical line is perpendicular to both the axial directions of the first metatarsal proximal k-wire and the first metatarsal distal k-wire and intersects both the first metatarsal proximal k-wire and the first metatarsal distal k-wire.
Next, based on the already fixed optical tracker number one and optical tracker number two, the resulting first metatarsal coordinate system is calibrated as follows:
The origin of coordinates O 2 of the first metatarsal coordinate system O 2X2Y2Z2 is first determined, in this embodiment the center of the optical tracker number one is determined as origin of coordinates O 2.
The X 2 axis direction of the first metatarsal coordinate system is then determined, in this example, the X 2 axis direction is the direction in which the first metatarsal proximal k-wire is pointed toward the patient's foot, so a straight line passing through O 2 and parallel to the axis of the first metatarsal proximal k-wire can be determined as the X 2 axis of the first metatarsal coordinate system.
The Y 2 axis direction of the first metatarsal coordinate system may then be determined, in this embodiment, the center line of the optical tracker number one and the optical tracker number two is determined as the Y 2 axis of the first metatarsal coordinate system.
Finally, the Z 2 axis of the first metatarsal coordinate system is determined based on the right rule and the normal vectors of the X 2 axis and the Y 2 axis, and in this embodiment, the determination of the Z 2 axis is specifically to determine the straight line passing through O 2 and perpendicular to the plane formed by the X 2 axis and the Y 2 axis as the Z 2 axis of the first metatarsal coordinate system.
It should be noted that, the first metatarsal coordinate system may also be constructed based on the left hand rule, and the above-mentioned step of determining the Z 2 axis using the right hand rule is only an example of the present embodiment, and does not constitute a sole limitation of the present disclosure.
It should be further noted that in the calibration process of the first metatarsal coordinate system, the determination sequence of the X 2 axis and the Y 2 axis in the first metatarsal coordinate system O 2X2Y2Z2 may be reversed, that is, the Y 2 axis may be determined first, and then the X 2 axis may be determined. In other embodiments, the determination of the X 2 axis and the Y 2 axis in the first metatarsal coordinate system O 2X2Y2Z2 may be performed simultaneously, which is not limited only herein.
In step S102, the position information of the manipulator end of the surgical robot in the manipulator coordinate system is subjected to a coordinate system positive operation to obtain the position information thereof in the world coordinate system. In some embodiments, it is also necessary to calibrate the arm coordinate system using a third optical tracker fixed to the end of the arm before performing step S102. Further, an adapter disc is arranged at the tail end of a mechanical arm adopted by the surgical robot, one end of the Kirschner wire is fixed at the circle center of the adapter disc when the hallux valgus minimally invasive surgery is performed, correspondingly, when the mechanical arm coordinate system is calibrated, the third optical tracker is fixed on the adapter disc at the tail end of the mechanical arm, the center of the third optical tracker is enabled to coincide with the circle center of the adapter disc, and the plane where the third optical tracker is located is enabled to be parallel to the plane where the adapter disc is located.
To facilitate understanding of the robotic arm coordinate system based on the calibration of the optical tracker No. three, fig. 3 of the present disclosure shows a schematic diagram of the robotic arm coordinate system 300 of some embodiments of the present disclosure, and the robotic arm coordinate system 300 is further described below in conjunction with fig. 3.
As shown in fig. 3, based on the optical tracker No. three fixed in the above manner, the calibration process of the mechanical arm coordinate system may be specifically as follows:
The origin O 3 of the robot coordinate system O 3X3Y3 Z3 is determined first, and in this embodiment, the center of the optical tracker No. three may be determined as the origin O 3 of the robot coordinate system O 3X3Y3 Z3.
Then, the X 3 axis and the Y 3 axis of the mechanical arm coordinate system O 3X3Y3 Z3 are determined, and in this embodiment, any two straight lines perpendicular to each other on the plane on which the third optical tracker is located may be respectively determined as the X 3 axis and the Y 3 axis of the mechanical arm coordinate system, for example, the upper direction of the initial position of the adapter disk shown in fig. 3 is the positive direction of the X 3 axis, and the left direction of the initial position of the adapter disk is the positive direction of the Y 3 axis.
Finally, the Z 3 axis of the mechanical arm coordinate system O 3X3Y3 Z3 is determined, in this embodiment, a straight line passing through O 3 and perpendicular to the plane where the third optical tracker is located may be determined as the Z 3 axis of the mechanical arm coordinate system, for example, as shown in fig. 3, so that the normal vector direction passing through the center of the circle and pointing to the k-wire side on the adapter disk is the positive direction of the Z 3 axis.
In step S103, coordinate system positive operation is performed on the information of the hallux valgus minimally invasive surgery planning data information in the foot virtual model coordinate system, so as to obtain the information thereof in the world coordinate system. The information of the hallux valgus minimally invasive surgery planning data information under the foot virtual model coordinate system comprises position information and path information, and specifically comprises the following steps: position information of the virtual osteotomy guiding position, vector direction information of the virtual osteotomy guiding position, position information of the reset traction translation position, position information of the reset traction rotation position, path information of translation motion and rotation motion, position information of the internal fixation guiding position and vector direction information of the internal fixation guiding position.
It should be noted that, the hallux valgus minimally invasive surgery planning data information is a surgery planning scheme planned by a foot virtual model of a patient before surgery, so that the position information and the path information in the hallux valgus minimally invasive surgery planning data information are the position information and the path information under the foot virtual model coordinate system.
Further, the surgical robot used in this embodiment is connected with an interactive screen, and when performing the hallux valgus minimally invasive surgery, the hallux valgus minimally invasive surgery planning data information can be imported to view the virtual model of the foot of the patient on the interactive screen.
Because the planning data information of the hallux valgus minimally invasive surgery is planned under the coordinate system of the foot virtual model and is different from the coordinate system of the mechanical arm, the mechanical arm cannot be directly guided to move, and the mechanical arm needs to be unified under the world coordinate system through positive operation of the coordinate system. Further, the foot virtual model coordinate system needs to be calibrated before the coordinate system positive operation is executed.
To facilitate understanding of the foot virtual model coordinate system by those skilled in the art, fig. 4 of the present disclosure shows a schematic diagram of a foot virtual model coordinate system 400 according to some embodiments of the present disclosure, and a calibration process of the foot virtual model coordinate system 400 is described below in conjunction with fig. 4.
In the calibration process of the foot virtual model coordinate system 400, in order to determine the origin O 1 of the foot virtual model coordinate system O 1X1Y1Z1, three positioning points, namely a first positioning point a, a second positioning point b and a third positioning point c, need to be determined first, and the geometric center of the triangle formed by the positioning points a, b and c is determined as the origin O 1 of the foot virtual model coordinate system. The first positioning point a is the lowest point of the first metatarsal in the foot virtual model, the second positioning point b is the lowest point of the fifth metatarsal, and the third positioning point c is the lowest point of the root bone. In the foot virtual model of the present embodiment, the direction in which the instep points to the sole is the direction from high to low.
Next, a straight line passing through O 1 and perpendicular to the line ab is determined as the X 1 axis of the foot virtual model coordinate system, specifically, the unit vector direction of the perpendicular line to the line ab to c is the X 1 axis positive direction.
Then, a straight line passing through O 1 and parallel to the line ab is taken as the Y 1 axis of the foot virtual model coordinate system, specifically, the positive direction of the Y 1 axis is taken as the unit vector direction corresponding to a-b.
Finally, a straight line passing through O 1 and perpendicular to the plane formed by a, b and c is taken as the Z 1 axis of the foot virtual model coordinate system, specifically, the normal vector direction of the plane abc pointing to the dorsum of the feet is taken as the positive direction of the Z 1 axis.
It should be further noted that, in the calibration process of the foot virtual model coordinate system described above, the determination sequence of the X 1 axis, the Y 1 axis and the Z 1 axis of the foot virtual model coordinate system is not strictly limited, and in practical application, the three may be determined in any sequence or simultaneously determined.
In step S104, a first target position and a first movement path of the distal end of the manipulator in the world coordinate system are generated based on the position information and the path information of the first metatarsal, the distal end of the manipulator, and the hallux valgus minimally invasive surgery planning data information in the world coordinate system. The position information of the tail end of the mechanical arm under the world coordinate system can be understood as a starting position of the tail end of the mechanical arm when moving, the position information of the first metatarsal bone under the world coordinate system is a position which needs to be reached when the tail end of the mechanical arm moves, so that the mechanical arm can control the Kirschner wire fixed on the first metatarsal bone, and the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the world coordinate system are used for reflecting an action execution scheme of the tail end of the mechanical arm under the world coordinate system and specifically comprise actions such as bone cutting, shifting, fixing and the like.
It should be noted that, in this embodiment, the world coordinate system is calibrated by a binocular positioning camera in the control system of the surgical robot. Before the coordinate system positive operation is performed on the position information of the first metatarsal coordinate system, the mechanical arm coordinate system and the foot virtual model coordinate system, the world coordinate system may be calibrated by the following steps, and for ease of understanding, fig. 5 shows a schematic diagram of a world coordinate system 500 of some embodiments of the present disclosure.
When the world coordinate system is calibrated, the midpoint of the optical center connecting line of the left eye camera and the right eye camera in the binocular positioning camera is firstly determined as the coordinate origin O of the world coordinate system.
Then, the direction in which the optical center of the left-eye camera is directed to the optical center of the right-eye camera is determined as the positive X-axis direction of the world coordinate system.
Then, the direction satisfying the Z-axis definition condition is determined as the Z-axis positive direction of the world coordinate system. Wherein the Z-axis defining conditions include: passes through the origin of coordinates O, is coplanar with the optical axes of the X-axis and the left-eye camera, is perpendicular to the X-axis and points to the direction of the field of view.
And finally, determining the direction passing through the coordinate origin O and being perpendicular to the X axis and the Z axis and meeting the right hand rule of the coordinate system as the Y-axis positive direction of the world coordinate system.
It should be noted that, in the calibration process of the world coordinate system described above, the coordinate system is determined based on the right rule, and in practical application, the world coordinate system may be determined using the left rule. The world coordinate system determined based on the right hand rule above is only one example scheme that may be employed in the present embodiment, and does not constitute a unique limitation to the present disclosure.
The foregoing describes three local coordinate systems, the first metatarsal coordinate system, the robotic arm coordinate system, and the foot virtual model coordinate system, as well as a world coordinate system. In the surgical robot control method shown in the disclosure, the position information under any local coordinate system is converted into the position information under the world coordinate system through positive operation of the coordinate system, so that the coordinate system is unified, and the mechanical arm can complete movement by referring to the hallux valgus minimally invasive surgery planning data information.
In an embodiment of the present disclosure, the coordinate system positive operation includes converting the positional information in the first metatarsal coordinate system, the robot arm coordinate system, or the foot virtual model coordinate system into the positional information in the world coordinate system, specifically, the conversion formula of the coordinate system positive operation isWherein/>Representing position information in world coordinate System,/>Representing position information in a first metatarsal coordinate system, a mechanical arm coordinate system or a foot virtual model coordinate system, W representing a coordinate system positive operation conversion matrix,Wherein/> And/> And/>The unit vector representing three coordinate axes of the first metatarsal coordinate system, the robot arm coordinate system or the foot virtual model coordinate system is a four-dimensional homogeneous coordinate vector under world coordinates.
Taking the first metatarsal coordinate system as an example, the position information under the first metatarsal coordinate system O 2X2Y2Z2 can be calculated by a calculation formulaConverted to world coordinate system, where/>Representing coordinate vectors in world coordinate System,/>Representing a coordinate vector in the first metatarsal coordinate system.
Taking the mechanical arm coordinate system as an example, the position information under the mechanical arm coordinate system O 3X3Y3Z3 can be calculated by a calculation formulaConverted to world coordinate system, where/>Representing coordinate vectors in world coordinate System,/>Representing the coordinate vector in the robot arm coordinate system.
Taking the foot virtual model coordinate system as an example, the position information under the foot virtual model coordinate system O 1X1Y1Z1 can be calculated by a calculation formulaConverted to world coordinate system, where/>Representing the coordinate vector in the world coordinate system,Representing coordinate vectors in the foot virtual model coordinate system.
In step S105, the first target position and the first movement path are subjected to a coordinate system inverse operation to obtain a second target position and a second movement path thereof under the robot arm coordinate system. Since the control unit of the robot arm still controls the robot arm itself to act under the robot arm coordinate system, after the first target position and the first movement path are determined, it is necessary to convert them into the second target position and the second movement path under the robot arm coordinate system by the inverse operation of the coordinate system.
Corresponding to the coordinate system positive operation, the coordinate system negative operation may include converting the position information under the world coordinate system into position information under the first metatarsal coordinate system, the robot arm coordinate system, or the foot virtual model coordinate system. The conversion formula used is thatWherein W -1 denotes a coordinate system inverse operation conversion matrix, which is an inverse of the coordinate system positive operation conversion matrix.
Based on the conversion formula of the coordinate system inverse operation, step S105 may be performed by the calculation formulaA second target position and a second movement path are calculated.
In step S106, the distal end of the mechanical arm is driven to move to the second target position along the second movement path. Along with the movement of the tail end of the mechanical arm, the operation robot completes the osteotomy guiding, the reduction traction and the internal fixation guiding actions of the hallux valgus minimally invasive operation, and simultaneously, the position of the tail end of the mechanical arm is changed continuously, so that the position of the first metatarsal bone of the patient is changed.
Based on the real-time update of the first metatarsal position information and the arm end position information, some embodiments of the present disclosure also provide a real-time updated surgical robot control method in performing step S106. Fig. 6 illustrates an exemplary flow chart of a real-time updated surgical robot control method 600 of some embodiments of the present disclosure, it being understood that the real-time updated surgical robot control method may be performed on the basis of the control methods illustrated in the previous embodiments, and thus the features described above in connection with fig. 1-5 may be similarly applied thereto.
As shown in fig. 6, in step S601, the position information of the first metatarsal in the first metatarsal coordinate system and the position information of the arm end in the arm coordinate system are updated in real time. In this embodiment, the binocular positioning camera is capable of monitoring the optical tracker in real time, so as to track the position information of the first metatarsal under the first metatarsal coordinate system and the position information of the tail end of the mechanical arm under the mechanical arm coordinate system.
In step S602, the position information of the first metatarsal and the distal end of the mechanical arm acquired in real time is converted into position information in a world coordinate system. Similar to the previous embodiments, the real-time positional information of the first metatarsal and the distal end of the robotic arm may be unified into the world coordinate system by coordinate system positive operations. The process of the positive operation of the coordinate system is described in detail in the previous embodiments, and will not be repeated here.
In step S603, the position information of the first metatarsal and the distal end of the arm in the world coordinate system acquired in real time is converted into position information in the foot virtual model coordinate system. In step S603, in order to facilitate the doctor to view the operation execution situation in real time through the interactive screen, the position information of the first metatarsal and the distal end of the mechanical arm in the world coordinate system may be converted into the position information of the first metatarsal and the distal end of the mechanical arm in the foot virtual model coordinate system, and the conversion process may refer to the coordinate system inverse operation process in the foregoing embodiment, which is not described in detail herein.
In step S604, the position change information of the first metatarsal and the distal end of the mechanical arm is visually displayed according to the position information of the first metatarsal and the distal end of the mechanical arm under the coordinate system of the virtual model of the foot, which is acquired in real time. Step S604 may display the pose of the first metatarsal and the pose of the distal end of the robotic arm on a foot virtual model in an interactive screen.
In summary, the embodiments of the present disclosure provide a surgical robot control scheme for hallux valgus minimally invasive surgery, which can unify position information of a first metatarsal under a first metatarsal coordinate system, position information of a mechanical arm end under a mechanical arm coordinate system, and position information of hallux valgus minimally invasive surgery planning data information under a foot virtual model coordinate system into a world coordinate system through coordinate system positive operation, so that the surgical robot is guided to perform hallux valgus minimally invasive surgery operation by the position information under the same coordinate system, automatic control errors are reduced, and the precision of the hallux valgus minimally invasive surgery is improved.
Corresponding to the foregoing functional embodiments, an electronic device as shown in fig. 7 is also provided in the embodiments of the present disclosure. Fig. 7 shows an exemplary block diagram of an electronic device 700 of an embodiment of the disclosure.
An electronic device 700 shown in fig. 7, comprising: a processor 710; and a memory 720 having stored thereon executable program instructions which, when executed by the processor 710, cause the electronic device to implement any of the methods as described hereinbefore.
In the electronic apparatus 700 of fig. 7, only constituent elements related to the present embodiment are shown. Thus, it will be apparent to those of ordinary skill in the art that: the electronic device 700 may also include common constituent elements that are different from those shown in fig. 7.
Processor 710 may control the operation of electronic device 700. For example, the processor 710 controls the operation of the electronic device 700 by executing programs stored in the memory 720 on the electronic device 700. The processor 710 may be implemented by a Central Processing Unit (CPU), an Application Processor (AP), an artificial intelligence processor chip (IPU), etc. provided in the electronic device 700. However, the present disclosure is not limited thereto. In this embodiment, the processor 710 may be implemented in any suitable manner. For example, the processor 710 may take the form of, for example, a microprocessor or processor, and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, among others.
Memory 720 may be used to store hardware for various data, instructions that are processed in electronic device 700. For example, the memory 720 may store processed data and data to be processed in the electronic device 700. Memory 720 may store data sets that have been processed or to be processed by processor 710. Further, the memory 720 may store applications, drivers, etc. to be driven by the electronic device 700. For example: the memory 720 may store various programs related to coordinate system forward operations, coordinate system inverse operations, and the like to be performed by the processor 710. The memory 720 may be a DRAM, but the present disclosure is not limited thereto. Memory 720 may include at least one of volatile memory or non-volatile memory. The nonvolatile memory may include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, phase change RAM (PRAM), magnetic RAM (MRAM), resistive RAM (RRAM), ferroelectric RAM (FRAM), and the like. Volatile memory can include Dynamic RAM (DRAM), static RAM (SRAM), synchronous DRAM (SDRAM), PRAM, MRAM, RRAM, ferroelectric RAM (FeRAM), and the like. In an embodiment, the memory 720 may include at least one of a Hard Disk Drive (HDD), a Solid State Drive (SSD), a high density flash memory (CF), a Secure Digital (SD) card, a Micro-secure digital (Micro-SD) card, a Mini-secure digital (Mini-SD) card, an extreme digital (xD) card, a cache (cache), or a memory stick.
In summary, specific functions implemented by the memory 720 and the processor 710 of the electronic device 700 provided in the embodiments of the present disclosure may be explained in comparison with the foregoing embodiments of the present disclosure, and may achieve the technical effects of the foregoing embodiments, which will not be repeated herein.
Or the disclosure may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon computer program instructions (or computer programs, or computer instruction codes) which, when executed by a processor of an electronic device (or electronic device, server, etc.), cause the processor to perform part or all of the steps of the above-described methods according to the disclosure.
While various embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present disclosure. It should be understood that various alternatives to the embodiments of the disclosure described herein may be employed in practicing the disclosure. The appended claims are intended to define the scope of the disclosure and are therefore to cover all equivalents or alternatives falling within the scope of these claims.
Claims (10)
1. A surgical robotic control device for use in minimally invasive hallux valgus surgery, comprising: a processor and a memory having stored thereon executable program instructions which, when executed by the processor, cause the control device to implement the method of:
calibrating a first metatarsal coordinate system by using a first optical tracker fixed on a first metatarsal proximal Kirschner wire and a second optical tracker fixed on a first metatarsal distal Kirschner wire; the axial direction of the first metatarsal proximal Kirschner wire is parallel to the axial direction of the first metatarsal distal Kirschner wire, the center of the first optical tracker and the center of the second optical tracker are positioned on the same vertical line, and the vertical line is perpendicular to the axial directions of the first metatarsal proximal Kirschner wire and the first metatarsal distal Kirschner wire at the same time and intersects with the first metatarsal proximal Kirschner wire and the first metatarsal distal Kirschner wire;
performing coordinate system positive operation on the position information of the first metatarsal under the first metatarsal coordinate system to obtain the position information of the first metatarsal under the world coordinate system;
calibrating a mechanical arm coordinate system by using a third optical tracker fixed on the tail end of the mechanical arm; the third optical tracker is fixed on the switching disc at the tail end of the mechanical arm, the center of the third optical tracker coincides with the center of the switching disc, and the plane of the third optical tracker is parallel to the plane of the switching disc;
Carrying out coordinate system positive operation on the position information of the tail end of the mechanical arm of the surgical robot under the mechanical arm coordinate system so as to obtain the position information of the tail end of the mechanical arm of the surgical robot under the world coordinate system;
Performing coordinate system forward operation on the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the foot virtual model coordinate system to obtain the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the world coordinate system;
Generating a first target position and a first movement path of the tail end of the mechanical arm under the world coordinate system based on the position information of the first metatarsal under the world coordinate system, the position information of the tail end of the mechanical arm under the world coordinate system and the position information and the path information of the hallux valgus minimally invasive surgery planning data information under the world coordinate system;
performing coordinate system inverse operation on the first target position and the first moving path to obtain a second target position and a second moving path of the first target position and the first moving path under a mechanical arm coordinate system; and
And driving the tail end of the mechanical arm to move to the second target position along the second moving path.
2. The apparatus of claim 1, wherein calibrating the first metatarsal coordinate system comprises:
Determining the center of the optical tracker number one as the origin of coordinates O 2 of the first metatarsal coordinate system O 2X2Y2Z2;
determining a straight line passing through O 2 and parallel to the axial direction of the first metatarsal proximal k-wire as the X 2 axis of the first metatarsal coordinate system;
Determining a center line of the first optical tracker and the second optical tracker as a Y 2 axis of the first metatarsal coordinate system; and
A straight line passing through O 2 and perpendicular to the plane of the X 2 axis and Y 2 axis is determined as the Z 2 axis of the first metatarsal coordinate system.
3. The apparatus of claim 1, wherein calibrating the robotic arm coordinate system comprises:
determining the center of the third optical tracker as the origin O 3 of coordinates of the mechanical arm coordinate system O 3X3Y3Z3;
Determining any two mutually perpendicular straight lines on a plane where the third optical tracker is located as an X 3 axis and a Y 3 axis of the mechanical arm coordinate system respectively; and
And determining a straight line passing through O 3 and perpendicular to the plane where the third optical tracker is located as a Z 3 axis of the mechanical arm coordinate system.
4. The apparatus of claim 1, wherein prior to coordinate system positive operation of the hallux valgus minimally invasive surgery planning data information with the position information and the path information under the foot virtual model coordinate system, the method further comprises: calibrating the foot virtual model coordinate system;
The calibration process of the foot virtual model coordinate system O 1X1Y1Z1 comprises the following steps:
Sequentially determining the lowest points of the first metatarsal, the fifth metatarsal and the root bone in the foot virtual model as a first positioning point a, a second positioning point b and a third positioning point c;
determining the geometric center of the triangle formed by a, b and c as the origin O 1 of coordinates of the foot virtual model coordinate system;
Determining a straight line passing through O 1 and perpendicular to a connecting line ab as an X 1 axis of the foot virtual model coordinate system;
Taking a straight line passing through O 1 and parallel to a connecting line ab as a Y 1 axis of the foot virtual model coordinate system; and
A straight line passing through O 1 and perpendicular to the plane formed by a, b, and c is taken as the Z 1 axis of the foot virtual model coordinate system.
5. The apparatus of claim 1, wherein prior to coordinate system positive operation of the first metatarsal position information in the first metatarsal coordinate system, the method further comprises: calibrating the world coordinate system by using a binocular positioning camera in a control system of the surgical robot;
The calibration process of the world coordinate system OXYZ comprises the following steps:
Determining the midpoint of the optical center connecting line of the left-eye camera and the right-eye camera in the binocular positioning camera as a coordinate origin O of the world coordinate system;
determining the direction of the optical center of the left eye camera pointing to the optical center of the right eye camera as the positive direction of the X axis of the world coordinate system;
Determining a direction satisfying a Z-axis definition condition as a Z-axis positive direction of the world coordinate system, wherein the Z-axis definition condition includes: through a coordinate origin O, is coplanar with the optical axes of the X-axis and the left-eye camera, is perpendicular to the X-axis and points to the field of view; and
And determining the direction passing through the coordinate origin O and being perpendicular to the X axis and the Z axis and meeting the right hand rule of the coordinate system as the Y-axis positive direction of the world coordinate system.
6. The apparatus of claim 1, wherein the coordinate system positive operation includes converting positional information in the first metatarsal coordinate system, the robotic arm coordinate system, or the foot virtual model coordinate system to positional information in the world coordinate system, wherein the coordinate system positive operation has a conversion formula of:
；
wherein, Representing position information in world coordinate System,/>Representing position information in a first metatarsal coordinate system, a robotic arm coordinate system or a foot virtual model coordinate system,/>Representing the coordinate system positive operation conversion matrix,Wherein/>，/>，/>And/>，/>、/>、/>And/>And a four-dimensional homogeneous coordinate vector of the unit vector representing three coordinate axes of the first metatarsal coordinate system, the mechanical arm coordinate system or the foot virtual model coordinate system under world coordinates.
7. The apparatus of claim 6, wherein the coordinate system inverse operation comprises scaling the positional information in the world coordinate system to positional information in the first metatarsal coordinate system, the robotic arm coordinate system, or the foot virtual model coordinate system, wherein the coordinate system inverse operation has a scaling formula:
；
wherein, And representing a coordinate system inverse operation conversion matrix which is an inverse matrix of the coordinate system positive operation conversion matrix.
8. The apparatus of claim 1, wherein the hallux valgus minimally invasive surgery planning data information comprises: position information of the virtual osteotomy guiding position, vector direction information of the virtual osteotomy guiding position, position information of the reset traction translation position, position information of the reset traction rotation position, path information of translation motion and rotation motion, position information of the internal fixation guiding position and vector direction information of the internal fixation guiding position.
9. The apparatus of claim 1, wherein during driving the robotic arm tip along the second path of movement to the second target position, the method further comprises:
updating the position information of the first metatarsal under a first metatarsal coordinate system and the position information of the tail end of the mechanical arm under a mechanical arm coordinate system in real time;
converting the position information of the first metatarsal and the tail end of the mechanical arm acquired in real time into position information under a world coordinate system;
Converting the position information of the first metatarsal and the tail end of the mechanical arm, which are acquired in real time, under a world coordinate system into the position information of the foot virtual model coordinate system; and
And visually displaying the position change information of the first metatarsal and the tail end of the mechanical arm according to the position information of the first metatarsal and the tail end of the mechanical arm under the foot virtual model coordinate system, which is acquired in real time.
10. A computer readable storage medium having stored thereon computer readable instructions which, when executed by one or more processors, implement a method of controlling an apparatus as claimed in any one of claims 1 to 9.
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| CN117297711B (en) * | 2023-11-30 | 2024-02-20 | 四川大学华西医院 | Reduction guide instrument for hallux valgus operation |
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