CN117338420A - Intraoperative navigation method, device, equipment and storage medium of orthopedic surgery robot - Google Patents
Intraoperative navigation method, device, equipment and storage medium of orthopedic surgery robot Download PDFInfo
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- CN117338420A CN117338420A CN202311319666.9A CN202311319666A CN117338420A CN 117338420 A CN117338420 A CN 117338420A CN 202311319666 A CN202311319666 A CN 202311319666A CN 117338420 A CN117338420 A CN 117338420A
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000001356 surgical procedure Methods 0.000 title claims description 16
- 210000000988 bone and bone Anatomy 0.000 claims description 152
- 238000005520 cutting process Methods 0.000 claims description 83
- 238000003745 diagnosis Methods 0.000 claims description 16
- 239000012634 fragment Substances 0.000 claims description 12
- 208000010392 Bone Fractures Diseases 0.000 claims description 8
- 230000037182 bone density Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 239000007943 implant Substances 0.000 description 8
- 238000004891 communication Methods 0.000 description 5
- 238000002513 implantation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001960 triggered effect Effects 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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Abstract
The invention discloses an intraoperative navigation method, device and equipment of an orthopedic operation robot and a storage medium, and belongs to the technical field of medical treatment. The method acquires real-time operation information of an operation target area; analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm; comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm; and adjusting the control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm. According to the invention, through continuous calibration navigation of the working state in the operation of the orthopedic operation robot, the normal operation of the orthopedic operation robot is ensured, the operation burden of doctors is greatly lightened, and the implementation difficulty of the orthopedic operation is reduced.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an intraoperative navigation method, an intraoperative navigation device and a storage medium of an orthopedic surgery robot.
Background
The surgical robot is a complex integrating a plurality of modern high-tech means and an integral body, has wide application, has a great number of applications in clinic, and along with the vigorous development of medical robot technology, more and more advanced medical equipment adopts the robot as an intelligent assistant for assistance, thereby greatly facilitating the operation of doctors. The robot in the orthopaedics field can assist doctors to accurately implant implants such as screws at diseased parts of patients, and the accuracy and convenience of implant implantation are effectively improved. When the device is specifically used, the robot, the upper computer and the optical positioning tracking system are matched for operation, so that the implantation position is positioned. The front end of the robot arm of the robot is provided with a guide, the guide is hollow and cylindrical, when the guide moves to the implantation position of the implant, the straight line of the front end and the tail end of the guide coincides with the straight line of the implantation position of the preset implant, the front end of the guide is close to the nail-entering position on a patient, however, the technical problems that the target is too small and the alignment is inaccurate exist when the alignment is carried out.
And, the doctor implants the implant from the end of the guide by means of the guide, and by means of the positioning of the guide, the implant can be driven from the front end of the guide to a preset implantation position. When the device is specifically operated, the display screen of the upper computer side can display information of affected parts of a patient, a doctor clicks the motion button of the upper computer side, and the upper computer sends a moving instruction carrying moving information to the robot, so that the movement of the robot arm of the robot can be controlled, and the guide can move to a nail feeding position. However, the movement of the robot is triggered only by a movement button on the upper side far from the operation area, so that the control of the operation flow is inconvenient, and the motorized control robot cannot quickly change the instruction in an emergency. Therefore, there is a need for an intraoperative navigation method of an orthopedic operation robot, so that the orthopedic operation robot can navigate and adjust the working state of the orthopedic operation robot according to the orthopedic operation process, thereby reducing the difficulty of the orthopedic operation.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide an intraoperative navigation method, device and equipment of an orthopedic operation robot and a storage medium, and aims to solve the technical problems in the prior art.
To achieve the above object, the present invention provides an intraoperative navigation method of an orthopedic surgical robot, the method comprising the steps of:
acquiring real-time operation information of an operation target area;
analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
Optionally, before acquiring the real-time operation information of the operation target area, further comprises:
acquiring medical diagnosis information of a patient to be operated;
according to the medical diagnosis information of the patient to be operated, performing operation scheme planning to obtain an executable operation scheme;
according to the executable operation scheme, editing and storing the preset path information of the mechanical arm and the preset power information of the mechanical arm are respectively carried out.
Optionally, according to the medical diagnosis information of the patient to be operated, performing operation scheme planning to obtain an executable operation scheme, and the specific steps include:
analyzing the medical diagnosis information of the patient to be operated to obtain bone and bone medical image data to be operated;
establishing a three-dimensional model of a bone and bone region to be operated according to the bone and bone medical image data to be operated, and establishing a preset path scheme of the mechanical arm according to the three-dimensional model of the bone and bone region to be operated;
according to the bone fragment medical image data, determining bone cutting parameters and bone parameters of the bone fragment to be operated, and according to the bone cutting parameters and the bone parameters, formulating a preset power scheme of the mechanical arm;
and integrating the mechanical arm preset path scheme and the mechanical arm preset power scheme to obtain an executable operation scheme.
Optionally, determining bone cutting parameters and bone parameters of the bone fragment to be operated according to the bone fragment medical image data to be operated, and formulating a preset power scheme of the mechanical arm according to the bone cutting parameters and the bone parameters comprises the following specific steps:
determining a bone cutting position, a bone cutting depth and a bone cutting angle of the bone to be operated according to the CT image in the bone and bone medical image data to be operated;
according to the bone image in the bone fracture medical image data, determining bone density distribution of the bone fracture to be operated;
and (3) formulating a mechanical arm preset power scheme according to the determined bone cutting position, bone cutting depth, bone cutting angle and bone density distribution of the bone to be operated.
Optionally, comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm, and specifically, the method comprises the following steps:
determining real-time spatial position data of the operation target area and the mechanical arm according to the real-time path information of the mechanical arm, and comparing and calibrating the real-time spatial position data with the operation target area and the preset spatial position data of the mechanical arm in the preset path information of the mechanical arm to obtain a real-time path calibration result of the mechanical arm;
determining a real-time bone cutting position, a real-time bone cutting depth, a real-time bone cutting angle and real-time bone cutting power of the mechanical arm according to the real-time power information of the mechanical arm, and comparing and calibrating the real-time bone cutting position, the real-time bone cutting depth, the real-time bone cutting angle and the real-time bone cutting power with the preset bone cutting position, the preset bone cutting depth, the preset bone cutting angle and the preset bone cutting power in the preset power information of the mechanical arm to obtain a real-time power calibration result of the mechanical arm;
and integrating the real-time path calibration result of the mechanical arm and the real-time power calibration result of the mechanical arm to obtain the real-time calibration result of the mechanical arm.
Optionally, according to the real-time calibration result of the mechanical arm, adjusting a mechanical arm control instruction, including the specific steps of:
and adjusting the relative position, the bone cutting angle and the bone cutting power of the mechanical arm and the operation target area according to the real-time calibration result of the mechanical arm.
Optionally, the doctor can set and adjust the preset path information of the mechanical arm and the preset power information of the mechanical arm during operation.
In addition, in order to achieve the above object, the present invention also proposes an intraoperative navigation device of an orthopedic surgical robot, the intraoperative navigation device of an orthopedic surgical robot comprising:
an information acquisition module: acquiring real-time operation information of an operation target area;
and an information analysis module: analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
and (3) comparing and calibrating the module: comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
and a calibration adjustment module: and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
In addition, to achieve the above object, the present invention also proposes an intraoperative navigation apparatus of an orthopedic surgical robot, the intraoperative navigation apparatus of an orthopedic surgical robot comprising: the system comprises a memory, a processor and an intraoperative navigation program of the orthopedic surgical robot stored on the memory and capable of running on the processor, wherein the intraoperative navigation program of the orthopedic surgical robot is configured to realize the steps of the intraoperative navigation method of the orthopedic surgical robot.
In addition, in order to achieve the above object, the present invention also proposes a computer-readable storage medium storing a computer program, on which an intraoperative navigation program of an orthopedic surgical robot is stored, which when executed by a processor implements the steps of the intraoperative navigation method of an orthopedic surgical robot as described above.
The method acquires real-time operation information of an operation target area; analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm; comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm; and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm. According to the invention, through continuous calibration navigation of the working state in the operation of the orthopedic operation robot, the normal operation of the orthopedic operation robot is ensured, the operation burden of doctors is greatly lightened, and the implementation difficulty of the orthopedic operation is reduced.
Drawings
FIG. 1 is a schematic structural view of an intraoperative navigation device of an orthopedic surgical robot in a hardware operating environment in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of an intraoperative navigation method of the orthopedic surgical robot of the present invention;
FIG. 3 is a flow chart of a second embodiment of the intraoperative navigation method of the orthopedic surgical robot of the present invention;
FIG. 4 is a flow chart of a third embodiment of an intraoperative navigation method of the orthopedic surgical robot of the present invention;
FIG. 5 is a flow chart of a fourth embodiment of an intraoperative navigation method of the orthopedic surgical robot of the present invention;
fig. 6 is a block diagram showing the structure of a first embodiment of an intraoperative navigation device of the orthopedic surgical robot of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an intraoperative navigation device of an orthopedic operation robot in a hardware operation environment according to an embodiment of the present invention.
As shown in fig. 1, the intraoperative navigation device of the orthopedic surgical robot may include: a processor 1001, such as a Central processing unit (Central ProcessingUnit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (RandomAccess Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the intraoperative navigation device of the orthopaedic surgical robot, and may include more or fewer components than illustrated, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and an intraoperative navigation program of the orthopedic surgical robot may be included in the memory 1005 as one storage medium.
In the intraoperative navigation device of the orthopedic surgical robot shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the intraoperative navigation device of the orthopedic operation robot can be arranged in the intraoperative navigation device of the orthopedic operation robot, and the intraoperative navigation device of the orthopedic operation robot invokes the intraoperative navigation program of the orthopedic operation robot stored in the memory 1005 through the processor 1001 and executes the intraoperative navigation method of the orthopedic operation robot provided by the embodiment of the invention.
The embodiment of the invention provides an intraoperative navigation method of an orthopedic operation robot, and referring to fig. 2, fig. 2 is a flow diagram of a first embodiment of the intraoperative navigation method of the orthopedic operation robot.
In this embodiment, the intraoperative navigation method of the orthopedic operation robot includes the following steps:
step S10: acquiring real-time operation information of an operation target area;
in particular, the surgical target area refers to an orthopedic surgical site of a patient, and the real-time surgical information of the surgical target area may be pathological state information of the surgical site of the patient during surgery and current surgical operation state information of the orthopedic surgical robot.
Step S20: analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
it can be understood that the real-time path information of the mechanical arm specifically refers to real-time working state information in the operation of the robot in the bone surgery, which comprises the following steps: real-time bone cutting angle information, relative position information of a patient operation part, mechanical arm operation path information and the like; the real-time power information of the mechanical arm comprises: real-time power information of the mechanical arm, real-time bone cutting pressure information of the mechanical arm and the like.
Step S30: comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
it should be noted that the specific process of comparison and calibration is essentially a process of comparing and calibrating each operation real-time parameter in the bone surgery with a preset parameter in the surgery scheme, wherein each parameter comparison and calibration obtains a corresponding parameter deviation value, and the parameter deviation value is used for adjusting a subsequent operation control instruction of the bone surgery robot.
Step S40: and adjusting the control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
It can be understood that the adjustment of the control instruction of the mechanical arm specifically refers to adjusting each operation parameter of the operation execution module of the orthopedic operation robot, i.e. the mechanical arm, to a state conforming to the operation scheme.
The method comprises the steps that real-time operation information of an operation target area is obtained; analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm; comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm; and adjusting the control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm. According to the embodiment, the operation state in the operation of the orthopedic operation robot is continuously calibrated and navigated, so that the normal operation of the orthopedic operation robot is ensured, the operation burden of doctors is greatly reduced, and the implementation difficulty of the orthopedic operation is reduced.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of an intraoperative navigation method of an orthopedic surgical robot according to the present invention.
Based on the first embodiment, in this embodiment, before step S10, the method further includes:
step S01: acquiring medical diagnosis information of a patient to be operated;
the medical diagnosis information of the patient to be operated includes physical state information of the patient to be operated, medical diagnosis information, pathological information of the part to be operated, and the like.
Step S02: according to medical diagnosis information of a patient to be operated, planning an operation scheme to obtain an executable operation scheme;
it will be appreciated that in a specific implementation, the surgical plan is planned by doctors who will obtain an executable surgical plan based on the medical diagnostic information of the patient to be operated in combination with the current medical diagnosis method.
Step S03: according to the implementation scheme, the editing and storage of the preset path information of the mechanical arm and the preset power information of the mechanical arm are respectively carried out.
It should be noted that, in the implementation of the surgical method, there is a step requirement on the operating state of the orthopedic surgical robot in the surgery, so that the related surgical parameter information needs to be input into the orthopedic surgical robot before the surgery, so that the orthopedic surgical robot can be better matched with each step of the surgery.
According to the method, the corresponding operation scheme is formulated and planned by acquiring the medical diagnosis information of the patient to be operated, and various parameters of the orthopedic operation robot are preset according to the formulated operation scheme, so that the orthopedic operation robot completes preoperative preparation of the orthopedic operation, and the operation preparation time is greatly saved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of an intraoperative navigation method of an orthopedic surgical robot according to the present invention.
Based on the above second embodiment, in this embodiment, the step S02 specifically includes:
step S021: analyzing medical diagnosis information of a patient to be operated to obtain bone and bone medical image data to be operated;
the bone and bone medical image data to be operated specifically refers to that the imaging device performs preoperative scanning on the to-be-operated part of the patient to be operated to generate a three-dimensional view of the to-be-operated part, wherein the imaging device can be an X-ray projection imaging device, a CT imaging device, a magnetic resonance imaging device and the like.
Step S022: according to the bone and bone medical image data to be operated, a three-dimensional model of a bone and bone region to be operated is established, and according to the three-dimensional model of the bone and bone region to be operated, a preset path scheme of the mechanical arm is established;
it can be appreciated that the three-dimensional model of the bone and bone region to be operated is constructed by simulating the bone and bone of the part to be operated of the patient to be operated, which can help doctors to analyze and further better design the operation scheme.
Step S023: according to the bone skeleton medical image data to be operated, determining bone cutting parameters and bone parameters of the bone skeleton to be operated, and according to the bone cutting parameters and the bone parameters, formulating a preset power scheme of the mechanical arm;
it should be noted that, the bone cutting parameters of the bone fracture to be operated are mainly obtained through the CT image of the bone fracture to be operated, the bone parameters of the bone fracture to be operated are mainly determined through the bone image of the bone fracture to be operated, and the determination of the bone cutting parameters and the bone parameters can help the bone surgery robot to determine the corresponding running power during the operation.
Step S024: and integrating the mechanical arm preset path scheme and the mechanical arm preset power scheme to obtain an executable operation scheme.
It can be understood that the finally obtained implementable surgical scheme is an operation control scheme of the orthopedic surgical robot, and the main purpose of the scheme is to enable the orthopedic surgical robot to carry out navigation adjustment of the self working state along with the operation progress.
Firstly, analyzing medical diagnosis information of a patient to be operated to obtain bone and bone medical image data to be operated; then, according to the bone and bone medical image data to be operated, a three-dimensional model of the bone and bone region to be operated is established, and according to the three-dimensional model of the bone and bone region to be operated, a preset path scheme of the mechanical arm is established; according to the bone fragment medical image data to be operated, determining bone cutting parameters and bone parameters of the bone fragment to be operated, and according to the bone cutting parameters and the bone parameters, formulating a preset power scheme of the mechanical arm; and finally integrating the preset path scheme of the mechanical arm and the preset power scheme of the mechanical arm to obtain the executable operation scheme. According to the embodiment, corresponding operation preparation is completed through the analysis result of the medical diagnosis information of the patient to be operated, a specific executable operation scheme is formed, and the success rate of an operation theory is improved.
Further, according to the bone fragment medical image data to be operated, determining bone cutting parameters and bone parameters of the bone fragment to be operated, and according to the bone cutting parameters and the bone parameters, formulating a mechanical arm preset power scheme comprises the following specific steps: according to CT images in the bone and bone medical image data to be operated, determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone to be operated; and determining bone density distribution of the bone fragment to be operated according to the bone image in the bone fragment to be operated medical image data. And (3) formulating a mechanical arm preset power scheme according to the determined bone cutting position, bone cutting depth, bone cutting angle and bone density distribution of the bone to be operated.
Referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of an intraoperative navigation method of an orthopedic surgical robot according to the present invention.
Based on the first embodiment, in this embodiment, the step S30 specifically includes:
step S31: determining real-time spatial position data of an operation target area and the mechanical arm according to the real-time path information of the mechanical arm, and comparing and calibrating the real-time spatial position data with the operation target area and the preset spatial position data of the mechanical arm in the preset path information of the mechanical arm to obtain a real-time path calibration result of the mechanical arm;
the method is used for determining real-time spatial position data of a surgical target area and a mechanical arm, and is mainly used for determining the working state of the orthopedic robot during surgery, including bone cutting positions, bone cutting angles and the like of the orthopedic surgery.
Step S32: determining a real-time bone cutting position, a real-time bone cutting depth, a real-time bone cutting angle and a real-time bone cutting power of the mechanical arm according to the real-time power information of the mechanical arm, and comparing and calibrating the real-time bone cutting position, the real-time bone cutting depth, the real-time bone cutting angle and the real-time bone cutting power with a preset bone cutting position, a preset bone cutting depth, a preset bone cutting angle and the preset bone cutting power in preset power information of the mechanical arm to obtain a real-time power calibration result of the mechanical arm;
it can be appreciated that the real-time dynamic calibration result of the mechanical arm is used for the subsequent operation state adjustment of the orthopedic robot, including the bone cutting position adjustment, the bone cutting angle adjustment, the bone cutting power adjustment and the like of the mechanical arm of the orthopedic robot.
Step S33: and integrating the real-time path calibration result of the mechanical arm and the real-time power calibration result of the mechanical arm to obtain the real-time calibration result of the mechanical arm.
Note that, the present invention is not limited to the above-described embodiments. The real-time calibration result of the mechanical arm is obtained by comparing and calibrating the working state of the current orthopedic operation robot with the preset working state in the operation scheme, so that the real-time calibration result has real-time performance and is only used for adjusting the working state of the current orthopedic operation robot.
According to the embodiment, the real-time working state of the mechanical arm of the orthopedic operation robot and the preset working state of the mechanical arm of the orthopedic operation robot are compared and calibrated, so that a corresponding comparison and calibration result is obtained, and the monitoring of the working state of the mechanical arm in operation is realized.
Further, according to the real-time calibration result of the mechanical arm, the mechanical arm control instruction is adjusted, and the specific steps include: and adjusting the relative position, the bone cutting angle and the bone cutting power of the mechanical arm and the operation target area according to the real-time calibration result of the mechanical arm.
Further, the doctor can set and adjust the preset path information of the mechanical arm and the preset power information of the mechanical arm in the operation.
It can be understood that in the operation, a doctor can adjust the operation progress and the operation scheme in real time according to the self judgment, so that the preset path information of the mechanical arm and the preset power information of the mechanical arm in the orthopedic operation robot need to be correspondingly adjusted according to the adjusted operation scheme.
In addition, the embodiment of the invention also provides a computer readable storage medium storing a computer program, wherein the storage medium stores an intraoperative navigation program of the orthopedic surgical robot, and the intraoperative navigation program of the orthopedic surgical robot realizes the steps of the intraoperative navigation method of the orthopedic surgical robot when being executed by a processor.
Because the storage medium adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are not described in detail herein.
Referring to fig. 6, fig. 6 is a block diagram showing the structure of a first embodiment of an intraoperative navigation device of the orthopedic surgical robot of the present invention.
As shown in fig. 6, an intraoperative navigation device of an orthopedic surgery robot according to an embodiment of the present invention includes:
information acquisition module 10: acquiring real-time operation information of an operation target area;
the information analysis module 20: analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
alignment calibration module 30: comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
calibration adjustment module 40: and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
The method comprises the steps that real-time operation information of an operation target area is obtained; analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm; comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm; and adjusting the control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm. According to the embodiment, the operation state in the operation of the orthopedic operation robot is continuously calibrated and navigated, so that the normal operation of the orthopedic operation robot is ensured, the operation burden of doctors is greatly reduced, and the implementation difficulty of the orthopedic operation is reduced.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the method for navigating an orthopedic operation robot according to any embodiment of the present invention, which is not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. An intraoperative navigation method of an orthopedic surgical robot, comprising:
acquiring real-time operation information of an operation target area;
analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
2. The method of intra-operative navigation of an orthopedic surgical robot of claim 1, further comprising, prior to acquiring real-time surgical information of the surgical target area:
acquiring medical diagnosis information of a patient to be operated;
according to the medical diagnosis information of the patient to be operated, performing operation scheme planning to obtain an executable operation scheme;
according to the executable operation scheme, editing and storing the preset path information of the mechanical arm and the preset power information of the mechanical arm are respectively carried out.
3. The method for intra-operative navigation of an orthopedic surgical robot according to claim 2, wherein the step of performing a surgical plan based on the medical diagnostic information of the patient to be operated to obtain an executable surgical plan comprises the steps of:
analyzing the medical diagnosis information of the patient to be operated to obtain bone and bone medical image data to be operated;
establishing a three-dimensional model of a bone and bone region to be operated according to the bone and bone medical image data to be operated, and establishing a preset path scheme of the mechanical arm according to the three-dimensional model of the bone and bone region to be operated;
according to the bone fragment medical image data, determining bone cutting parameters and bone parameters of the bone fragment to be operated, and according to the bone cutting parameters and the bone parameters, formulating a preset power scheme of the mechanical arm;
and integrating the mechanical arm preset path scheme and the mechanical arm preset power scheme to obtain an executable operation scheme.
4. The intraoperative navigation method of the bone surgery robot according to claim 3, wherein the specific steps of determining bone cutting parameters and bone parameters of bone remains to be operated according to the bone remains to be operated medical image data, and formulating a mechanical arm preset power scheme according to the bone cutting parameters and the bone parameters include:
determining a bone cutting position, a bone cutting depth and a bone cutting angle of the bone to be operated according to the CT image in the bone and bone medical image data to be operated;
according to the bone image in the bone fracture medical image data, determining bone density distribution of the bone fracture to be operated;
and (3) formulating a mechanical arm preset power scheme according to the determined bone cutting position, bone cutting depth, bone cutting angle and bone density distribution of the bone to be operated.
5. The method for navigating an orthopedic operation robot according to claim 4, wherein comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm, comprises the following specific steps:
determining real-time spatial position data of the operation target area and the mechanical arm according to the real-time path information of the mechanical arm, and comparing and calibrating the real-time spatial position data with the operation target area and the preset spatial position data of the mechanical arm in the preset path information of the mechanical arm to obtain a real-time path calibration result of the mechanical arm;
determining a real-time bone cutting position, a real-time bone cutting depth, a real-time bone cutting angle and real-time bone cutting power of the mechanical arm according to the real-time power information of the mechanical arm, and comparing and calibrating the real-time bone cutting position, the real-time bone cutting depth, the real-time bone cutting angle and the real-time bone cutting power with the preset bone cutting position, the preset bone cutting depth, the preset bone cutting angle and the preset bone cutting power in the preset power information of the mechanical arm to obtain a real-time power calibration result of the mechanical arm;
and integrating the real-time path calibration result of the mechanical arm and the real-time power calibration result of the mechanical arm to obtain the real-time calibration result of the mechanical arm.
6. The method for intra-operative navigation of an orthopedic surgical robot according to claim 5, wherein the adjusting the control command of the mechanical arm according to the real-time calibration result of the mechanical arm comprises the following specific steps:
and adjusting the relative position, the bone cutting angle and the bone cutting power of the mechanical arm and the operation target area according to the real-time calibration result of the mechanical arm.
7. The method for navigating an orthopaedic surgical robot according to any one of claims 1 to 6, wherein a surgeon can make a setting adjustment to the arm preset path information and the arm preset power information during the operation.
8. An intraoperative navigation device of an orthopedic surgical robot, characterized in that the intraoperative navigation device of an orthopedic surgical robot comprises:
an information acquisition module: acquiring real-time operation information of an operation target area;
and an information analysis module: analyzing the real-time operation information to obtain real-time path information of the mechanical arm and real-time power information of the mechanical arm;
and (3) comparing and calibrating the module: comparing and calibrating the real-time path information of the mechanical arm and the real-time power information of the mechanical arm with the preset path information of the mechanical arm and the preset power information of the mechanical arm respectively to obtain a real-time calibration result of the mechanical arm;
and a calibration adjustment module: and adjusting a control instruction of the mechanical arm according to the real-time calibration result of the mechanical arm.
9. An intraoperative navigation device of an orthopedic surgical robot, characterized in that the intraoperative navigation device of an orthopedic surgical robot comprises: a memory, a processor and an intraoperative navigation program of an orthopedic surgical robot stored on the memory and executable on the processor, the intraoperative navigation program of an orthopedic surgical robot configured to implement the intraoperative navigation method of an orthopedic surgical robot according to any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, is capable of implementing the steps in the intra-operative navigation method of an orthopaedic surgical robot according to any one of claims 1 to 7.
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| CN202311319666.9A CN117338420A (en) | 2023-10-12 | 2023-10-12 | Intraoperative navigation method, device, equipment and storage medium of orthopedic surgery robot |
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| CN202311319666.9A CN117338420A (en) | 2023-10-12 | 2023-10-12 | Intraoperative navigation method, device, equipment and storage medium of orthopedic surgery robot |
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