CN117582291A - Orthopedic operation tool positioning device based on sensor fusion - Google Patents
Orthopedic operation tool positioning device based on sensor fusion Download PDFInfo
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- 230000004927 fusion Effects 0.000 title claims abstract description 31
- 230000000399 orthopedic effect Effects 0.000 title claims description 20
- 238000000227 grinding Methods 0.000 claims abstract description 110
- 210000001981 hip bone Anatomy 0.000 claims abstract description 103
- 238000006073 displacement reaction Methods 0.000 claims abstract description 90
- 210000000588 acetabulum Anatomy 0.000 claims abstract description 46
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 44
- 238000005498 polishing Methods 0.000 claims abstract description 22
- 238000001356 surgical procedure Methods 0.000 claims abstract description 16
- 210000001624 hip Anatomy 0.000 claims description 68
- 238000000034 method Methods 0.000 claims description 26
- 239000000523 sample Substances 0.000 claims description 19
- 239000013598 vector Substances 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 239000008188 pellet Substances 0.000 claims description 7
- 210000004061 pubic symphysis Anatomy 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000011541 total hip replacement Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000004417 patella Anatomy 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000011882 arthroplasty Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
Abstract
The invention provides a bone surgery tool positioning device based on sensor fusion, which comprises a hip bone array, a tool array, a monocular navigation system, a linear displacement sensor, an acetabulum polishing tool and a surgery power tool. The invention provides a combined structural design of a linear displacement sensor and an acetabulum polishing tool, wherein the design creatively installs the rebound type linear displacement sensor on a grinding rod, and simultaneously connects the sensor with the hip bone through a specially designed connecting module, so that the grinding rod is not limited to freely change in posture relative to the hip bone; and when the grinding rod moves along the axial direction of the grinding rod, the linear displacement sensor arranged on the grinding rod can accurately measure the axial displacement of the grinding rod. Meanwhile, the invention provides a sensor fusion scheme, which can help doctors to calculate the relative displacement of the grinding ball head under the hip bone coordinate system more accurately, and helps the doctors to avoid the risk of grinding the acetabulum on the operative side of the patient.
Description
Technical Field
The invention relates to the field of computer orthopedic navigation surgery, in particular to an orthopedic surgery tool positioning device based on sensor fusion.
Background
The monocular vision navigation system relies on a reflective array and a single camera which are arranged on the operation tool and the bone, so that the real-time calculation of the relative position and the posture of the bone and the operation tool is realized. The computer system can realize different navigation functions in the total hip arthroplasty, such as registering hip bone, measuring the grinding direction (the anteversion angle and the abduction angle) of the acetabulum in real time, measuring the position of the acetabular file, the length deviation of the femur and the like in real time.
The monocular visual navigation system can realize real-time tracking of different objects by only relying on one camera, and has the advantages of small volume, portability, low cost and the like compared with the common binocular visual navigation system (NDI) in the market. Therefore, the joint replacement navigation scheme developed based on the monocular vision navigation system is easier to control the cost and easier to operate.
Patent CN113768623a provides a surgical navigation system using a monocular positioning tracker, which is used to achieve surgical guidance and positioning, achieving close-range tracking. However, the positioning accuracy of the monocular vision system is slightly lower than that of the binocular navigation system, and is mainly unstable in the axial direction of the camera. Thus, when the monocular vision system is applied to a total hip replacement surgery navigation scheme, the accuracy of measuring the position of the acetabular file in real time will correspondingly decrease. If the position accuracy of the acetabular file cannot be guaranteed, the acetabulum is worn through during grinding.
Therefore, an accurate positioning method of the acetabular bone file is needed, so that the accurate position of the acetabular bone file can be obtained in real time in a total hip replacement operation, the operation risk is avoided, and the operation precision is improved.
Disclosure of Invention
The invention aims to solve the defects of the prior art scheme described in the background art, and provides a bone surgery tool positioning device based on sensor fusion, which is used for helping doctors to calculate the relative displacement of a grinding ball head under a hip bone coordinate system more accurately and avoiding the risk of grinding the acetabulum on the operative side of a patient.
The invention is realized by the following technical scheme: provided is a bone surgery tool positioning device based on sensor fusion, comprising: hip bone array, tool array, monocular navigation system, linear displacement sensor, acetabulum grinding tool, and surgical power tool.
Further, the monocular navigation system comprises a monocular camera, a lens, an annular near infrared light source and a near infrared filter.
Further, the linear displacement sensor comprises a linear displacement sensor assembly module and a connecting module.
Further, the acetabulum grinding tool comprises a cylindrical grinding rod piece, a front end of the rod piece and a hemispherical grinding drill.
The front end of the rod piece is used for being connected with the operation power tool, and the tool array is used for being installed on the operation power tool.
Further, the annular near infrared light source in the monocular navigation system emits near infrared light to the hip bone array fixed on the measured object, the reflecting pellets on the hip bone array pass through the near infrared filter and the lens and are finally imaged by the monocular camera, and the monocular navigation system calculates the relative three-dimensional pose of the hip bone array and the monocular camera through imaging the reflecting pellets of the hip bone array in the monocular camera; similarly, the monocular navigation system calculates the relative three-dimensional pose of the tool array and the monocular camera by imaging the reflective pellets of the tool array in the monocular camera.
Further, the linear displacement sensor assembly die set is connected with the acetabulum polishing tool, and the connecting module is connected with the linear displacement sensor assembly die set.
Further, the linear displacement sensor assembly comprises a part torus, a sliding sleeve and a rebound type micro linear displacement sensor.
Further, the connecting module comprises a component bone nail, a single-needle bone nail clamping plate, a straight rod, a rotary joint and a spherical joint.
Further, the part ring body is used for being installed and fixed on the cylindrical grinding rod piece through a screw or a jackscrew, and the part ring body and the cylindrical grinding rod piece are ensured not to move relatively; the sliding sleeve is sleeved on the cylindrical grinding rod piece and is used for ensuring the relative displacement of the sliding sleeve along the axis of the cylindrical grinding rod piece and the relative rotation around the axis of the cylindrical grinding rod piece.
Further, the rebound type miniature linear displacement sensor comprises an outer tube and a core body.
Further, one end of the outer tube is connected with the sliding sleeve in an integrated design, and the outer tube is limited by the sliding sleeve to move only along the axial direction of the cylindrical grinding rod piece; the end point of the core body is in point contact with the part ring body, and the rebound type miniature linear displacement sensor enables the end point of the core body to be attached to the part ring body and not to move relatively along the axial direction of the cylindrical grinding rod piece; the rebound type miniature linear displacement sensor is used for accurately calculating the relative displacement of the sliding sleeve along the axial direction of the cylindrical grinding rod member in real time.
Further, the component bone nail is used for being connected with the hip bone, the single-needle bone nail clamp plate is clamped on the component bone nail, one end of the straight rod is connected with the single-needle bone nail clamp plate through a spherical joint, and the other end of the straight rod is connected with the sliding sleeve which slides on the cylindrical grinding rod member through a rotary joint.
Further, the sliding sleeve is connected to the hip bone through the component bone screw, the single needle bone screw splint, the straight rod, the rotary joint and the spherical joint.
Furthermore, the rotary joint has a quick-dismantling design, so that the connection between the straight rod and the sliding sleeve is conveniently and quickly disconnected.
Further, the orthopedic operation tool positioning device based on sensor fusion is used for realizing an orthopedic operation tool positioning method based on sensor fusion, and comprises the following steps:
s101, planning before operation and preparing equipment;
s102, installing a hip bone array on the anterior superior iliac spine of the opposite side of the hip bone operation, picking up anatomical feature points of the hip bone by using another probe array different from the hip bone array, and realizing hip bone registration according to the probe position provided by the monocular navigation system relative to the coordinate system information of the hip bone array;
s103, after the hip bone registration is completed, installing a part bone nail and a preoperatively assembled connecting module on the acetabular side of the hip bone; placing the hemispherical abrasive drill of the acetabular grinding tool into the acetabulum of the hip bone, and connecting the sliding sleeve with the rotary joint to realize quick butt joint of a linear displacement sensor die assembly and a connecting die set on the acetabular grinding tool;
s104, navigating to a pre-operation planned forward inclination angle and an abduction angle by using a monocular navigation system;
s105, when the controller detects that the forward inclination angle and the abduction angle of the cylindrical grinding rod member relative to the acetabulum are correct, the computer receives the data of the rebound type miniature linear displacement sensor, and records the data as the zero axial position, namely d 0 ；
S106, under the navigation of the monocular navigation system, the acetabulum polishing tool makes a line-fixing movement along a planned angle, so that acetabulum polishing is realized, meanwhile, the computer receives the data of the rebound type miniature linear displacement sensor, marks d and makes a difference with the zero axial position, and calculates the axial relative displacement delta d=d-d of the acetabulum polishing tool 0 ；
S107, calculating the relative displacement of the hemispherical grinding ball head under the hip bone coordinate system according to the grinding angle and the displacement of the acetabular grinding tool along the axial direction; wherein the grinding angle represents the posture of the acetabulum grinding tool under the hip bone coordinate system and uses the axial vectorA representation; the relative displacement of the hemispherical mill ball head in the hip coordinate system is calculated as follows:
；
according to the method of sensor fusion,is accurately calculated and displayed for avoiding the risk of the acetabulum of the operative side being worn through.
Further, the preoperative planning in S101 and performing equipment preparation include:
making an operation scheme according to preoperative image information, and selecting a prosthesis installation angle in total hip replacement operation, wherein the prosthesis installation angle comprises a front inclination angle and an abduction angle;
assembling a connecting module;
mounting a linear displacement sensor assembly module on an acetabulum grinding tool, mounting a surgical power tool on the front end of a rod piece of the acetabulum grinding tool, and mounting the tool array on the surgical power tool;
the monocular navigation system was placed at the bedside on the operative side.
Further, the installing the hip array on the anterior superior iliac spine of the opposite side of the hip surgery in S102, picking up anatomical feature points of the hip with another probe array different from the hip array, and registering the hip based on the probe position provided by the monocular navigation system relative to the coordinate system information of the hip array, includes:
mounting the hip array on the anterior superior iliac spine on the opposite side of the hip operation;
setting an { M1} coordinate system on the hip bone array for representing the pose of the hip bone array in space, and marking the pose as the hip bone array coordinate system;
establishing a hip bone coordinate system { P } to represent the pose of the hip bone in space; wherein, the y-axis of the hip bone coordinate system is that the right ASIS point of the hip bone points to the left ASIS point, the x-axis is that the midpoint of the two ASIS points to the pubic symphysis point, the z-axis is obtained by the y-axis cross multiplication according to the x-axis, and the origin of coordinates is arranged at the midpoint of the two ASIS points;
the relative pose of the hip coordinate system { P } and the hip array coordinate system { M1} is achieved through hip registration, namely, the expression of the x, y, z axes and the origin in the hip array coordinate system { M1} in the hip coordinate system { P } is determined, and the steps are as follows:
picking up different anatomical feature points on the hip bone by using another probe array different from the hip bone array, including picking up three points of ASIS points on the left side and the right side and a pubic symphysis midpoint;
the monocular navigation system simultaneously tracks the hip array and the probe array and calculates the three-dimensional position coordinates of the feature points in the hip array coordinate system { M1 }.
Further, the calculation method of the grinding angle in S107 includes:
the coordinate system of the surgical power tool is recorded as { T }, the posture of the acetabulum grinding tool is recorded as a vector n, and the vector n is expressed under the coordinate system { T }, namely；
Determining the relative pose of the surgical power tool coordinate system { T } and the hip bone coordinate system { P }, byThe calculation is shown as follows:
；
wherein { M2} is a tool array coordinate system representing the pose of a tool array mounted on the surgical power tool;obtained by hip registration; c represents the monocular camera coordinate system { C }, -A }>Tracking the hip bone array by a monocular camera;tracking a tool array mounted on the surgical power tool by a monocular camera; />Obtained from mechanical parameters;
homogeneous matrixSplit into rotation matrices->And displacement vector->：
；
Direction vectorBy->The posture of the acetabulum polishing tool under the hip bone coordinate system is obtained by converting the surgical power tool coordinate system { T } into the hip bone coordinate system { P }:
；
is a three-dimensional vector, expressed as +.>Wherein n is x 、n y 、n z Vectors respectively->X, y, z values in the hip coordinate system;
the abduction angle calculation formula is as follows:
；
the forward rake angle calculation formula is as follows:
。
the invention provides a positioning device of an orthopedic operation tool based on sensor fusion, which has the following technical advantages compared with the prior art:
1. according to the actual demands in hip joint replacement surgery, a combined structure design of a linear displacement sensor and an acetabulum polishing tool is provided, the design creatively installs the rebound type linear displacement sensor on a grinding rod, and meanwhile, the sensor is connected with the hip bone through a specially designed connecting module, so that the grinding rod is not limited to freely change in posture relative to the hip bone, namely, the existing operation flow is not influenced; when the grinding rod moves along the axial direction of the grinding rod, the connecting module can limit the sliding sleeve and the hip bone not to change in relative position and posture, and the linear displacement sensor arranged on the grinding rod can accurately measure the axial displacement of the grinding rod;
2. the scheme of sensor fusion is provided, namely, a monocular navigation system is utilized to help a doctor find a proper bone grinding posture, a linear displacement sensor module is utilized to help calculate the axial displacement of the bone grinding, and the two data are fused, so that the doctor can be helped to calculate the relative displacement of the drill grinding ball head under the hip bone coordinate system more accurately, and the doctor is helped to avoid the risk of grinding the acetabulum on the operative side of the patient.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural design of a combination linear displacement sensor and acetabular polishing tool according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a surgical navigation implemented using a monocular navigation system and multiple arrays provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a monocular navigation system provided by an embodiment of the present invention;
FIG. 4 is a schematic representation of a hip coordinate system set up provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a abduction angle provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a pretilt angle provided by an embodiment of the present invention;
reference numerals illustrate: 1. a linear displacement sensor; 2. a hip bone array; 3. an array of tools; 4. an acetabular polishing tool; 5. a surgical power tool; 6. a monocular navigation system; 7. hip bone;
11. a linear displacement sensor assembly module; 12. a connection module; 41. a cylindrical grinding rod piece; 42. the front end of the rod piece; 43. hemispherical grinding and drilling; 61. a monocular camera; 62. a lens; 63. a ring-shaped near infrared light source; 64. a near infrared filter; 71. right ASIS point; 72. left ASIS point; 73. a pubic symphysis point;
111. a component torus; 112. a sliding sleeve; 113. a rebound type miniature linear displacement sensor; 121. a component bone screw; 122. a single needle bone screw splint; 123. a straight rod; 124. a rotary joint; 125. a spherical joint;
1131. an outer tube; 1132. a core.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
For a better understanding of the present invention, embodiments of the present invention are described in detail below with reference to the drawings.
As shown in fig. 1 and 2, the present invention provides an orthopedic operation tool positioning device based on sensor fusion, comprising: a linear displacement sensor 1, a hip bone array 2, a tool array 3, an acetabulum grinding tool 4, a surgical power tool 5 and a monocular navigation system 6.
As shown in fig. 1, the acetabular polishing tool 4 includes a cylindrical rod grinding member 41, a member front end 42, and a hemispherical burr 43.
As an alternative embodiment, the cylindrical grinding rod 41 and the rod front end 42 are integrally formed, and the hemispherical grinding drill 43 is detachably connected with the cylindrical grinding rod 41.
As an alternative embodiment, the lever front end 43 is adapted to be connected to the surgical power tool 5, and the tool array 3 is adapted to be mounted on the surgical power tool 5.
As shown in fig. 3, the monocular navigation system 6 includes a monocular camera 61, a lens 62, an annular near infrared light source 63, and a near infrared filter 64.
As an alternative embodiment, the annular near infrared light source 63 in the monocular navigation system emits near infrared light to the hip bone array 2 fixed on the measured object, the reflective pellets on the hip bone array 2 pass through the near infrared filter 64 and the lens 62 and are finally imaged by the monocular camera 61, and the monocular navigation system 6 calculates the relative three-dimensional pose of the hip bone array 2 and the monocular camera 61 by imaging the reflective pellets of the hip bone array 2 in the monocular camera 61; similarly, the monocular navigation system 6 calculates the relative three-dimensional pose of the tool array 3 and the monocular camera 61 by imaging the reflective pellets of the tool array 3 in the monocular camera 61.
As shown in fig. 1, the linear displacement sensor 1 includes a linear displacement sensor assembly 11 and a connection module 12.
As an alternative embodiment, the linear displacement sensor assembly 11 is connected to the acetabular polishing tool 4, and the connection module 12 is connected to the linear displacement sensor assembly 11.
As an alternative embodiment, the linear displacement sensor assembly 11 includes a component torus 111, a sliding sleeve 112, and a resilient micro linear displacement sensor 113.
As an alternative embodiment, the connection module 12 includes a component bone screw 121, a single pin bone screw clamp plate 122, a straight rod 123, a rotational joint 124, and a spherical joint 125.
As an alternative embodiment, the part ring 111 is used to be mounted and fixed on the cylindrical grinding rod 41 by a screw or a jackscrew, and ensures that the part ring 111 and the cylindrical grinding rod 41 do not move relatively; the sliding sleeve 112 is sleeved on the cylindrical grinding rod member 41, and is used for ensuring the relative displacement of the sliding sleeve 112 along the axis of the cylindrical grinding rod member 41 and the relative rotation around the axis of the cylindrical grinding rod member 41.
As an alternative embodiment, the component torus 111 can also be mounted and fastened to the cylindrical grinding rod member by other fastening means.
As an alternative embodiment, the resilient micro linear displacement sensor 113 includes an outer tube 1131 and a core 1132.
As an alternative embodiment, one end of the outer tube 1131 is integrally connected with the sliding sleeve 112, and the outer tube 1131 is limited by the sliding sleeve 112 to move only along the axial direction of the cylindrical grinding rod 41; the end point of the core 1132 is in point contact with the part annular body 111, and the rebound type miniature linear displacement sensor enables the end point of the core 1132 to be attached to the part annular body 111 and not to move relatively along the axial direction of the cylindrical grinding rod piece 41; the rebound type micro linear displacement sensor 113 is used for precisely calculating the relative displacement of the sliding sleeve 112 along the axial direction of the cylindrical grinding rod member 41 in real time.
As an alternative embodiment, the component bone screw 121 is used for connecting with hip bone, the single needle bone screw clamping plate 122 is clamped on the component bone screw 121, one end of the straight rod 123 is connected with the single needle bone screw clamping plate 122 through a spherical joint 125, and the other end is connected with the sliding sleeve 112 sliding on the cylindrical grinding rod member through a rotary joint 124.
As an alternative embodiment, the sliding sleeve 112 is coupled to the hip bone by the component bone screw 121, the single needle bone screw clamping plate 122, the straight rod 123, the rotary joint 124 and the ball joint 125.
As an alternative embodiment, the rotary joint 124 has a quick release design, which facilitates quick disconnection of the straight rod 123 from the sliding sleeve 112.
As an alternative embodiment, the rebound type micro linear displacement sensor does not allow the core 1132 to rotate together as the component torus 111 rotates along the axis with the cylindrical rod milling 41.
As an alternative embodiment, the connection module 12, after being connected to the linear displacement sensor assembly 11 and the hip bone 7, does not limit the free change of posture of the cylindrical rod 41 relative to the hip bone 7.
As an alternative embodiment, the relative position and posture of the sliding sleeve 112 to the hip bone 7 does not change when the cylindrical rod 41 is moved in the axial direction.
As an optional embodiment, the orthopedic surgical tool positioning device based on sensor fusion is used for implementing an orthopedic surgical tool positioning method based on sensor fusion, and comprises the following steps:
s101, planning before operation and preparing equipment;
s102, installing the hip array 2 on the anterior superior iliac spine of the opposite side of the hip operation, picking up anatomical feature points of the hip by using another probe array different from the hip array, and realizing hip registration according to the probe position provided by the monocular navigation system 6 relative to the coordinate system information of the hip array;
s103, after the hip bone registration is completed, installing a component bone nail and a preoperatively assembled connecting module 12 on the acetabular side of the hip bone 7, putting the hemispherical abrasive drill 43 of the acetabular grinding tool into the acetabulum of the hip bone, and connecting the sliding sleeve 112 with the rotary joint 124 to realize quick butt joint of the linear displacement sensor module 11 and the connecting module 12 on the acetabular grinding tool;
s104, navigating to a pre-operation planned forward dip angle and an abduction angle by using the monocular navigation system 6;
s105, when the controller detects that the forward inclination angle and the abduction angle of the cylindrical grinding rod member 41 relative to the acetabulum are correct, the computer receives the data of the rebound type micro linear displacement sensor 113 and marks the data as a zero point axial position, namely d 0 ；
S106, under the navigation of the monocular navigation system 6, the acetabulum grinding tool 4 makes a line-fixing movement along a planned angle, so that acetabulum grinding is realized, meanwhile, the computer receives the data of the rebound type miniature linear displacement sensor 113, marks d and makes a difference with the zero point axial position, and calculates the axial relative displacement delta d=d-d of the acetabulum grinding tool 0 ；
S107, calculating the relative displacement of the hemispherical grinding ball head under the hip bone coordinate system according to the grinding angle and the displacement of the acetabular grinding tool along the axial direction; wherein the grinding angle represents the posture of the acetabulum grinding tool 4 under the hip bone coordinate system by using the axial vectorA representation; the relative displacement of the hemispherical mill ball head in the hip coordinate system is calculated as follows:
；
according to the method of sensor fusion,is accurately calculated and displayed for avoiding the risk of the acetabulum of the operative side being worn through.
As an alternative embodiment, the preoperative planning in S101 and preparing the device include:
making an operation scheme according to preoperative image information, and selecting a prosthesis installation angle in total hip replacement operation, wherein the prosthesis installation angle comprises a front inclination angle and an abduction angle;
assembling the connection module 12;
mounting a linear displacement sensor assembly 11 on an acetabular polishing tool 4, mounting a surgical power tool 5 on a rod front end 42 of the acetabular polishing tool, and mounting the tool array 3 on the surgical power tool 5;
the monocular navigation system 6 is arranged at the bedside on the operation side and is separated from the patient patella by about 50cm, so that the positioning accuracy of the monocular navigation system is improved.
As an alternative embodiment, the step S102 of installing the hip array on the anterior superior iliac spine of the opposite side of the hip surgery, picking up anatomical feature points of the hip with another probe array different from the hip array, and registering the hip based on the probe position provided by the monocular navigation system relative to the coordinate system information of the hip array includes:
mounting the hip array on the anterior superior iliac spine on the opposite side of the hip operation;
as shown in FIG. 2, a { M1} coordinate system is set on the hip array to represent the spatial pose of the hip array, denoted as the hip array coordinate system;
establishing a hip bone coordinate system { P } to represent the pose of the hip bone in space; as shown in fig. 4, the y-axis of the hip coordinate system is that the right ASIS point 71 of the hip points to the left ASIS point 72, the x-axis is that the midpoint of the two sides ASIS points to the pubic symphysis point 73, and the z-axis is obtained by x-axis, y-axis cross multiplication, and the origin of coordinates is set at the midpoint of the two sides ASIS points; wherein, the ASIS (Anterior Superior Iliac Spine, ASIS) is the anterior superior iliac spine of the opposite side of the patella operation;
the relative pose of the hip coordinate system { P } and the hip array coordinate system { M1} is achieved through hip registration, namely, the expression of the x, y, z axes and the origin in the hip array coordinate system { M1} in the hip coordinate system { P } is determined, and the steps are as follows:
picking up different anatomical feature points on the hip bone by using another probe array different from the hip bone array, including picking up three points of ASIS points on the left side and the right side and a pubic symphysis midpoint;
the monocular navigation system simultaneously tracks the hip array and the probe array and calculates the three-dimensional position coordinates of the feature points in the hip array coordinate system { M1 }.
As an optional implementation mode, the hip bone coordinate system can also be established in other modes, so that the implementation of the method is not influenced, in addition, in a system for assisting joint replacement surgery by using a navigation technology, the relative pose relation is used, the definition of the coordinate system does not influence the technical implementation, and the system can be determined by a system designer according to actual conditions.
As an alternative embodiment, besides the coordinate system establishment method shown in fig. 2, the hip bone array coordinate system can also be established in other ways, and can be determined by the system designer according to the actual situation.
As an alternative embodiment, the hip registration method used in the method provided by the invention is not limited to a quick method with only three points, but other conventional registration methods and the like can be used.
As an alternative embodiment, the method for calculating the grinding angle in S107 is as follows:
as shown in FIG. 1, the surgical power tool coordinate system is noted as { T }, the pose of the acetabular shell tool is noted as vector n, which is expressed in the surgical power tool coordinate system { T }, i.e.；
Determining the relative pose of the surgical power tool coordinate system { T } and the hip bone coordinate system { P }, byThe calculation is shown as follows:
；
wherein { M2} is a tool array coordinate system representing the pose of a tool array mounted on the surgical power tool;obtained by hip registration; c represents the monocular camera coordinate system { C }, -A }>Tracking the hip bone array by a monocular camera;tracking installation in surgery by monocular cameraObtaining a tool array on the power tool; />Obtained from mechanical parameters;
homogeneous matrixSplit into rotation matrices->And displacement vector->：
；
Direction vectorBy->The posture of the acetabulum polishing tool under the hip bone coordinate system is obtained by converting the surgical power tool coordinate system { T } into the hip bone coordinate system { P }:
；
is a three-dimensional vector, expressed as +.>Wherein n is x 、n y 、n z Vectors respectively->X, y, z values in the hip coordinate system;
as shown in fig. 5, the abduction angle is calculated as follows:
；
as shown in fig. 6, the pretilt angle is calculated as follows:
。
as an alternative embodiment, besides the coordinate system establishment method shown in fig. 2, the surgical power tool coordinate system, the probe array coordinate system and the camera coordinate system can also be established in other ways, and can be determined by a system designer according to practical situations.
The invention provides a positioning device of an orthopedic operation tool based on sensor fusion, which has the following technical advantages compared with the prior art:
1. according to the actual demands in hip joint replacement surgery, a combined structure design of a linear displacement sensor and an acetabulum polishing tool is provided, the design creatively installs the rebound type linear displacement sensor on a grinding rod, and meanwhile, the sensor is connected with the hip bone through a specially designed connecting module, so that the grinding rod is not limited to freely change in posture relative to the hip bone, namely, the existing operation flow is not influenced; when the grinding rod moves along the axial direction of the grinding rod, the connecting module can limit the sliding sleeve and the hip bone not to change in relative position and posture, and the linear displacement sensor arranged on the grinding rod can accurately measure the axial displacement of the grinding rod;
2. the scheme of sensor fusion is provided, namely, a monocular navigation system is utilized to help a doctor find a proper bone grinding posture, a linear displacement sensor module is utilized to help calculate the axial displacement of the bone grinding, and the two data are fused, so that the doctor can be helped to calculate the relative displacement of the drill grinding ball head under the hip bone coordinate system more accurately, and the doctor is helped to avoid the risk of grinding the acetabulum on the operative side of the patient.
In addition, the sensor fusion mode provided by the invention can be applied to bone grinding positioning, test die mounting and prosthesis mounting positioning. The method provided by the invention is not limited to supine position total hip replacement, but is also applicable to lateral position.
In the foregoing, only the specific embodiments of the present disclosure are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present disclosure is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure, and these modifications or substitutions should be included in the scope of the present disclosure.
Claims (10)
1. An orthopedic surgical tool positioning device based on sensor fusion, comprising: hip bone array, tool array, monocular navigation system, linear displacement sensor, acetabulum grinding tool, and operation power tool;
the monocular navigation system comprises a monocular camera, a lens, an annular near infrared light source and a near infrared filter; the linear displacement sensor comprises a linear displacement sensor assembly module and a connecting module; the acetabulum polishing tool comprises a cylindrical grinding rod piece, the front end of the rod piece and a hemispherical grinding drill; wherein the front end of the rod is used for being connected with the operation power tool, and the tool array is used for being installed on the operation power tool;
the annular near infrared light source in the monocular navigation system emits near infrared light to a hip bone array fixed on a measured object, a reflecting small ball on the hip bone array passes through the near infrared filter and the lens and is finally imaged by the monocular camera, and the monocular navigation system calculates the relative three-dimensional pose of the hip bone array and the monocular camera by imaging the reflecting small ball of the hip bone array in the monocular camera; similarly, the monocular navigation system calculates the relative three-dimensional pose of the tool array and the monocular camera by imaging the reflective pellets of the tool array in the monocular camera;
the linear displacement sensor assembly die set is connected with the acetabulum polishing tool, and the connecting module is connected with the linear displacement sensor assembly die set.
2. The orthopedic surgical tool positioning device based on sensor fusion according to claim 1, wherein the linear displacement sensor assembly comprises a component torus, a sliding sleeve and a rebound type miniature linear displacement sensor; the connecting module comprises a component bone nail, a single-needle bone nail clamping plate, a straight rod, a rotary joint and a spherical joint.
3. The orthopedic surgical tool positioning device based on sensor fusion according to claim 2, wherein the component torus is configured to be mounted and fixed to the cylindrical rod-grinding member by screws, and to ensure that the component torus and the cylindrical rod-grinding member do not move relative to each other; the sliding sleeve is sleeved on the cylindrical grinding rod piece and is used for ensuring the relative displacement of the sliding sleeve along the axis of the cylindrical grinding rod piece and the relative rotation around the axis of the cylindrical grinding rod piece.
4. The orthopedic surgical tool positioning device based on sensor fusion of claim 2, wherein said resilient micro linear displacement sensor comprises an outer tube and a core; one end of the outer tube is connected with the sliding sleeve in an integrated design, and the outer tube is limited by the sliding sleeve and can only move along the axial direction of the cylindrical grinding rod piece; the end point of the core body is in point contact with the part ring body, and the rebound type miniature linear displacement sensor enables the end point of the core body to be attached to the part ring body and not to move relatively along the axial direction of the cylindrical grinding rod piece; the rebound type miniature linear displacement sensor is used for accurately calculating the relative displacement of the sliding sleeve along the axial direction of the cylindrical grinding rod member in real time.
5. The bone surgery tool positioning device based on sensor fusion according to claim 2, wherein the component bone nail is used for connecting with hip bone, the single needle bone nail splint is clamped on the component bone nail, one end of the straight rod is connected with the single needle bone nail splint through a spherical joint, and the other end is connected with a sliding sleeve sliding on the cylindrical grinding rod member through a rotary joint.
6. The bone surgical tool positioning device based on sensor fusion of claim 5, wherein the sliding sleeve is connected to the hip bone by the component bone pin, the single pin bone pin splint, the straight rod, the rotary joint, and the spherical joint; the rotary joint is provided with a quick-dismantling design, so that the connection between the straight rod and the sliding sleeve is conveniently and quickly disconnected.
7. The orthopedic surgical tool positioning device based on sensor fusion according to claim 6, wherein the orthopedic surgical tool positioning device based on sensor fusion is used for realizing an orthopedic surgical tool positioning method based on sensor fusion, and comprises the following steps:
s101, planning before operation and preparing equipment;
s102, installing a hip bone array on the anterior superior iliac spine of the opposite side of the hip bone operation, picking up anatomical feature points of the hip bone by using another probe array different from the hip bone array, and realizing hip bone registration according to the probe position provided by the monocular navigation system relative to the coordinate system information of the hip bone array;
s103, after the hip bone registration is completed, installing a part bone nail and a preoperatively assembled connecting module on the acetabular side of the hip bone; placing the hemispherical abrasive drill of the acetabular grinding tool into the acetabulum of the hip bone, and connecting the sliding sleeve with the rotary joint to realize quick butt joint of a linear displacement sensor die assembly and a connecting die set on the acetabular grinding tool;
s104, navigating to a pre-operation planned forward inclination angle and an abduction angle by using a monocular navigation system;
s105, when the controller detects that the forward inclination angle and the abduction angle of the cylindrical grinding rod member relative to the acetabulum are correct,the computer receives the data of the rebound type micro linear displacement sensor and marks the data as the zero axial position, namely d 0 ；
S106, under the navigation of the monocular navigation system, the acetabulum polishing tool makes a line-fixing movement along a planned angle, so that acetabulum polishing is realized, meanwhile, the computer receives the data of the rebound type miniature linear displacement sensor, marks d and makes a difference with the zero axial position, and calculates the axial relative displacement delta d=d-d of the acetabulum polishing tool 0 ；
S107, calculating the relative displacement of the hemispherical grinding ball head under the hip bone coordinate system according to the grinding angle and the displacement of the acetabular grinding tool along the axial direction; wherein the grinding angle represents the posture of the acetabulum grinding tool under the hip bone coordinate system and uses the axial vectorA representation; the relative displacement of the hemispherical mill ball head in the hip coordinate system is calculated as follows:
；
according to the method of sensor fusion,is accurately calculated and displayed for avoiding the risk of the acetabulum of the operative side being worn through.
8. The orthopedic surgical tool positioning device based on sensor fusion of claim 7, wherein said preoperative planning and equipment preparation in S101 comprises:
making an operation scheme according to preoperative image information, and selecting a prosthesis installation angle in total hip replacement operation, wherein the prosthesis installation angle comprises a front inclination angle and an abduction angle;
assembling a connecting module;
mounting a linear displacement sensor assembly module on an acetabulum grinding tool, mounting a surgical power tool on the front end of a rod piece of the acetabulum grinding tool, and mounting the tool array on the surgical power tool;
the monocular navigation system was placed at the bedside on the operative side.
9. The bone surgery tool positioning device according to claim 7, wherein the installing the hip array on the anterior superior iliac spine of the opposite side of the hip surgery in S102, picking up anatomical feature points of the hip with another probe array different from the hip array, and registering the hip based on the probe position provided by the monocular navigation system relative to the coordinate system information of the hip array, comprises:
mounting the hip array on the anterior superior iliac spine on the opposite side of the hip operation;
setting an { M1} coordinate system on the hip bone array for representing the pose of the hip bone array in space, and marking the pose as the hip bone array coordinate system;
establishing a hip bone coordinate system { P } to represent the pose of the hip bone in space; wherein, the y-axis of the hip bone coordinate system is that the right ASIS point of the hip bone points to the left ASIS point, the x-axis is that the midpoint of the two ASIS points to the pubic symphysis point, the z-axis is obtained by the y-axis cross multiplication according to the x-axis, and the origin of coordinates is arranged at the midpoint of the two ASIS points;
the relative pose of the hip coordinate system { P } and the hip array coordinate system { M1} is achieved through hip registration, namely, the expression of the x, y, z axes and the origin in the hip array coordinate system { M1} in the hip coordinate system { P } is determined, and the steps are as follows:
picking up different anatomical feature points on the hip bone by using another probe array different from the hip bone array, including picking up three points of ASIS points on the left side and the right side and a pubic symphysis midpoint;
the monocular navigation system simultaneously tracks the hip array and the probe array and calculates the three-dimensional position coordinates of the feature points in the hip array coordinate system { M1 }.
10. The orthopedic surgical tool positioning device based on sensor fusion according to claim 9, wherein the grinding angle calculating method in S107 is as follows:
the coordinate system of the surgical power tool is { T }, and the acetabulumThe pose of the abrading tool is noted as vector n, which is expressed in the surgical power tool coordinate system { T }, i.e；
Determining the relative pose of the surgical power tool coordinate system { T } and the hip bone coordinate system { P }, byThe calculation is shown as follows:
；
wherein { M2} is a tool array coordinate system representing the pose of a tool array mounted on the surgical power tool;obtained by hip registration; c represents the monocular camera coordinate system { C }, -A }>Tracking the hip bone array by a monocular camera; />Tracking a tool array mounted on the surgical power tool by a monocular camera; />Obtained from mechanical parameters;
homogeneous matrixSplit into rotation matrices->And displacement vector->：
；
Direction vectorBy->The posture of the acetabulum polishing tool under the hip bone coordinate system is obtained by converting the surgical power tool coordinate system { T } into the hip bone coordinate system { P }:
；
is a three-dimensional vector, expressed as +.>Wherein n is x 、n y 、n z Vectors respectively->X, y, z values in the hip coordinate system;
the abduction angle calculation formula is as follows:
；
the forward rake angle calculation formula is as follows:
。
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