CN219579025U - Full-functional orthopedic operation control system - Google Patents

Abstract

The utility model provides a full-functional orthopedic operation control system, which comprises a main control machine, a navigation positioning component and a mechanical arm, wherein the main control machine comprises a spine application component, a trauma application component and a joint application component, and the spine application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when spine operation is performed based on the spatial position relation among a patient acquired from the navigation positioning component, the mechanical arm and an operation tool; the trauma application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when a trauma operation is performed based on the spatial position relation; the joint application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when the joint operation is performed based on the spatial position relation. For different types of orthopedic surgery, the corresponding equipment does not need to be replaced.

Description

Full-functional orthopedic operation control system

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a full-function orthopedic operation control system.

Background

Orthopedic surgery refers to a form of surgery in which a bone surgeon uses a certain method to treat health problems such as injuries to the musculoskeletal system.

Traditional orthopedic surgery is independently finished by doctors, the surgical effect is too dependent on the experience of the doctors, large incisions, high radiation and the like can increase the surgical risk, and the accuracy and stability of the surgery are not high. Based on the above, an orthopedic operation system based on an orthopedic operation robot is generated, and the orthopedic operation system can be used for assisting a doctor in carrying out preoperative planning, intraoperative navigation positioning and operation, and has the advantages of accurate positioning, shortened operation time, reduced radiation quantity received by the doctor and the like.

However, current orthopedic surgical systems are generally directed to a certain type of orthopedic surgery, such as orthopedic surgical systems suitable for spinal surgery, orthopedic surgical systems suitable for joint surgery, and the like. Because of the different types of orthopedic operations, including spinal operations, orthopedic operations, joint operations, etc., current orthopedic operation systems cannot be applied to a variety of different types of orthopedic operations.

Disclosure of Invention

The utility model provides a full-functional orthopedic operation control system which is suitable for various types of orthopedic operations and solves the problem that the existing orthopedic operation system needs to replace equipment aiming at different types of orthopedic operations.

In a first aspect, the utility model provides a full-functional orthopedic surgery control system, comprising a main control computer, a navigation positioning component and a mechanical arm, wherein the main control computer comprises a spine application component, a trauma application component and a joint application component, wherein:

the spine application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when spine operation is performed based on the spatial position relation among the patient, the mechanical arm and the operation tool acquired from the navigation positioning component;

the trauma application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when a trauma operation is performed based on the spatial position relation;

the joint application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when the joint operation is performed based on the spatial position relation.

In one possible embodiment, the spinal application component comprises a pre-operative planning component, wherein:

the preoperative planning component comprises a first image importing sub-component, a first image segmentation reconstruction sub-component, a first spinal surgery planning sub-component, a first image acquisition sub-component, a first image registration sub-component and a first execution sub-component;

The first image importing component, the first image segmentation reconstruction sub-component, the first spinal surgery planning sub-component and the first execution sub-component are sequentially connected;

the first image registration sub-component is connected with the first image acquisition sub-component, the first image introduction sub-component and the first execution sub-component;

the first spinal surgery planning sub-component is connected with the navigation positioning component, and the first execution sub-component is connected with the mechanical arm.

In one possible embodiment, the spinal application component comprises an intraoperative planning component, wherein:

the intraoperative planning component comprises a second image acquisition sub-component, a second image segmentation reconstruction sub-component, a second image registration sub-component, a second spine surgery planning sub-component and a second execution sub-component;

the second image acquisition sub-component is connected with the second image segmentation reconstruction sub-component and the second image registration sub-component;

the second spinal surgery planning sub-component connects the second image segmentation reconstruction sub-component and the second execution sub-component;

the second image registration sub-component is also connected to the second execution sub-component;

the second spinal surgery planning sub-component is connected with the navigation positioning component, and the second execution sub-component is connected with the mechanical arm.

In one possible embodiment, the trauma application component includes a third image acquisition sub-component, a trauma procedure planning sub-component, a third image registration sub-component, and a third execution sub-component, wherein:

the third image acquisition sub-component, the wound operation planning sub-component and the third execution sub-component are sequentially connected;

the third image registration sub-component is respectively connected with the third image acquisition sub-component and the third execution sub-component;

the trauma operation planning sub-component is connected with the navigation positioning component, and the third execution sub-component is connected with the mechanical arm.

In one possible embodiment, the system further comprises an optical probe, the joint application component comprising a knee joint application component and a hip joint application component, wherein:

the knee joint application component is respectively connected with the optical probe, the navigation positioning component and the mechanical arm;

the hip joint application component is respectively connected with the optical probe, the navigation positioning component and the mechanical arm.

In one possible embodiment, the knee joint application component includes a second image importing sub-component, a third image segmentation reconstruction sub-component, a knee joint surgical planning sub-component, a fourth image registration sub-component, and a fourth execution sub-component;

The second image importing sub-component, the third image segmentation reconstruction sub-component, the knee joint operation planning sub-component and the fourth execution sub-component are sequentially connected;

the fourth image registration sub-component is respectively connected with the second image guiding sub-component, the fourth execution sub-component and the optical probe;

the knee joint operation planning sub-component is connected with the navigation positioning component, and the fourth execution sub-component is connected with the mechanical arm.

In one possible embodiment, the hip application component includes a third image-importing sub-component, a fourth image-segmentation reconstruction sub-component, a hip-surgery planning sub-component, a fifth image-registration sub-component, and a fifth execution sub-component;

the third image importing sub-component, the fourth image segmentation reconstruction sub-component, the hip joint operation planning sub-component and the fifth execution sub-component are sequentially connected;

the fifth image registration sub-component is respectively connected with the third image introducing component, the fifth execution sub-component and the optical probe;

the hip joint operation planning sub-component is connected with the navigation positioning component, and the fifth execution sub-component is connected with the mechanical arm.

In one possible embodiment, the navigational positioning assembly includes a navigational camera, a patient tracker, a robotic arm tracker mounted on the robotic arm, and a surgical tool tracker mounted on a surgical tool, wherein:

the patient tracker, the mechanical arm tracker and the surgical tool tracker are all connected with the navigation camera;

the navigation camera is connected to the spinal application component, the trauma application component, and the joint application component, respectively.

In one possible embodiment, the system further comprises an actuator disposed at the distal end of the mechanical arm, the actuator being rigidly connected to the mechanical arm.

In a possible implementation manner, the main control machine further comprises an information input component and an information output component, wherein:

the information input component connects the spine application component, the trauma application component, and the joint application component;

the information output part is connected with the mechanical arm.

The full-functional orthopedic operation control system comprises a main control machine, a navigation positioning component and a mechanical arm, wherein the main control machine comprises a spine application component, a trauma application component and a joint application component, and the spine application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when spine operation is performed based on the spatial position relation among a patient, the mechanical arm and an operation tool obtained from the navigation positioning component; the trauma application part is respectively connected with the navigation positioning part and the mechanical arm and is used for controlling the mechanical arm to move when a trauma operation is performed based on the spatial position relation; the joint application part is respectively connected with the navigation positioning part and the mechanical arm and is used for controlling the mechanical arm to move when the joint operation is performed based on the spatial position relation. After the navigation positioning component acquires the spatial position relation among the patient, the mechanical arm and the operation tool, the spine application component can assist in completing the spine operation based on the spatial position relation, the trauma application component can assist in completing the trauma operation based on the spatial position relation, the joint application component can assist in completing the joint operation based on the spatial position relation, and the operation is convenient and quick without changing corresponding equipment aiming at different types of orthopedic operations.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a full-function orthopedic operation control system according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a full-functional orthopedic operation control system according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of an actuator according to an embodiment of the present utility model;

FIG. 4 is a schematic illustration of the construction of a spinal application component provided in an embodiment of the present utility model;

FIG. 5 is a schematic structural view of a wound application member provided in an embodiment of the present utility model;

fig. 6 is a schematic structural view of a joint application component according to an embodiment of the present utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Orthopedic surgery is a form of surgery in which orthopedic doctors use surgical or non-surgical methods to treat injuries or various health problems of the musculoskeletal system. The bone surgery is classified according to the type of surgery, and may be classified into joint surgery, spinal surgery, trauma surgery, etc.

The traditional bone surgery adopts a freehand operation mode, the operation effect is too dependent on the experience of a doctor of a main knife, and both large incisions and high radiation amount can increase the operation risk, so that the accuracy and stability of the operation are required to be improved.

The orthopedic operation navigation positioning system is suitable for various orthopedic operations such as trauma, spinal column, joint and the like, is used for assisting doctors in carrying out preoperative planning and intraoperative navigation positioning and operation, and has the advantages of accurately positioning, shortening operation time, reducing radiation dose born by doctors and the like.

At present, the surgical robots suitable for the spinal column comprise Mazor X and the like, the surgical robots suitable for the joints comprise MAKO RIO and the like, and no full orthopedic surgical control system suitable for the spinal column, the joint and the wound is available.

Based on the above, the embodiment of the utility model provides a full-function orthopedic operation control system suitable for wounds, spines and joints, and based on a unified hardware platform and software architecture, different matched end tools are selected according to different operation formulas, so that the purpose of assisting a doctor in completing an operation is achieved.

A full-function orthopedic operation control system provided by an embodiment of the present utility model will be described with reference to fig. 1.

Fig. 1 is a schematic structural diagram of a full-functional orthopedic operation control system according to an embodiment of the present utility model, as shown in fig. 1, including a main control unit 11, a navigation positioning unit 12 and a mechanical arm 13, wherein the main control unit 11 includes a spine application unit 111, a trauma application unit 112 and a joint application unit 113, and the main control unit 11 includes:

the spine application part 111 is respectively connected with the navigation positioning part 12 and the mechanical arm 13 and is used for controlling the mechanical arm 13 to move when spine surgery is performed based on the spatial position relation among the patient, the mechanical arm 13 and the surgical tool acquired from the navigation positioning part 12;

the trauma application part 112 is respectively connected with the navigation positioning part 12 and the mechanical arm 13 and is used for controlling the mechanical arm 13 to move when performing a trauma operation based on the spatial position relation;

the joint application part 113 is connected to the navigation positioning part 12 and the mechanical arm 13, respectively, and is used for controlling the mechanical arm 13 to move when performing joint surgery based on the spatial position relationship.

The embodiment of the utility model provides an integrated full-functional orthopedic operation control system which can be applied to different types of orthopedic operations such as spinal operations, trauma operations, joint operations and the like and assist doctors to perform the different types of orthopedic operations.

The navigation positioning component 12 may be configured to obtain a spatial position relationship among the patient, the mechanical arm 13, and the surgical tool, and send the spatial position relationship to the main control computer 11, and the main control computer 11 determines a corresponding surgical scheme based on the spatial position relationship to control the mechanical arm 13 to move.

The main control computer 11 comprises different application components for assisting in performing different types of bone surgery. The spine application part 111 included in the main control computer 11 may be used to assist in performing a spine surgery, specifically, after the spine application part 111 acquires a spatial position relationship, a target spine surgery scheme may be determined according to the spatial position relationship, and the target spine surgery scheme may include various data in the spine surgery, such as a used tool, a tool model, a spine surgery procedure, and the like. The spinal application component 111 then sends a first control instruction to the robotic arm 13 based on the targeted spinal surgical plan to control the robotic arm 13 motion. The mechanical arm 13 is connected with a surgical tool, and under the control of the first control instruction, the mechanical arm 13 can drive the surgical tool to move, so that the spine surgery is assisted to be completed.

The wound application unit 112 included in the main control unit 11 may be used to assist in performing a wound operation, and in particular, the wound application unit 112 may determine a target wound operation scheme based on the spatial positional relationship after acquiring the spatial positional relationship. The wound application component 112 then sends a second control instruction to the robotic arm 13 based on the target wound surgical plan to control the robotic arm 13 movement. The mechanical arm 13 drives the surgical tool to move under the control of the second control instruction, thereby assisting in completing the wound operation.

The joint application unit 113 included in the main control unit 11 may be used to assist in performing a joint operation, and specifically, the joint application unit 113 may determine a target joint operation scheme according to a spatial positional relationship after acquiring the spatial positional relationship. Then, the joint application part 113 transmits a third control instruction to the robot arm 13 based on the target joint surgery scheme to control the movement of the robot arm 13. The mechanical arm 13 drives the surgical tool to move under the control of the third control instruction, thereby assisting in completing the joint surgery.

The full-functional orthopedic operation control system comprises a main control machine, a navigation positioning component and a mechanical arm, wherein the main control machine comprises a spine application component, a trauma application component and a joint application component, and the spine application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when spine operation is performed based on the spatial position relation among a patient, the mechanical arm and an operation tool obtained from the navigation positioning component; the trauma application part is respectively connected with the navigation positioning part and the mechanical arm and is used for controlling the mechanical arm to move when a trauma operation is performed based on the spatial position relation; the joint application part is respectively connected with the navigation positioning part and the mechanical arm and is used for controlling the mechanical arm to move when the joint operation is performed based on the spatial position relation. After the navigation positioning component acquires the spatial position relation among the patient, the mechanical arm and the operation tool, the spine application component can assist in completing the spine operation based on the spatial position relation, the trauma application component can assist in completing the trauma operation based on the spatial position relation, the joint application component can assist in completing the joint operation based on the spatial position relation, and the operation is convenient and quick without changing corresponding equipment aiming at different types of orthopedic operations.

The following description will be made in connection with the construction of each application part and the procedure for assisting in performing the corresponding operation, respectively.

Fig. 2 is a schematic structural diagram of a full-functional orthopedic operation control system according to an embodiment of the present utility model, as shown in fig. 2, including a main control unit 11, a navigation positioning unit 12, a mechanical arm 13, and an actuator 14, where the main control unit 11 includes a spine application unit 111, a trauma application unit 112, and a joint application unit 113.

The actuator 14 is disposed at the end of the mechanical arm 13, the actuator 14 is rigidly connected to the mechanical arm 13, and the actuator 14 is used for moving to a planned position and maintaining a desired posture under the control of the mechanical arm 13.

Depending on the type of surgery, the actuators may be classified into those suitable for spinal surgery, those suitable for trauma surgery, those suitable for hip surgery, and those suitable for knee surgery. Fig. 3 is a schematic view of an actuator according to an embodiment of the present utility model, and as shown in fig. 3, several different actuators are exemplified, wherein the actuator in the lower right corner of fig. 3 is an actuator suitable for joint surgery, and the 3 actuators in the upper left corner, lower left corner and upper right corner of fig. 3 are actuators suitable for spinal surgery and trauma surgery. According to different operation types, different operation navigation tools are also provided to be matched with an actuator, such as tools including a skin breaker, a high-speed grinding drill, a grinding drill sleeve, an open circuit device, a screw tap and the like in spinal operation. For other types of orthopedic surgery, corresponding surgical navigation tools can be set to match with the executors, and details are not repeated here.

The main control computer 11 further comprises an information input part 114 and an information output part 115, wherein the information input part 114 and the information output part 115 can be used for interaction between doctors and the full-function orthopedic operation control system. The information input section 114 connects the spinal application section 111, the trauma application section 112, and the joint application section 113, and the information output section 115 connects the robot arm 13.

After a certain surgical application component in the main control computer 11 determines the target surgical plan, if the doctor needs to adjust, corresponding adjustment information can be input through the information input component 114, and then the information input component 114 adjusts the corresponding component according to the input adjustment information.

For example, the doctor inputs information for adjusting the position of the actuator module through the information input unit 114, and the information input unit 114 controls and adjusts the position of the actuator module connected to the robot arm 13 based on the inputted position adjustment information; for example, a doctor inputs information for selecting a surgical operation step through the information input part 114, and the information input part 114 selects a corresponding surgical operation step in response to the input selection information; for example, a doctor inputs information for confirming a surgical procedure through the information input part 114, and the information input part 114 is also used to confirm a corresponding surgical procedure in response to the input confirmation information, and so on.

The information output unit 115 is used to display the current state of the robot arm 13, such as whether the robot arm 13 is in place, whether the accuracy meets the system requirements, whether a surgical operation can be performed, and the like. Through the mode, a doctor can leave away the doctor display screen in the operation execution stage, and can finish operation through the main control computer 11 only by focusing on an operation area, so that operation smoothness and convenience are improved.

The navigational positioning assembly 12 includes a navigational camera 121, a patient tracker 122, a robotic arm tracker 123 mounted on the robotic arm 13, and a surgical tool tracker 124 mounted on the surgical tool. The patient tracker 122, the robotic arm tracker 123, and the surgical tool tracker 124 are all connected to a navigation camera 121, and the navigation camera 121 is connected to the spinal application component 111, the trauma application component 112, and the joint application component 113, respectively.

The patient tracker 122 is mountable to a patient for acquiring a pose of the patient; the mechanical arm tracker 123 is used for acquiring the pose of the mechanical arm 13; the surgical tool tracker 124 is used to acquire the pose of the surgical tool; the navigation camera 121 may obtain the pose of the patient, the pose of the mechanical arm 13, and the pose of the surgical tool, and may obtain the spatial positional relationship among the patient, the mechanical arm 13, and the surgical tool according to the pose of the patient, the pose of the mechanical arm 13, and the pose of the surgical tool.

The main function of the main control computer 11 is to interconnect and communicate data with the navigation positioning component and the mechanical arm 13, acquire the spatial position relation output by the navigation positioning component 12, and send a control instruction to the mechanical arm 13 to enable the mechanical arm 13 to move according to the plan. The main control computer 11 includes a surgical application unit, which performs planning of a surgical plan based on a spatial positional relationship among the patient, the robot arm 13 and the surgical tool, thereby performing a corresponding orthopedic operation. The spine application part 111 in the main control computer 11 can control the mechanical arm 13 to move to perform spine surgery on a patient, the trauma application part 112 can control the mechanical arm 13 to move to perform trauma surgery on the patient, and the joint application part 113 can control the mechanical arm 13 to move to perform joint surgery on the patient, which are described below with reference to the accompanying drawings.

Fig. 4 is a schematic structural view of a spinal application component provided in an embodiment of the present utility model, and as shown in fig. 4, the spinal application component includes a pre-operative planning component 41 and an intra-operative planning component 42, the pre-operative planning component 41 is used for assisting in performing a spinal operation based on the pre-operative planning, and the intra-operative planning component 42 is used for assisting in performing the spinal operation based on the intra-operative planning.

The scenes aimed at by the spine surgery can comprise, for example, spine fracture, lumbar disc herniation, spine backside herniation, nerve compression and the like, and the planning modes of the spine surgery are different according to different scenes. The planning modes of the spine surgery mainly include two kinds, one is a preoperative planning mode, and is executed by the preoperative planning unit 41; another approach to intraoperative planning is performed by intraoperative planning component 42.

It should be noted that the planning mode of the spinal surgery can be set according to actual needs. For example, a doctor may select one of the planning methods through the information input part 114 in the main control computer 11, and then the information input part 114 determines the corresponding planning method in response to the selection operation of the doctor.

For a spine surgery of a pre-operative planning mode, the pre-operative planning component 41 comprises a first image-introducing sub-component 411, a first image-segmentation reconstruction sub-component 412, a first spine surgery planning sub-component 413, a first image-acquisition sub-component 414, a first image-registration sub-component 415 and a first execution sub-component 416, wherein:

the first image importing sub-component 411, the first image segmentation reconstruction sub-component 412, the first spinal surgery planning sub-component 413, and the first executing sub-component 416 are connected in sequence.

The first image registration sub-section 415 connects the first image acquisition sub-section 414, the first image import sub-section 411, and the first execution sub-section 416.

The first spinal surgery planning sub-component 413 is coupled to the navigational positioning component and the first performance sub-component 416 is coupled to the robotic arm.

The first image importing sub-component 411 is used to import pre-operative spine images of a patient.

The pre-operative spine image is a medical image obtained by photographing the spine of the patient before performing the spine operation, and may be an image such as an electronic computed tomography (Computed Tomography, CT) or a magnetic resonance imaging (Magnetic Resonance Imaging, MRI).

The first image segmentation reconstruction sub-component 412 is configured to perform an image segmentation reconstruction process on the pre-operative spine image to obtain a first three-dimensional model of the spine of the patient.

After the first image importing sub-component 411 imports the pre-operative spine image of the patient, the first image segmentation reconstruction sub-component 412 may acquire the pre-operative spine image, and then perform image segmentation reconstruction processing on the pre-operative spine image according to an image segmentation and reconstruction algorithm, thereby obtaining a first spine three-dimensional model of the patient.

The first spinal surgery planning sub-component 413 is configured to plan a corresponding initial spinal surgery plan based on the first three-dimensional model of the spinal column and the spatial positional relationship.

After the first three-dimensional spine model is obtained, the first spinal surgery planning sub-component 413 may perform surgery plan based on the first three-dimensional spine model and the spatial position relationship to obtain an initial spinal surgery plan for the first three-dimensional spine model, which may include, for example, an entry point, a dead point, a diameter, a length of a pedicle screw, a model and a size of the pedicle screw, an intervertebral space treatment range, a channel, a model and a size of an interbody fusion cage, a reduced-pressure surgery plan, and the like.

The first image acquisition subassembly 414 is for acquiring an intraoperative spine image of a patient.

In the process of performing a spine surgery on a patient, two-dimensional or three-dimensional image data, i.e., an intra-operative spine image, of the spine surgical site of the patient needs to be acquired again, and the operation of acquiring the intra-operative spine image is completed by the first image acquisition sub-component 414. After acquiring the intraoperative spine image, the first image acquisition sub-component 414 sends the intraoperative spine image to the first image registration sub-component 415.

The first image registration sub-component 415 is configured to perform image registration processing on the pre-operative spine image and the intra-operative spine image to obtain first registration data between the pre-operative spine image and the intra-operative spine image.

The first image registration sub-component 415 performs a single-segment registration process of the pre-operative spine image with the intra-operative spine image using an image registration algorithm to determine first registration data between the pre-operative spine image and the intra-operative spine image. The resulting first registration data is sent by the first image registration sub-component 415 to the first execution sub-component 416.

The first execution sub-component 416 is configured to introduce an initial spinal surgical plan based on the first registration data, obtain a target spinal surgical plan, and send a first control instruction to the robotic arm based on the target spinal surgical plan.

Because the related data of the initial spine surgery scheme is aimed at the first spine three-dimensional model, the first spine three-dimensional model is obtained according to the spine image before surgery, and various data such as pose, proportion and the like of a patient in the surgery process may be different from various data of the spine image before surgery, the initial spine surgery scheme needs to be updated aiming at the spine image during surgery.

That is, in performing the spinal surgical stage, the first execution sub-component 416 determines a target spinal surgical plan based on the first registration data and the initial spinal surgical plan for the first three-dimensional model of the spine. Then, the first execution sub-component 416 controls the robotic arm to move the surgical tool to the designated spatial location according to the targeted spinal surgical plan, assisting the physician in completing the spinal surgery in the pre-operative planning mode.

For spinal surgery in an intraoperative planning mode, the intraoperative planning component 42 includes a second image acquisition subassembly 421, a second image segmentation reconstruction subassembly 422, a second image registration subassembly 423, a second spinal surgery planning subassembly 424, and a second execution subassembly 425, wherein:

the second image acquisition sub-component 421 connects the second image segmentation reconstruction sub-component 422 and the second image registration sub-component 423.

The second spinal surgical planning sub-component 424 connects the second image segmentation reconstruction sub-component 422 with the second execution sub-component 425.

The second image registration sub-assembly 423 is also connected to a second execution sub-assembly 425.

The second spinal surgical planning sub-component 424 is coupled to the navigational positioning component and the second performance sub-component 425 is coupled to the robotic arm.

The second image acquisition sub-assembly 421 is for acquiring an intraoperative spine image of a patient.

Aiming at the spine surgery in the intraoperative planning mode, the medical images to be acquired comprise intraoperative spine images of patients, wherein the intraoperative spine images are spine images shot in the spine surgery process. The second image acquisition subassembly 421, after acquiring the intraoperative spine image of the patient, may be sent to the second image segmentation reconstruction subassembly 422 and the second image registration subassembly 423.

The second image segmentation reconstruction sub-component 422 is configured to perform an image segmentation reconstruction process on the intra-operative spine image to obtain a second three-dimensional model of the spine of the patient.

After the second image segmentation reconstruction sub-component 422 acquires the intraoperative spine image, an image segmentation reconstruction process is performed on the intraoperative spine image according to an image segmentation and reconstruction algorithm, thereby obtaining a second three-dimensional model of the spine of the patient.

The second image registration sub-component 423 is configured to perform registration processing on a first image coordinate system corresponding to the intra-operative spine image and a patient space coordinate system corresponding to the patient, so as to obtain second registration data between the first image coordinate system and the patient space coordinate system.

And registering the first image coordinate system corresponding to the spine image in operation and the patient space coordinate system corresponding to the patient, so that the second spine three-dimensional model and the actual spine of the patient are corresponding. The first image coordinate system is a coordinate system corresponding to equipment for shooting spine images in operation, and the patient space coordinate system is a coordinate system established by taking a certain position of a patient as a reference point. Second registration data between the first image coordinate system and the patient space coordinate system, i.e. correspondence between the second three-dimensional model of the spine and the spine of the patient, is determined.

The second spinal surgical planning sub-component 424 is for planning a corresponding initial spinal surgical plan based on the second three-dimensional model of the spine and the spatial positional relationship.

After the second three-dimensional model of the spine is obtained, the second spinal surgery planning sub-component 424 may perform surgery plan based on the second three-dimensional model of the spine and the spatial position relationship to obtain an initial spinal surgery plan for the second three-dimensional model of the spine, which may include, for example, an entry point, a dead point, a diameter, a length of a pedicle screw, a model and a size of the pedicle screw, an intervertebral space treatment range, a channel, a model and a size of an interbody fusion cage, a reduced-pressure surgery plan, and the like.

The second execution sub-component 425 is configured to obtain a target spinal surgery plan according to the second registration data and the initial spinal surgery plan, and send a first control instruction to the mechanical arm according to the spatial position relationship and the target spinal surgery plan, so as to control the movement of the mechanical arm.

The second execution sub-component 425 combines the patient space coordinate system with the first image coordinate system during the surgical procedure using an image registration algorithm to obtain second registration data, thereby performing a surgical planning and determining a target spinal surgical plan based on the second registration data and an initial spinal surgical plan for the second spinal three-dimensional model. Then, the second execution sub-component 425 controls the robotic arm to move the surgical tool to the designated spatial location according to the targeted spinal surgical plan, assisting the physician in completing the spinal surgery in the intraoperative planning mode.

The process of performing a spinal procedure with the spinal control robot is described in the above-described embodiments with reference to fig. 4, and the process of performing a trauma procedure with the trauma control robot is described below with reference to fig. 5.

Fig. 5 is a schematic structural diagram of a wound application component according to an embodiment of the present utility model, and as shown in fig. 5, the wound application component includes a third image acquisition sub-component 51, a wound operation planning sub-component 52, a third image registration sub-component 53, and a third execution sub-component 54, where:

the third image acquisition sub-assembly 51, the wound planning sub-assembly 52 and the third execution sub-assembly 54 are connected in sequence.

The third image registration sub-section 53 is connected to the third image acquisition sub-section 51 and the third execution sub-section 54, respectively.

The trauma surgery planning sub-component 52 is connected to the navigational positioning component and the third execution sub-component 54 is connected to the robotic arm.

The third image acquisition sub-assembly 51 is used to acquire intra-operative trauma images of the patient.

The trauma surgery generally involves immediate and rapid treatment of the trauma, and therefore is primarily an intraoperative planning modality, requiring acquisition of intraoperative trauma images of the patient by a third image acquisition sub-component 51, which is then sent to a trauma surgery planning sub-component 52 and a third image registration sub-component 53. The intraoperative wound image is an image of a wound site taken during the course of performing a wound operation.

The trauma surgery planning sub-component 52 is used to obtain an initial trauma surgery plan for a trauma area of a patient from an intraoperatively created trauma image.

After the intraoperative trauma image is acquired by trauma surgery planning subassembly 52, an initial trauma surgery plan for the patient's trauma area can be obtained by analysis based on the intraoperative trauma image and spatial positional relationship.

The third image registration sub-component 53 is configured to perform registration processing on a second image coordinate system corresponding to the intraoperative trauma image and a patient space coordinate system corresponding to the patient, and determine third registration data between the second image coordinate system and the patient space coordinate system.

The third image registration sub-section 53 performs registration processing on the second image coordinate system corresponding to the intraoperative trauma image and the patient space coordinate system corresponding to the patient, thereby associating the trauma region with the intraoperative trauma image. The second image coordinate system is a coordinate system corresponding to equipment for shooting an intraoperative trauma image, and the patient space coordinate system is a coordinate system established by taking a certain position of a patient as a reference point. Third registration data between the second image coordinate system and the patient space coordinate system, i.e. the correspondence between the wound area and the intraoperative wound image, is determined.

The third execution sub-component 54 is configured to obtain a target trauma surgery plan according to the third registration data and the initial trauma surgery plan for the trauma area of the patient, and send a second control instruction to the mechanical arm according to the spatial location relationship and the target trauma surgery plan, so as to control the movement of the mechanical arm.

The third image registration sub-component 53 uses an image registration algorithm to integrate the patient coordinate system with the second image coordinate system during the procedure to obtain third registration data, which may be sent to the third execution sub-component 54. The third execution sub-component 54 performs surgical planning based on the spatial positional relationship, the third registration data, and the initial wound surgical plan to determine a target wound surgical plan for the wound area. Then, the third execution sub-component 54 controls the mechanical arm to drive the surgical tool to move to the designated spatial position according to the target trauma surgery scheme, and assists the doctor to complete the trauma surgery in the intraoperative planning mode.

The process of performing a joint operation with respect to the joint application will now be described with reference to fig. 6.

Fig. 6 is a schematic structural view of a joint application part according to an embodiment of the present utility model, and as shown in fig. 6, the joint application part includes a knee joint application part 61 and a hip joint application part 62, wherein:

The full-function orthopaedic surgical control system further includes an optical probe, and the knee joint application part 61 is connected to the optical probe, the navigation positioning part, and the mechanical arm, respectively.

The knee joint application part 61 is used for determining a target knee joint operation scheme according to the spatial position relation, and sending a fourth control instruction to the mechanical arm according to the target knee joint operation scheme to control the movement of the mechanical arm.

Specifically, the knee joint application component includes a second image importing sub-component 611, a third image segmentation reconstruction sub-component 612, a knee joint surgery planning sub-component 613, a fourth image registration sub-component 614, and a fourth execution sub-component 615, wherein:

the second image importing sub-unit 611, the third image segmentation reconstruction sub-unit 612, the knee surgery planning sub-unit 613, and the fourth execution sub-unit 615 are connected in order.

The fourth image registration sub-assembly 614 connects the second image-importation sub-assembly 611, the fourth execution sub-assembly 615, and the optical probe, respectively.

The knee surgery planning sub-component 613 is connected to the navigation positioning component and the fourth execution sub-component 615 is connected to the robotic arm.

The second image-introducing sub-component 611 is used to introduce a pre-operative knee image of the patient.

The knee joint operation is usually a preoperative planning mode, and medical images to be acquired include preoperative knee joint images of a patient, wherein the preoperative knee joint images are knee joint images shot before the knee joint operation, and the preoperative knee joint images can be images such as CT (computed tomography) images or MRI (magnetic resonance imaging) images.

The third image segmentation and reconstruction sub-component 612 is configured to perform image segmentation and reconstruction processing on the preoperative knee joint image to obtain a first bone three-dimensional model of the patient.

After the third image segmentation reconstruction sub-component 612 acquires the pre-operative knee image, an image segmentation reconstruction process is performed on the pre-operative knee image according to an image segmentation and reconstruction algorithm, thereby obtaining a first bone three-dimensional model of the patient. Wherein, for knee joint surgery, the first bone three-dimensional model is a femur three-dimensional model and a tibia three-dimensional model.

The knee surgery planning sub-component 613 is configured to obtain an initial knee surgery plan based on the first bone three-dimensional model and the spatial positional relationship.

After the first bone three-dimensional model is obtained, the knee surgery planning sub-component 613 can perform surgery plan based on the first bone three-dimensional model, resulting in an initial knee surgery plan for the first bone three-dimensional model.

Further, the full-featured orthopaedic surgical control system also includes an optical probe for determining at least one first acquisition point on the patient's intraosseous surface at the surgical site and transmitting the spatial location of the at least one first acquisition point to the knee joint application component. Aiming at knee joint operation, when the first bone three-dimensional model is a femur three-dimensional model, the bone surface of the operation area is a femur bone surface; when the first bone three-dimensional model is a tibia three-dimensional model, the operative area bone surface is a tibia bone surface.

The fourth image registration sub-unit 614 is configured to perform registration processing on a third image coordinate system corresponding to the preoperative knee joint image and a patient space coordinate system corresponding to the patient according to the spatial positions of the preoperative knee joint image and the at least one first acquisition point, and generate fourth registration data.

The fourth image registration sub-unit 614 performs registration processing on a third image coordinate system corresponding to the preoperative knee joint image and a patient space coordinate system corresponding to the patient through an image registration algorithm according to the spatial positions of the preoperative knee joint image and the at least one first acquisition point, and generates fourth registration data, so that the patient space coordinate system and the third image coordinate system are integrated based on the fourth registration data.

The fourth execution sub-component 615 is configured to determine a target knee surgery scheme according to the fourth registration data and the initial knee surgery scheme, and send a fourth control instruction to the mechanical arm according to the target knee surgery scheme, so as to control the movement of the mechanical arm.

In performing the knee surgery phase, the fourth execution sub-component 615 determines a target knee surgery plan based on the fourth registration data and the initial knee surgery plan for the first bone three-dimensional model. Then, the fourth execution sub-component 615 controls the mechanical arm to drive the surgical tool to move to the designated spatial position according to the target knee joint surgical scheme and the spatial position relation among the patient, the mechanical arm and the surgical tool, so as to assist the doctor in completing the knee joint surgery.

The hip application component 62 is configured to determine a target hip surgical plan based on the spatial positional relationship and to send a fifth control command to the robotic arm to control movement of the robotic arm in accordance with the target hip surgical plan.

The full-function orthopaedic surgical control system also includes an optical probe, and the hip application component 62 is coupled to the optical probe, the navigational positioning component, and the robotic arm, respectively.

Specifically, the hip application component 62 includes a third image importing sub-component 621, a fourth image segmentation reconstruction sub-component 622, a hip surgery planning sub-component 623, a fifth image registration sub-component 624, and a fifth execution sub-component 625, wherein:

the third image importing sub-section 621, the fourth image segmentation reconstruction sub-section 622, the hip surgery planning sub-section 623, and the fifth executing sub-section 625 are connected in order.

The fifth image registration sub-section 624 connects the third image-introducing sub-section 621, the fifth execution sub-section 625, and the optical probe, respectively.

The hip planning subassembly 623 is connected to the navigational positioning assembly and the fifth execution subassembly 625 is connected to the robotic arm.

The third image-introducing sub-unit 621 is for introducing a preoperative hip image of the patient.

The hip joint operation is usually a preoperative planning mode, the medical image to be acquired comprises a preoperative hip joint image of a patient, the preoperative hip joint image is a hip joint image shot before the hip joint operation is carried out, and the preoperative hip joint image can be an image such as CT or MRI.

The fourth image segmentation reconstruction sub-component 622 is configured to perform image segmentation reconstruction processing on the pre-operative hip image data to obtain a second bone three-dimensional model of the patient.

After the fourth image segmentation reconstruction sub-component 622 acquires the pre-operative hip image, an image segmentation reconstruction process is performed on the pre-operative hip image according to an image segmentation and reconstruction algorithm, thereby obtaining a second bone three-dimensional model of the patient. Wherein, for hip surgery, the second bone three-dimensional model is a pelvis three-dimensional model and a femur three-dimensional model.

The hip surgical planning subcomponent 623 is used to obtain an initial hip surgical plan based on the second bone three-dimensional model and the spatial positional relationship.

After the second bone three-dimensional model is obtained, the hip surgery planning subcomponent 623 may perform surgery plan based on the second bone three-dimensional model to obtain an initial hip surgery plan for the second bone three-dimensional model.

Further, the full-featured orthopaedic surgical control system also includes an optical probe for determining at least one second acquisition point on the patient's intraosseous surface at the surgical site and for transmitting the spatial location of the at least one second acquisition point to the hip application component. Aiming at hip joint operation, when the second bone three-dimensional model is a pelvis three-dimensional model, the bone surface of the operation area is a pelvis bone surface; when the second bone three-dimensional model is a femur three-dimensional model, the operative area bone surface is a femur bone surface.

The fifth image registration sub-component 624 is configured to perform registration processing on a fourth image coordinate system corresponding to the preoperative hip joint image and a patient space coordinate system corresponding to the patient according to the spatial positions of the preoperative hip joint image and the at least one second acquisition point, and generate fifth registration data.

The fifth image registration sub-component 624 performs registration processing on a fourth image coordinate system corresponding to the preoperative hip joint image and a patient space coordinate system corresponding to the patient through an image registration algorithm according to the spatial positions of the preoperative hip joint image and the at least one second acquisition point, and generates fifth registration data, so that the patient space coordinate system and the fourth image coordinate system are integrated based on the fifth registration data.

The fifth execution sub-component 625 is configured to determine a target hip surgery plan according to the fifth registration data and the initial hip surgery plan, and send a fifth control instruction to the robotic arm according to the target hip surgery plan, to control the movement of the robotic arm.

In performing the hip surgical stage, the fifth execution sub-component 625 determines a target hip surgical plan based on the fifth registration data and the initial hip surgical plan for the second bone three-dimensional model. Then, the fifth execution sub-component 625 controls the mechanical arm to drive the surgical tool to move to the designated spatial position according to the target hip surgery scheme and the spatial position relationship among the patient, the mechanical arm and the surgical tool, so as to assist the doctor in completing the hip surgery.

Furthermore, the omnidirectional tracking component is arranged at the tail end of the mechanical arm, and the range of the tracer equipment which can be identified by the optical position finder is enlarged through a plurality of groups of positioning components which are arranged along the circumferential direction of the base. Meanwhile, the normal included angle of any two tracer elements in the tracer elements included in the same positioning assembly is limited to be smaller than or equal to a certain preset angle (for example, 20 degrees), so that the omnidirectional tracking component is easier to identify by the optical position finder in the rotating process of the mechanical arm, the situation that the optical position finder loses the position of the omnidirectional tracking component when the mechanical arm rotates is reduced, and the positioning accuracy is improved.

Further, the navigation positioning component further comprises a wide-angle infrared camera, wherein the wide-angle infrared camera is arranged on the cantilever and used for acquiring images of the operation area of the patient in real time and positioning the spatial positions of the operation area of the patient and the patient tracker through characteristic recognition. Through the relative position relation between the wide-angle infrared camera and the navigation camera, the yaw angle and the pitching angle of the navigation camera are automatically adjusted, and the function of automatically driving the position of the patient tracker is realized.

In summary, the scheme of the embodiment of the utility model provides a full-functional orthopedic operation control system suitable for different types of orthopedic operations, and a main control machine can send a control instruction according to the corresponding operation type and spatial position relation to control a mechanical arm to drive an operation tool to move, so that a doctor is assisted in completing the corresponding operation, and the full-functional orthopedic operation control system is convenient and quick to operate and can be applied to different types of orthopedic operations without replacing corresponding equipment aiming at different types of orthopedic operations.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. The utility model provides a full-functional orthopedic surgery control system, its characterized in that includes main control computer, navigation positioning unit and arm, the main control computer includes backbone application unit, wound application unit and joint application unit, wherein:

the spine application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when spine operation is performed based on the spatial position relation among the patient, the mechanical arm and the operation tool acquired from the navigation positioning component;

the trauma application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when a trauma operation is performed based on the spatial position relation;

The joint application component is respectively connected with the navigation positioning component and the mechanical arm and is used for controlling the mechanical arm to move when the joint operation is performed based on the spatial position relation.

2. The system of claim 1, wherein the spinal application component comprises a preoperative planning component, wherein:

the preoperative planning component comprises a first image importing sub-component, a first image segmentation reconstruction sub-component, a first spinal surgery planning sub-component, a first image acquisition sub-component, a first image registration sub-component and a first execution sub-component;

the first image importing sub-component, the first image segmentation reconstruction sub-component, the first spinal surgery planning sub-component and the first execution sub-component are sequentially connected;

the first image registration sub-component is connected with the first image acquisition sub-component, the first image introduction sub-component and the first execution sub-component;

the first spinal surgery planning sub-component is connected with the navigation positioning component, and the first execution sub-component is connected with the mechanical arm.

3. The system of claim 1, wherein the spinal application component comprises an intraoperative planning component, wherein:

The intraoperative planning component comprises a second image acquisition sub-component, a second image segmentation reconstruction sub-component, a second image registration sub-component, a second spine surgery planning sub-component and a second execution sub-component;

the second image acquisition sub-component is connected with the second image segmentation reconstruction sub-component and the second image registration sub-component;

the second spinal surgery planning sub-component connects the second image segmentation reconstruction sub-component and the second execution sub-component;

the second image registration sub-component is also connected to the second execution sub-component;

the second spinal surgery planning sub-component is connected with the navigation positioning component, and the second execution sub-component is connected with the mechanical arm.

4. The system of claim 1, wherein the trauma application component comprises a third image acquisition sub-component, a trauma procedure planning sub-component, a third image registration sub-component, and a third execution sub-component, wherein:

the third image acquisition sub-component, the wound operation planning sub-component and the third execution sub-component are sequentially connected;

the third image registration sub-component is respectively connected with the third image acquisition sub-component and the third execution sub-component;

The trauma operation planning sub-component is connected with the navigation positioning component, and the third execution sub-component is connected with the mechanical arm.

5. The system of claim 1, further comprising an optical probe, the joint application component comprising a knee joint application component and a hip joint application component, wherein:

the knee joint application component is respectively connected with the optical probe, the navigation positioning component and the mechanical arm;

the hip joint application component is respectively connected with the optical probe, the navigation positioning component and the mechanical arm.

6. The system of claim 5, wherein the knee joint application component includes a second image importing sub-component, a third image segmentation reconstruction sub-component, a knee joint surgical planning sub-component, a fourth image registration sub-component, and a fourth execution sub-component;

the second image importing sub-component, the third image segmentation reconstruction sub-component, the knee joint operation planning sub-component and the fourth execution sub-component are sequentially connected;

the fourth image registration sub-component is respectively connected with the second image guiding sub-component, the fourth execution sub-component and the optical probe;

The knee joint operation planning sub-component is connected with the navigation positioning component, and the fourth execution sub-component is connected with the mechanical arm.

7. The system of claim 5, wherein the hip application component comprises a third image-importation sub-component, a fourth image segmentation reconstruction sub-component, a hip surgical planning sub-component, a fifth image registration sub-component, and a fifth execution sub-component;

the third image importing sub-component, the fourth image segmentation reconstruction sub-component, the hip joint operation planning sub-component and the fifth execution sub-component are sequentially connected;

the fifth image registration sub-component is respectively connected with the third image guiding sub-component, the fifth execution sub-component and the optical probe;

the hip joint operation planning sub-component is connected with the navigation positioning component, and the fifth execution sub-component is connected with the mechanical arm.

8. The system of any of claims 1-7, wherein the navigational positioning member comprises a navigational camera, a patient tracker, a robotic arm tracker mounted on the robotic arm, and a surgical tool tracker mounted on a surgical tool, wherein:

the patient tracker, the mechanical arm tracker and the surgical tool tracker are all connected with the navigation camera;

The navigation camera is connected to the spinal application component, the trauma application component, and the joint application component, respectively.

9. The system of any one of claims 1-7, further comprising an actuator disposed at an end of the robotic arm, the actuator being rigidly coupled to the robotic arm.

10. The system of claim 9, wherein the master control further comprises an information input component and an information output component, wherein:

the information input component connects the spine application component, the trauma application component, and the joint application component;

the information output part is connected with the mechanical arm.