WO2021098176A1 - 截骨校验方法、校验工具、可读存储介质及骨科手术系统 - Google Patents
截骨校验方法、校验工具、可读存储介质及骨科手术系统 Download PDFInfo
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/151—Guides therefor for corrective osteotomy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A61B90/06—Measuring instruments not otherwise provided for
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- A61B90/08—Accessories or related features not otherwise provided for
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Definitions
- the purpose of the present invention is to provide an osteotomy verification method, a verification tool, a readable storage medium, and an orthopedic surgery system to solve the problem of low accuracy of the existing osteotomy surgery.
- the position error between the calculated position information and the predetermined position information is determined, and if the position error exceeds a preset value, repositioning information is calculated and obtained, and the repositioning is performed
- the information is transmitted to the robotic arm to control the robotic arm to reposition it.
- the calculated position information includes a calculated normal vector and a calculated position
- the position error includes:
- the plane verification tool includes more than two detection planes, each of the detection planes is provided with a target, and all the detection planes are They are rotatably connected in sequence. If the number of the detection planes exceeds two, the length of the detection plane at least in the middle can be adjusted.
- the plane verification tool includes more than three detection planes rotatably connected in sequence, and at least the detection plane located in the middle has an adjustable length.
- the plane verification tool includes at least one third detection plane, the third detection plane having a first side and a second side opposite to each other, and the third detection plane There is at least one second detection plane between the first side and the first detection plane, between the third detection plane and the detection plane adjacent to the first side of the third detection plane An angle sensor is provided; a displacement sensor is provided on a detection plane located on the first side of the third detection plane and adjacent to the third detection plane, and the displacement sensor is used to sense that the third detection plane is opposite Displacement on the detection plane located on the first side and spaced adjacent to the third detection plane.
- the plane verification tool includes more than two detection planes that are rotatably connected in sequence; wherein, at least one of the detection planes is provided with the target and is provided with The detection plane of the target is a first detection plane, other detection planes adjacent to the first detection plane are second detection planes, and the target of the first detection plane is connected to the adjacent second detection plane.
- the distance between the detection planes can be adjusted, and the first detection plane is provided with a displacement sensor, and the displacement sensor is used to sense the displacement of the second detection plane relative to the target.
- the plane verification tool includes at least one third detection plane, the third detection plane having a first side and a second side opposite to each other, and the third detection plane There is at least one second detection plane between the first side and the first detection plane, between the third detection plane and the detection plane adjacent to the first side of the third detection plane An angle sensor is provided; a displacement sensor is provided on a detection plane located on the first side of the third detection plane and adjacent to the third detection plane, and the displacement sensor is used to sense that the third detection plane is opposite Displacement on the detection plane located on the first side and spaced adjacent to the third detection plane.
- a readable storage medium is also provided, on which a program is stored, and when the program is executed, the above-mentioned osteotomy verification method is implemented.
- an orthopedic surgery system which includes: a control device, a navigation device, a mechanical arm and the plane verification tool as described above;
- the navigation device is adapted to the target of the plane calibration tool to obtain position information of the target and feed the position information back to the control device;
- the control device is used to obtain the calculated position information of the current osteotomy plane according to the position information of the target of the plane verification tool, and determine the position error between the calculated position information and the predetermined position information of the planned osteotomy plane, if If the position error exceeds a preset value, the control device drives the mechanical arm to reposition.
- the plane verification tool is first used to obtain the calculated position information of the current osteotomy plane, and then based on the planned cut
- the predetermined position information of the bone plane determines the position error between the calculated position information and the predetermined position information. If the position error exceeds a preset value, the repositioning information is calculated and obtained, and the repositioning information is transmitted to Robot arm to control the robot arm for repositioning.
- the robotic arm can be positioned again, and the osteotomy plane can be corrected twice, which can improve the final osteotomy.
- the accuracy of the plane can avoid the use of additional bone nails to repeatedly fix the guide tool on the bone, reduce the traumatic surface of the patient, and shorten the operation time.
- Fig. 1 is a schematic diagram of knee joint replacement using an orthopedic surgery system according to the first embodiment of the present invention
- FIG. 3 is a schematic diagram of a plane verification tool provided in the first preferred example of Embodiment 1 of the present invention.
- FIG. 4 is a schematic diagram of the use of the plane verification tool provided in the first preferred example of Embodiment 1 of the present invention.
- FIG. 5 is a schematic diagram of a plane verification tool provided in a second preferred example of Embodiment 1 of the present invention.
- FIG. 8 is a schematic diagram of a plane verification tool provided in the fourth preferred example of Embodiment 1 of the present invention.
- FIG. 10 is a schematic diagram of a plane verification tool provided by the sixth preferred example of Embodiment 1 of the present invention.
- FIG. 11 is a schematic diagram of a plane verification tool provided in a seventh preferred example of Embodiment 1 of the present invention.
- FIG. 13 is a schematic diagram of a plane verification tool provided in the first preferred example of the second embodiment of the present invention.
- FIG. 14 is a schematic diagram of a plane verification tool provided in a second preferred example of the second embodiment of the present invention.
- FIG. 17 is a schematic diagram of a plane verification tool provided in the fourth preferred example of the second embodiment of the present invention.
- the plane verification tool includes at least one detection plane and at least one target, the target is arranged on the at least one detection plane, and the relative positional relationship between the target and the detection plane is fixed; the detection plane It is used for placing on a current osteotomy plane, and the target is used for positioning.
- the orthopedic surgery system includes a control device, a navigation device, a mechanical arm 2 and an osteotomy guide tool 4.
- the control device is a computer in some embodiments, but the present invention does not limit this.
- the computer is configured with a controller, a main display 8 and a keyboard 10, and more preferably also includes an auxiliary display 7.
- the contents displayed on the auxiliary display 7 and the main display 8 are the same, for example, both are used to display an image of the osteotomy position.
- the navigation device may be an electromagnetic positioning navigation device, an optical positioning navigation device or an electromagnetic positioning navigation device.
- the navigation device is an optical positioning navigation device. Compared with other navigation methods, the measurement accuracy is high, and the positioning accuracy of the osteotomy guide tool can be effectively improved.
- the optical positioning and navigation device is taken as an example for description, but it is not limited to this.
- the tracker 6 is used to capture the signal reflected by the tool target 3 (preferably an optical signal) and record the position of the tool target 3 (that is, the position and posture of the tool target under the base system), and then the memory of the control device
- the stored computer program controls the movement of the manipulator 2 according to the current position and the desired position of the tool target.
- the manipulator 2 drives the osteotomy guide tool 4 and the tool target 3 to move, and makes the tool target 3 reach the desired position and the desired position of the tool target 3 Corresponds to the desired position of the osteotomy guide tool 4.
- navigation markers also include femoral target 11 and tibia target 13), osteotomy guide tool 4, and other related components (such as sterile bags);
- the plane verification tool includes two first detection planes 111 and a second detection plane 112, and the second detection planes 112 are respectively rotatably adjacent to the two first detection planes 112 , And arranged in sequence in the order of the first detection plane 111, the second detection plane 112, and the first detection plane 111, that is, the second detection plane 112 is located in the middle, and the two first detection planes 111 are located on the side of the second detection plane 112.
- the length of the second detection plane 112 on both sides and located in the middle can be adjusted to be suitable for checking the three current osteotomy planes.
- the detection plane adjacent to the first side 113a of the plane 113 may be the second detection plane 112 or other third detection planes 113).
- An angle sensor 114 is arranged between the first side 113a of the plane 113;
- a detection plane on one side 113a adjacent to the third detection plane 113 (same as above, may be the second detection plane 112 or other third detection planes 113) is provided with a displacement sensor 115, the displacement sensor 115 It is used to sense that the third detection plane 113 is located on the first side 113a and is spaced and adjacent to the third detection plane 113 (it should be understood that the third detection plane 113 is spaced and adjacent to each other here).
- the detection plane may be the first detection plane 111, or may be the displacement of the second detection plane 112 or other third detection planes 113).
- the first detection plane 111 is provided with a target 200, the target 200 is preferably a reflective ball target, the first detection plane 111 and the second adjacent to it
- An angle sensor 114 is arranged between the detection planes 112, an angle sensor 114 is arranged between the second detection plane 112 and the third detection plane 113 adjacent thereto, and an angle sensor 114 is arranged between all the third detection planes 113, except Outside of a first detection plane 111 and a third detection plane 113 at the head and tail, displacement sensors 115 are provided on the other detection planes.
- the third detection plane 113 adjacent to the second detection plane 112 is referred to as the first third detection plane 113
- the third detection plane 113 adjacent to the first third detection plane 113 is referred to as the second third detection plane 113.
- Three detection planes 113, along the direction away from the first detection plane 111, the third detection plane 113 adjacent to the second third detection plane 113 is the third third detection plane 113, based on the fourth preferred embodiment of this embodiment
- the position information of the first detection plane 111, the second detection plane 112, and the first third detection plane 113 can be calculated, and then based on the position information between the first third detection plane 113 and the second third detection plane 113
- the included angle, and the displacement of the second third detection plane 113 relative to the second detection plane 112 (measured by the displacement sensor 115 on the first third detection plane 113), the second third detection plane 113 can be calculated. Detect the position information of the plane 113. It is understandable that the position information of the third third detection plane 113 can also be calculated based
- the plane verification tool includes a first detection plane 111, two second detection planes 112, and two third detection planes 113.
- the detection planes are rotatably connected, and the arrangement of the detection planes follows: the third detection plane 113, the second detection plane 112, the first detection plane 111, the second detection plane 112, and the third detection plane 113 are connected in sequence.
- the third detection planes 113 all take the direction facing the first detection plane 111 as the first side 113a, and the direction away from the first detection plane 111 as the second side 113b.
- the five detection planes are respectively used to be placed on the five current osteotomy planes.
- the number of detection planes and the arrangement of the detection planes are not limited.
- the above-mentioned multiple preferred examples are merely illustrative and not limiting.
- Those skilled in the art can follow the method disclosed in this embodiment.
- the configuration of the target, angle sensor or displacement sensor can have a certain degree of redundancy compared to the minimum required number. In this way, the redundant target, angle sensor or displacement sensor can be used to verify the calculated position information of the detection plane. In order to further improve the calculation accuracy of the detection plane, the present invention does not limit this.
Abstract
Description
Claims (18)
- 一种截骨校验方法,其特征在于,包括:计算放置于当前截骨平面上的平面校验工具的探测平面的位置信息,并将所述探测平面的位置信息作为所述当前截骨平面的计算位置信息;基于规划截骨平面的预定位置信息,确定所述计算位置信息与所述预定位置信息的位置误差,若所述位置误差超过预设值,则计算并获得重新定位信息,并将所述重新定位信息传输给机械臂,以控制机械臂进行重新定位。
- 根据权利要求1所述的截骨校验方法,其特征在于,所述计算位置信息包括计算法向量和计算位置,所述位置误差包括:基于所述规划截骨平面的预定法向量和预定位置获得的所述计算法向量与所述预定法向量之间的法向量旋转矩阵;以及所述计算位置与所述规划截骨平面的所述预定位置之间的位置偏差。
- 根据权利要求2所述的截骨校验方法,其特征在于,若所述法向量旋转矩阵和所述位置偏差中的至少一个超过预设值,则根据所述法向量旋转矩阵和所述位置偏差控制机械臂,以重新进行定位。
- 根据权利要求1所述的截骨校验方法,其特征在于,所述平面校验工具包括两个以上的探测平面,用以校验两个以上的当前截骨平面,其中至少一个所述探测平面设置有所述靶标,设置有所述靶标的所述探测平面为第一探测平面,与所述第一探测平面相邻接的其它探测平面为第二探测平面;所述计算所述探测平面的位置信息的步骤包括:计算所述第一探测平面的位置信息;获取所述第一探测平面及与其相邻的所述第二探测平面之间的第一夹 角;依据所述第一夹角,计算所述第二探测平面的位置信息。
- 根据权利要求5所述的截骨校验方法,其特征在于,所述第二探测平面与相邻的所述第一探测平面之靶标之间的距离可调节,所述计算所述探测平面的位置信息的步骤还包括:获取所述第二探测平面相对于所述靶标的位移;依据所述第一夹角及所述位移,计算所述第二探测平面的位置信息。
- 根据权利要求5或6所述的截骨校验方法,其特征在于,所述平面校验工具包括第三探测平面,所述第三探测平面的第一侧与所述第一探测平面之间至少间隔有一个所述第二探测平面;所述计算所述探测平面的位置信息的步骤包括:获取与所述第三探测平面之第一侧相邻接的探测平面的位置信息;获取所述第三探测平面及与所述第三探测平面之第一侧相邻接的探测平面之间的第二夹角;获取所述第三探测平面相对于位于所述第一侧且与所述第三探测平面间隔相邻的探测平面的位移;依据所述第二夹角和所述位移,计算所述第三探测平面的位置信息。
- 根据权利要求1所述的截骨校验方法,其特征在于,所述探测平面设有靶标,所述截骨校验方法包括对所述探测平面与所述靶标的相对位置进行校验。
- 根据权利要求8所述的截骨校验方法,其特征在于,根据利用尖头靶标对第一探测平面上的多个标记点进行的校验,得到多个标记点在靶标的反光球坐标系下的坐标,计算第一探测平面实际的位置和法向量,进而与原始数据对比,以检测平面校验工具是否发生形变。
- 一种平面校验工具,其特征在于,包括至少一个探测平面及至少一个靶标,所述靶标设置于至少一个所述探测平面上,并且所述靶标与所述探测平面之间的相对位置关系固定;所述探测平面用于放置于一当前截骨平面上,所述靶标用于定位。
- 根据权利要求10所述的平面校验工具,其特征在于,所述平面校验工具包括两个以上的所述探测平面,每个所述探测平面分别设置有一个所述靶标,所有所述探测平面之间可转动地依次连接,若所述探测平面的数量超过两个,则至少位于中间的所述探测平面的长度可调节。
- 根据权利要求10所述的平面校验工具,其特征在于,所述平面校验工具包括两个以上可转动地依次连接的所述探测平面;其中,至少一个所述探测平面设置有所述靶标,设置有所述靶标的所述探测平面为第一探测平面,与所述第一探测平面相邻接的其它探测平面为第二探测平面,所述第一探测平面之靶标与相邻的所述第二探测平面之间的距离固定,且该两个相邻的探测平面之间设置有角度传感器,所述角度传感器用以感测所述第一探测平面与所述第二探测平面的夹角。
- 根据权利要求12所述的平面校验工具,其特征在于,所述平面校验工具包括三个以上可转动地依次连接的所述探测平面,至少位于中间的所述探测平面的长度可调节。
- 根据权利要求12所述的平面校验工具,其特征在于,所述平面校验工具包括至少一个第三探测平面,所述第三探测平面具有相对的第一侧和第二侧,所述第三探测平面的第一侧与所述第一探测平面之间至少间隔有一个所述第二探测平面,所述第三探测平面及与所述第三探测平面之第一侧相邻接的探测平面之间设置有角度传感器;位于所述第三探测平面之第一侧且与所述第三探测平面相邻的探测平面上设置有位移传感器,所述位移传感器用于感测所述第三探测平面相对于位于所述第一侧且与所述第三探测平面间隔相邻的探测平面的位移。
- 根据权利要求10所述的平面校验工具,其特征在于,所述平面校验工具包括两个以上可转动地依次连接的所述探测平面;其中,至少一个所述探测平面设置有所述靶标,设置有所述靶标的所述探测平面为第一探测平面,与所述第一探测平面相邻接的其它探测平面为第二探测平面,所述第一探测平面之靶标与相邻的所述第二探测平面之间的距离可调节,且所述第一探测平面设置有位移传感器,所述位移传感器用以感测所述第二探测平面相 对于所述靶标的位移。
- 根据权利要求15所述的平面校验工具,其特征在于,所述平面校验工具包括至少一个第三探测平面,所述第三探测平面具有相对的第一侧和第二侧,所述第三探测平面的第一侧与所述第一探测平面之间至少间隔有一个所述第二探测平面,所述第三探测平面及与所述第三探测平面之第一侧相邻接的探测平面之间设置有角度传感器;位于所述第三探测平面之第一侧且与所述第三探测平面相邻的探测平面上设置有位移传感器,所述位移传感器用于感测所述第三探测平面相对于位于所述第一侧且与所述第三探测平面间隔相邻的探测平面的位移。
- 一种可读存储介质,其上存储有程序,其特征在于,所述程序被执行时实现根据权利要求1~9中任一项所述的截骨校验方法。
- 一种骨科手术系统,其特征在于,包括:控制装置、导航装置、机械臂以及根据权利要求10~16中任一项所述的平面校验工具;所述导航装置与所述平面校验工具的靶标相适配,用以获取所述靶标的位置信息,并将所述位置信息反馈至所述控制装置;所述控制装置用于根据所述平面校验工具的靶标的位置信息来获取当前截骨平面的计算位置信息,并确定所述计算位置信息与规划截骨平面的预定位置信息的位置误差,若所述位置误差超过预设值,则所述控制装置驱动所述机械臂重新进行定位。
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CN111557736B (zh) * | 2020-06-02 | 2021-03-12 | 杭州键嘉机器人有限公司 | 医疗机器人导航系统中截骨导板的标定方法 |
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