WO2022127794A1

WO2022127794A1 - Navigation surgical system and registration method therefor, computer-readable storage medium, and electronic device

Info

Publication number: WO2022127794A1
Application number: PCT/CN2021/138093
Authority: WO
Inventors: 彭维礼; 李涛; 何超
Original assignee: 苏州微创畅行机器人有限公司
Priority date: 2020-12-16
Filing date: 2021-12-14
Publication date: 2022-06-23

Abstract

A navigation surgical system and a registration method therefor, and a computer-readable storage medium. The navigation surgical system comprises a robot system, a navigation system and a control unit which are communicatively connected; the robot system comprises a robotic arm (110), and the robot system has a robot coordinate system established on the robotic arm (110); the navigation system comprises a navigation tracking device (210), and the navigation system has a base coordinate system that can be recognized by the navigation tracking device (210); the navigation surgical system is configured as: the navigation tracking device (210) tracks the position of the tail end of the robotic arm (110) in a space; the control unit performs kinematic model calibration on the robotic arm (110) according to the position of the tail end of the robotic arm (110) in the space, and acquires, according to a calibrated model of the robotic arm (110), a first transformation relationship between the base coordinate system and the robot coordinate system. The navigation surgical system can improve the positioning accuracy of the robotic arm (110) and improve surgical precision.

Description

Navigated surgical system and registration method thereof, computer readable storage medium and electronic device

technical field

The present invention relates to the technical field of medical devices, in particular to a navigation surgery system and a registration method thereof, a computer-readable storage medium and an electronic device.

Background technique

Knee osteoarthritis is a common orthopaedic disease, with the main clinical manifestations of knee joint swelling, pain, swelling, stiffness and so on. There are many causes of knee osteoarthritis. If patients cannot receive timely and effective treatment, it is easy to cause a series of complications such as muscle atrophy and knee deformity, which seriously affects the physical and mental health and quality of life of patients. Total knee arthroplasty (TKA) is currently the most effective method for the treatment of advanced knee osteoarthritis. It can relieve the pain of the knee joint, restore the range of motion of the knee joint, and greatly improve the postoperative life of the patient. quality.

In the prior art, an orthopaedic surgical robot system is usually used for total knee replacement, and multiple targets such as tool targets and base targets are used to determine the coordinate system relationship between the surgical robot and the navigation system. The problem of inaccurate positioning of the arm during surgery.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a navigation surgery system and a registration method thereof, a computer readable storage medium and an electronic device, aiming at improving the positioning accuracy of the robotic arm of the intraoperative robotic system, thereby improving the surgical accuracy.

In order to achieve the above purpose, a navigation surgery system provided by the present invention includes a robot system, a navigation system and a control unit connected by communication, wherein:

the robotic system includes a robotic arm, and the robotic system has a robotic coordinate system defined on the robotic arm;

the navigation system includes a navigation tracking device, and the navigation system has a base coordinate system recognizable by the navigation tracking device;

The navigation and tracking device is used for tracking the position of the end of the robotic arm in space; the control unit is used for performing kinematic model calibration on the robotic arm according to the position of the end of the robotic arm in space, and A first conversion relationship between the base coordinate system and the robot coordinate system is acquired according to the calibrated model of the robotic arm.

To achieve the above object, the present invention also provides a registration method for a navigation surgery system, the registration method comprising:

Step S10: establishing a robot coordinate system on the robotic arm, and establishing a base coordinate system in the navigation surgery system;

Step S20: tracking the position of the end of the robotic arm in space, and performing kinematic model calibration on the robotic arm;

Step S30: Determine a first conversion relationship between the robot coordinate system and the base coordinate system according to the calibrated model of the robotic arm.

In order to achieve the above object, the present invention also provides a computer-readable storage medium on which a program is stored, and when the program is executed, the program executes the registration method described in any one of the preceding items.

In order to achieve the above purpose, the present invention provides a navigation surgery system, which is characterized in that it includes a robot system, a navigation system and a control unit that are connected in communication, wherein;

The navigation system includes a navigation tracking device and a bone target for setting a designated position on a patient's body, and the navigation system has a base coordinate system and a calibration target that can be recognized by the navigation tracking device a coordinate system; the base coordinate system and the robot coordinate system have a predetermined first conversion relationship, and the calibration target coordinate system and the base coordinate system have a predetermined second conversion relationship;

The control unit is configured to: identify the calibration target coordinate system, and determine, according to the coordinate system of the bone target, when the robotic arm is in an expected pose, the robotic arm is in the calibration target coordinate system According to the position of the robot arm in the calibration target coordinate system, the second conversion relationship and the first conversion relationship, the expectation of the robot arm in the robot system coordinate system is obtained. Location.

To achieve the above object, the present invention also provides a computer-readable storage medium on which a program is stored, and when the program is executed, the program executes the following steps:

A robot coordinate system is established on the robotic arm, and a base coordinate system and a calibration target coordinate system that can be recognized by the navigation and tracking device are established in the navigation surgery system; wherein, there is a predetermined relationship between the base coordinate system and the robot coordinate system. The first conversion relationship between the calibration target coordinate system and the base coordinate system has a predetermined second conversion relationship;

Identifying the calibration target coordinate system, and determining the position of the robotic arm under the calibration target coordinate system when the robotic arm is in an expected pose according to the coordinate system of the bone target set on the patient's body; According to the second conversion relationship and the first conversion relationship, the position of the robot arm in the calibration target coordinate system is converted into a desired position of the robot arm in the robot coordinate system.

To achieve the above object, the present invention also provides an electronic device, comprising a processor and the computer-readable storage medium according to any one of the preceding items, where the processor is configured to execute a program in the computer-readable storage medium.

Compared with the prior art, the navigation surgery system, computer-readable storage medium and electronic device of the present invention have the following advantages:

First, the aforementioned navigation surgery system includes a robot system, a navigation system and a control unit connected in communication, wherein; the robot system includes a robot arm, and the robot system has a robot coordinate system defined on the robot arm; The navigation system includes a navigation tracking device and a bone target, the bone target is used to set a specified position on the patient's body, and the navigation system has a base coordinate system and a calibration target coordinate that can be recognized by the navigation tracking device system; the base coordinate system and the robot coordinate system have a predetermined first conversion relationship, and the calibration target coordinate system and the base coordinate system have a predetermined second conversion relationship; the control unit is configured are: identifying the calibration target coordinate system, and determining, according to the coordinate system of the bone target, the position of the robotic arm under the calibration target coordinate system when the robotic arm is in the expected pose; The position of the robot arm in the calibration target coordinate system, the second conversion relationship and the first conversion relationship are obtained to obtain the desired position of the robot arm in the robot system coordinate system. Use the calibration target coordinate system for positioning, avoid the problem of inaccurate positioning caused by the failure of the base coordinate system during surgery, and effectively ensure the positioning accuracy of the robotic arm. Moreover, using the calibration target for positioning can also expand the operating space of the doctor during the actual operation, reduce the interference during the operation, and improve the convenience of the operation;

Second, during the actual operation, various positioning methods can be selected according to the actual situation to perform redundant calibration to ensure the positioning accuracy of the robotic arm; when using the robotic arm to calibrate the first expected position and target coordinate system in the target coordinate system The position of the tool target is positioned by data fusion, or the first expected position of the robotic arm in the base coordinate system and the position of the tool target are positioned by data fusion, which can further improve The positioning accuracy of the robotic arm;

Third, the aforementioned navigation surgery system includes a communicatively connected robot system, a navigation system and a control unit, wherein the robot system includes a robot arm, and the robot system has a robot coordinate system defined on the robot arm; The navigation system includes a navigation tracking device; the navigation system has a base coordinate system that can be recognized by the navigation tracking device; the navigation surgery system is configured such that the navigation tracking device tracks the end of the robotic arm in space The control unit performs kinematic model calibration on the robotic arm according to the position of the end of the robotic arm in space, and obtains the base coordinate system and the The first transformation relationship between the robot coordinate systems is described. That is, the present invention performs kinematic model calibration on the robotic arm in the process of registering the navigation surgery system to improve the absolute positioning accuracy of the robotic arm, thereby achieving higher positioning accuracy during surgery;

Fourth, during the actual operation, different positioning methods can be selected according to the actual situation to ensure the positioning accuracy of the robotic arm. In particular, when the calibration target is used for positioning, the operating space of the doctor in the actual operation can be expanded, intraoperative interference is reduced, and the convenience of the operation is improved; when the first expected position of the robot arm in the calibration target coordinate system is used Positioning is performed by data fusion with the position of the tool target, or by performing data fusion between the first expected position of the robotic arm in the base coordinate system and the position of the tool target, which can further Improve the positioning accuracy of the robotic arm.

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

FIG. 1 is a schematic structural diagram of a navigation surgery system according to an embodiment of the present invention;

2 is a schematic structural diagram of a navigation surgery system according to an embodiment of the present invention, and the dotted frame in the illustration represents a virtual frame during registration of a robotic arm;

3 is an overall flow chart of the navigation surgery system according to an embodiment of the present invention when registering a robotic arm;

4 is a detailed flow chart of the navigation surgery system according to an embodiment of the present invention when registering a robotic arm;

5 is a schematic diagram of the navigation surgery system according to the first embodiment of the present invention when positioning a robotic arm;

6 is a flow chart of the navigation surgery system according to the first embodiment of the present invention when positioning a robotic arm;

7 is a schematic diagram of the navigation surgery system according to the second embodiment of the present invention when positioning a robotic arm;

8 is a flow chart of the navigation surgery system according to the second embodiment of the present invention when positioning the robotic arm;

9 is a schematic diagram of the navigation surgery system according to the third embodiment of the present invention when positioning the robotic arm;

10 is a flow chart of the navigation surgery system according to the third embodiment of the present invention when positioning a robotic arm;

11 is a schematic diagram of the navigation surgery system according to the fourth embodiment of the present invention when positioning a robotic arm;

FIG. 12 is a flow chart of the navigation surgery system according to the fourth embodiment of the present invention when positioning the robotic arm.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the person using the present invention must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. One or all of the technical features of the . In other words, under the premise of possible implementation, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the present invention and depending on design specifications or implementation requirements, or The combination of some or all of the technical features in the multiple embodiments is selectively implemented, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a," "an," and "the" include plural referents, and the plural forms "a plurality" include two or more referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "installed", "connected", "connected" shall be To be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. The same or similar reference numbers in the drawings represent the same or similar parts.

FIG. 1 shows a schematic structural diagram of a navigation surgery system provided by an embodiment. As shown in FIG. 1 , the navigation surgery system includes a communicatively connected robot system, a navigation system and a control unit. The robotic system includes a robotic arm 110 and the robotic system has a robotic coordinate system defined on the robotic arm 110 . The navigation system includes a navigation tracking device 210 having a base coordinate system that can be recognized by the navigation tracking device 210 . The navigation surgery system is configured such that: the navigation tracking device 210 tracks the position of the distal end of the robotic arm 110 in space; The arm 110 performs kinematic model calibration, and obtains a first conversion relationship between the base coordinate system and the robot coordinate system according to the calibrated model of the robotic arm 110 .

In other words, when registering the robotic arm 110 (acquiring the conversion relationship between the base coordinate system and the robot coordinate system) in this embodiment of the present invention, first perform kinematic model calibration on the robotic arm 110 to The absolute positioning accuracy of the robotic arm 110 is improved, so that a more accurate first conversion relationship can be obtained, which is beneficial to achieve a higher positioning accuracy during the operation, thereby improving the osteotomy accuracy. After calibration of the kinematic model of the manipulator, the positional accuracy of the osteotomy surface can be improved to within 1.5mm, and the deviation of the osteotomy surface angle can be reduced to less than 1°.

Please continue to refer to FIG. 1 , those skilled in the art should know that the navigation system further includes a navigation cart 220 , and the navigation tracking device 210 is directly fixed on the navigation cart 220 . The navigation cart 220 may also be provided with a human-machine interface device, such as a display, for providing the operator with images used during surgery. Not only that, the navigation system also includes a plurality of targets that can be identified by the navigation tracking device 210 . Preferably, the navigation and tracking device 210 may be an optical tracking device, such as an NDI optical locator, which has higher measurement accuracy than other navigation and tracking devices, and can effectively improve the positioning accuracy of the robotic arm 110 . Correspondingly, the target is an optical target, such as a spherical reflective marker or a sticker-type reflective marker. The control unit is provided in the controller on the navigation cart 220 .

A plurality of such targets include a base target 230 and a tool target 240 . Wherein, the base target 230 is used to construct the base coordinate system, and the base target 230 can be set on the base of the robot system, or set at any other suitable fixed position, as known to those skilled in the art How to construct the base coordinate system from the base target 230 . The tool target 240 is used to be set on the end tool 101 mounted on the end of the robot arm 110 , so that the navigation and tracking device 210 can track the end of the robot arm 110 by identifying the tool target 240 position in space.

The navigated surgical system may be used to perform corresponding surgical procedures, such as knee replacement. It should be known that when the navigation surgical system is used for knee replacement surgery, the end tool 101 is a surgical tool for joint surgery, and here, the navigation system further includes a bone target 250 for setting on the patient's body The designated position of the , such as the femur and/or the tibia, is used to construct a bone target coordinate system, and there is a predetermined third transformation relationship between the bone target coordinate system and the base coordinate system. It should be noted that the navigation surgery system can also be used for other operations, and in this case, the end tool 101 should be selected according to the specific surgery type.

Knee replacement surgery using the navigation surgery system generally includes the following operations:

First, move the robotic arm 110 and the navigation trolley to a suitable position beside the patient bed.

Then, install the base target 230, the tool target 240, the bone target 250 (the calibration target 260 described later is also installed according to actual needs), the end tool 101 (specifically, an osteotomy tool, such as a pendulum saws, drilling tools) and other related components such as sterile bags.

After that, the operator imports the CT/MR scan model of the patient's bone into the control unit for preoperative planning to obtain an osteotomy plan, which includes, for example, the coordinates of the osteotomy plane, the model of the prosthesis, and the installation orientation of the prosthesis and other information. Specifically, a three-dimensional knee joint digital model is created according to the image data of the patient's knee joint obtained by CT/MR scan, and then an osteotomy plan is created according to the three-dimensional knee joint digital model, so that the operator can perform preoperative evaluation according to the osteotomy plan. More specifically, the osteotomy scheme is determined based on the three-dimensional knee joint digital model, combined with the obtained size planning of the prosthesis and the installation position of the osteotomy plate. Wherein, the three-dimensional knee joint digital model can be displayed by the display.

Next, the operator uses a target pen to mark feature points on the patient's bone (eg, the operator marks a plurality of femoral anatomical feature points on the patient's bone surface), and uses the navigation tracking device 210 to use the bone target 250 as the reference, record the positions of all feature points on the patient's bones, and send the position information of all the feature points to the control unit, and then the control unit obtains the actual orientation of the bone through the feature matching algorithm, and compares it with the position of the bone. The orientation of the CT/MR scan image is registered to obtain the transformation relationship (ie, the transformation matrix) between the three-dimensionally reconstructed coordinate system of the CT/MR scan image and the bone target coordinate system. The control unit can plan each The position of the osteotomy plane in the bone target coordinate system.

Subsequently, the control unit may register the robotic arm 110 (ie, perform kinematic model calibration for the robotic arm 110 and obtain the relationship between the base coordinate system and the robot coordinate system), and The robotic arm 110 performs spatial positioning.

Finally, osteotomy and drilling operations are performed using the robotic system of the navigated surgical system.

In a disclosed embodiment, the registration method of the robotic arm 110 is shown in FIG. 3 and includes the following steps:

Step S10: establishing a robot coordinate system on the robotic arm, and establishing a base coordinate system in the navigation system that can be recognized by the navigation tracking device. In this step, the base coordinate system is established by the control unit according to the base target 230 identified by the navigation and tracking device.

Step S20: the robotic arm moves, while the navigation and tracking device tracks the position of the end of the robotic arm in space by tracking the tool target, and the control unit is based on the position of the end of the robotic arm in space Perform kinematic model calibration on the robotic arm.

Step S30: The control unit determines the first conversion relationship between the robot coordinate system and the base coordinate system according to the calibrated model of the robotic arm.

For more details, please refer to FIG. 4 , the step S20 specifically includes:

Step S21 : the control unit issues an instruction to the robotic system to drive the robotic arm to move, and make the end of the robotic arm pass through a plurality of predetermined positions in space. In a specific embodiment, the number of the predetermined sites is eight.

Step S22: The control unit obtains the position of the end of the robot arm in the base coordinate system when the end of the robot arm passes through each of the predetermined positions.

Step S23: The control unit obtains the position of the end of the robotic arm in the robot coordinate system when the end of the robotic arm passes through each of the predetermined positions.

Step S24: Taking the second designated point in space as the observation point, the control unit obtains the position of the end of the manipulator based on the position of the end of the manipulator in the base coordinate system and the robot coordinate system. The absolute position of the robot coordinate system. The second designated point may be a first predetermined point of the plurality of predetermined points.

Step S25: The control unit corrects the joints of the robotic arm according to the actual joint angular position of the robotic arm and the absolute position of the end of the robotic arm (the robotic arm includes a plurality of joints and is used to connect each joint. kinematic model of the joint). So far, the kinematic model calibration of the robotic arm 110 is completed. The control unit stores the calibrated model of the robotic arm 110 .

In the step S22, when acquiring the position of the end of the robotic arm 110 in the base coordinate system, the navigation and tracking device 210 tracks the tool target 240. Therefore, the step S22 includes:

Step S22a: the control unit acquires the position of the tool target 240 in the base coordinate system.

Step S22b: The control unit converts the position of the tool target 240 under the base coordinate system into the position of the end of the robotic arm 110 under the base coordinate system.

Those skilled in the art should know that the tool target 240 can construct a tool target coordinate system, and when the tool target 240 is installed, the positional relationship between the tool target 240 and the end of the robot arm 110 is fixed and known , so the relationship between the tool target coordinate system and the end of the robot arm 110 is known, so the control unit can convert the position of the tool target 240 in the base coordinate system into the robot arm The position of the end of 110 in the base coordinate system.

In the step S25 , the control unit corrects the kinematic model of the joint of the robotic arm 110 by performing an iterative convergence method of the least squares method. The kinematics model used in this embodiment of the present invention may be a DH model. In an alternative embodiment, the kinematics model may also be any one of an S model, a CPC model, and a POE model. According to the specific structure of the robotic arm 110, N*4 joint parameters and six end tool parameters can be used for calibration, where N is the axis of the robotic system, for example, when the robotic system is a five-axis robotic system, N is five; when the robot system is a six-axis robot system, N is six. The specific parameters are shown in Table 1 and Table 2 below:

Table 1 Joint parameters used for kinematic model calibration

关节joint	Alpha(α)Alpha(α)	AA	DD	Theta(θ)Theta(θ)
11	α ₁ α ₁	A ₁ A ₁	D ₁ D ₁	θ ₁ θ ₁
22	α ₂ α ₂	A ₂ A ₂	D ₂ D ₂	θ ₂ θ ₂
....	....	....	....	....
nn	α _n α _n	A _n _An	D _n D _n	Θ _n Θ _n

Table 2 End tool parameters used in kinematic model calibration

X轴偏移X-axis offset	X轴旋转X-axis rotation	Y轴偏移Y axis offset	Y轴旋转Y-axis rotation	Z轴偏移Z-axis offset	Z轴旋转Z axis rotation
X _d X _d	X _β _Xβ	Y _d Y _d	Y _β _Yβ	Z _d Z _d	Z _β Z _beta

A Cartesian coordinate system is established with a joint of the robotic arm 110, such as a point on the base joint, as the coordinate origin, and the direction of the Z axis in the Cartesian coordinate system is the direction of the output shaft of the motor of the base joint. The direction perpendicular to the Z axis is taken as the direction of the X axis. At this time, in Table 1, α represents the rotation angle of the joint connecting the base joint and the second joint of the robotic arm 110 around the X-axis, A represents the translation distance of the joint along the X-axis direction, and θ represents the joint around the Z-axis The rotation angle of , D represents the translation distance of the joint along the Z axis. In Table 2, X _d represents the offset distance of the end tool along the X axis direction, X _β represents the rotation angle of the end tool around the X axis, Y _d represents the offset distance of the end tool along the Y axis direction, and Y _β represents the end tool around the X axis. The rotation angle of the Y axis, Z _d represents the offset distance of the end tool along the Z axis direction, and Z _β represents the rotation angle of the end tool around the Z axis.

Please continue to refer to FIG. 4 , the step S30 is specifically as follows: the control unit calculates the calculated position of the tool target in the robot coordinates according to the calibrated model of the robot arm, and calculates the calculated position of the tool target under the coordinates of the robot. Rigid body registration is performed between the calculated position and the actual position of the base target tracked by the navigation and tracking device, so as to obtain the first transformation relationship between the base coordinate system and the robot coordinate system.

When positioning the robotic arm 110, the control unit is configured to: acquire the position of the robotic arm 110 in the robot coordinate system according to the expected pose (including the expected position and the expected pose) of the robotic arm 110 the desired position below. Specifically, it is the desired position of a plurality of points on the robotic arm 110. When all the points on the robotic arm 110 reach their respective desired positions, the robotic arm 110 is in the desired pose, and The robotic arm 110 is driven to the desired position. Those skilled in the art can understand that the process in which the control unit drives the robotic arm 110 to move is that the control unit sends a motion instruction to the robotic system, and then the robotic arm 110 moves according to the motion instruction.

In this embodiment of the present invention, the navigation surgery system may select different methods to position the robotic arm 110 according to actual needs.

Next, the different positioning methods of the navigation surgery system are described herein through specific embodiments.

FIG. 5 shows a schematic diagram of the positioning of the robotic arm 110 provided by the first embodiment of the present invention. Referring to FIG. 5 , in this embodiment, the navigation surgery system uses the base target 230 to position the robotic arm 110 . Therefore, after completing the registration of the robotic arm 110 , the operator can detach the tool target 240 from the end tool 101 . In this way, the surgical operation after the positioning of the robotic arm 110 is more flexible.

Referring to FIG. 6 , the positioning method of the robotic arm 110 in this embodiment includes:

Step A1: The control unit determines, according to the bone target coordinate system, the position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose. Specifically, firstly, the control unit determines the position of the robot arm under the bone target coordinate system according to the bone target coordinate system, and then combines the position between the bone target coordinate system and the base coordinate system The third conversion relationship obtains the position of the robotic arm in the base coordinate system.

Step A2: According to the first conversion relationship between the base coordinate system and the robot coordinate system, the control unit converts the position of the manipulator in the base coordinate system into the position of the manipulator in the base coordinate system. The desired position in the robot coordinate system.

Step A3: The control unit sends the expected position of the robotic arm in the robot coordinate system to the robotic system, so as to drive the robotic arm to move and position the robotic arm.

Afterwards, after the robotic arm moves to the expected posture (ie, the positioning is completed), the operator can use the navigation surgery system to perform an osteotomy operation.

The applicable condition of this embodiment is that in the whole process of the operation, the base target 230 and the operation platform are kept relatively fixed, so that the navigation and tracking device 210 can always track the base target 230 and make all the The base coordinate system remains unchanged.

FIG. 7 shows a schematic diagram of the positioning of the robotic arm 110 provided by the second embodiment of the present invention. As shown in FIG. 7 , the difference between this embodiment and the first embodiment is that the navigation surgery system simultaneously uses the base coordinate system and the tool target to position the robotic arm 110 . That is, at this time, the tool target 240 (as shown in FIG. 7 ) is provided on the end tool 101 mounted on the end of the robotic arm 110 . Meanwhile, in this embodiment, the desired position of the robotic arm 110 in the robot coordinate system includes a first desired position and a second desired position.

Referring to FIG. 8 , the process of positioning the robotic arm 110 in this embodiment includes:

Step A10: The control unit determines, according to the bone target, the positions of the robotic arm and the tool target in the base coordinate system when the robotic arm is in the expected pose. Specifically, the control unit first determines the positions of the robotic arm and the tool target in the bone target coordinate system, and then determines the third position between the bone target coordinate system and the base coordinate system according to the third position between the bone target coordinate system and the base coordinate system. The transformation relationship is used to obtain the positions of the robotic arm and the tool target in the base coordinate system.

Step A20: The control unit converts the position of the robotic arm in the base coordinate system into the robot coordinate according to the first conversion relationship between the base coordinate system and the robot coordinate system said first desired position under the tie.

Step A30: The control unit converts the position of the tool target in the base coordinate system to the position on the end tool according to the first conversion relationship between the base coordinate system and the robot coordinate system The position of the first specified point in the robot coordinate system. It can be understood that the tool target 240 is installed on the end tool 101, and the relative position between the two is fixed, and the first designated point is a certain point on the end tool 101, so the tool target 240 The positional relationship with the first designated point is also determined. Therefore, in the same coordinate system, it is easy to determine the position of the first designated point according to the position of the tool target 240 . The first designated point is determined by the surgeon according to actual needs.

Step A40: The control unit performs data fusion processing on the first desired position of the robotic arm in the robot coordinate system and the position of the first designated point in the robot coordinate system to obtain the mechanical A second desired position of the arm in the robot coordinate system.

Step A50: The control unit sends the second desired position of the robotic arm in the robot coordinate system to the robotic system, so as to drive the robotic arm to move to the second desired position for spatial positioning.

The positioning method of the robotic arm 110 provided in this embodiment is more precise than that of the first embodiment, which is beneficial to further improve the precision of surgery.

FIG. 9 shows a schematic diagram of the positioning of the robotic arm 110 provided by the third embodiment of the present invention. This embodiment can be applied to the situation where the base target 230 is displaced due to collision, or the surgical platform is repositioned. It should be understood that, in this embodiment, the base coordinate system is determined by the initial position of the base target 230 , which is not affected by the displacement of the base target 230 . That is to say, as shown in FIG. 10 , in this embodiment, when positioning the robotic arm 110 , the base target 230 can be removed.

Please continue to refer to FIG. 9 , the navigation system further includes a calibration target 260 , and the navigation surgery system uses the calibration target 260 to position the robotic arm 110 , so that the tool target 240 can also be positioned during positioning. was removed. The calibration target 260 is set at a specified position, for example, on the base of the robotic arm 110 , and there is a predetermined second conversion relationship between the calibration target 260 and the base coordinate system. The installation position of the calibration target 260 can be determined before the registration of the robot arm 110 (that is, before the registration of the robot arm, that is, the calibration target 260 is installed, and the installation position at this time is used as the calibration target 260 ). the designated position of the calibration target 260), or after the robotic arm 110 is registered but before the base target 230 is bumped and the surgical platform is repositioned, as long as it can be ensured that the calibration target 260 is installed in this position , it only needs to have the second transformation relationship with the base coordinate system.

Referring to FIG. 10 , when the base target 230 is impacted and displaced, or the surgical platform is repositioned, the positioning method of the robotic arm 110 includes:

Step A100: Install the calibration target based on a predetermined position.

Step A200: The control unit determines, according to the bone target coordinate system, the position of the robotic arm in the calibration target coordinate system when the robotic arm is in the expected pose. Since the installation positions of the bone target 250 and the calibration target 260 are fixed, there is a known fourth conversion relationship between the bone target coordinate system and the calibration target coordinate system, so the control unit First determine the position of the robotic arm under the bone target coordinate system, and then obtain the position of the robotic arm under the calibration target coordinate system according to the fourth transformation relationship.

Step A300: The control unit checks the second conversion relationship between the target coordinate system and the base coordinate system, and the first conversion relationship between the base coordinate system and the robot coordinate system A conversion relationship is used to convert the position of the robot arm in the calibration target coordinate system into the desired position of the robot arm in the robot coordinate system.

Step A400: The control unit sends the expected position of the robotic arm in the robot coordinate system to the robotic system, so as to drive the robotic arm to move to the expected pose and position the robotic arm .

In this embodiment, the calibration target 260 is used for positioning, and the base target 230 can be removed. The calibration target 260 has a smaller volume than the base target 230 , and occupies a smaller space environment, so the operation space of the doctor during the operation can be enlarged and the operation convenience can be improved. Not only that, when the calibration target 260 and the base target 230 are installed, the calibration target 260 is closer to a supporting device (eg, a hospital bed) for supporting the patient than the base target 230, so that the During the operation, the calibration target 260 is farther away from the doctor than the base target 230 , which reduces the risk of the doctor colliding with the calibration target 260 . Those skilled in the art can understand that the specific installation positions of the calibration target 260 and the base target 230 can be reasonably selected according to actual needs, as long as it is ensured that the calibration target 260 is higher than the base target 230 during the operation. It's better to be farther away from the doctor.

In addition, it should be noted that the positioning method of the robotic arm 110 provided in this embodiment is not only applicable to the failure of the base target 230 (for example, the base target 230 is displaced by collision, or is blocked, or fails to be located due to its own failure). recognition) situation. It also applies to the case where the tool target 240 fails (eg, is displaced by a collision, or is occluded, or fails to be recognized by itself). FIG. 11 shows a schematic diagram of the positioning of the robotic arm 110 provided by the fourth embodiment of the present invention. As shown in FIG. 12 , the difference between this embodiment and the third embodiment is that the navigation surgery system uses the calibration target 260 and the tool target 240 for positioning at the same time. And, the desired position of the robotic arm 110 in the robot coordinate system includes a first desired position and a second desired position.

FIG. 12 shows the positioning process of the robotic arm 110 provided in this example, including:

Step A1000: The control unit determines, according to the bone target coordinate system, the positions of the robotic arm and the tool target in the calibration target coordinate system when the robotic arm is in the expected posture.

Step A2000: The control unit checks the second conversion relationship between the target coordinate system and the base coordinate system, and the first conversion relationship between the base coordinate system and the robot coordinate system A conversion relationship is used to convert the position of the robot arm in the calibration target coordinate system into a first desired position of the robot arm in the robot coordinate system.

Step A3000: The control unit checks the second conversion relationship between the target coordinate system and the base coordinate system, and the first conversion relationship between the base coordinate system and the robot coordinate system The conversion relationship is to convert the position of the tool target in the calibration target coordinate system into the position of the first designated point on the end tool in the robot coordinate system.

Step A4000: The control unit performs data fusion processing on the first desired position of the robotic arm in the robot coordinate system and the position of the first designated point in the robot coordinate system to obtain the the second desired position of the robotic arm in the robot coordinate system.

Step A5000: The control unit sends the second desired position of the robotic arm in the robot coordinate system to the robotic system, so as to move the robotic arm for spatial positioning.

In fact, under the condition that both the base target 230 and the tool target 240 can be used normally, the positioning methods of the robot arm 110 provided by the above four embodiments can be used in combination to provide redundant position tracking, For example, the positioning methods provided in Embodiment 1 and Embodiment 2 are simultaneously executed, or the positioning methods provided in Embodiment 1 and Embodiment 3 are simultaneously executed.

In addition, although the robotic arm positioning process described herein is described by taking the kinematic model calibration performed when the robotic arm 110 is registered as an example, in order to provide surgical accuracy and fault tolerance, in practice, conventional methods can also be used to obtain the base the first transformation relationship between the coordinate system and the robot coordinate system.

Further, an embodiment of the present invention also provides a registration method for a navigation surgery system, which is used to register the robotic arm.

Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a program is stored, and when the program is executed, the program executes all the steps performed by the aforementioned control unit. That is, the program executes all steps of the registration method of the navigation surgical system, and executes all steps when positioning the robotic arm.

And, an embodiment of the present invention also provides an electronic device, including a processor and the aforementioned computer-readable storage medium, where the processor is configured to execute a program stored on the computer-readable storage medium.

Although the present invention is disclosed above, it is not limited thereto. Various modifications and variations can be made in the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

A navigation surgery system, characterized in that it includes a robot system, a navigation system and a control unit connected by communication, wherein:

the robotic system includes a robotic arm, and the robotic system has a robotic coordinate system defined on the robotic arm;

the navigation system includes a navigation tracking device, and the navigation system has a base coordinate system recognizable by the navigation tracking device;

The navigation and tracking device is used for tracking the position of the end of the robotic arm in space; the control unit is used for performing kinematic model calibration on the robotic arm according to the position of the end of the robotic arm in space, and A first conversion relationship between the base coordinate system and the robot coordinate system is acquired according to the calibrated model of the robotic arm.
The navigation surgery system according to claim 1, wherein the navigation system further comprises a base target and a tool target; the base target is used for constructing the base coordinate system; the tool target is used for setting in The end tool of the robot arm is mounted on the end tool; the navigation and tracking device is used to identify the tool target to track the position of the end of the robot arm in space.
The navigation surgery system according to claim 1 or 2, wherein after acquiring the first conversion relationship, the control unit is further configured to: acquire the robotic arm according to an expected pose of the robotic arm desired position in the robot coordinate system, and send the desired position to the robotic system.
The navigation surgery system according to claim 3, characterized in that, the navigation system further comprises a bone target for setting at a designated position on the patient's body;

The control unit is configured to: acquire the position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target; The position in the base coordinate system and the first conversion relationship are obtained to obtain the desired position of the robotic arm in the robot coordinate system.
The navigation surgery system according to claim 3, characterized in that, the navigation system further comprises a tool target and a bone target; the tool target is configured to be set on an end tool mounted on the end of the robotic arm; the The bone target is used to set the specified position on the patient's body;

The desired position of the robotic arm in the robot coordinate system includes a first desired position and a second desired position;

The control unit is configured to: determine the position of the robotic arm and the tool target in the base coordinate system when the robotic arm is in the desired pose according to the coordinate system of the bone target; The first desired position is obtained from the first conversion relationship and the position of the robotic arm under the base coordinate system, and according to the first conversion relationship and the position of the tool target under the base coordinate system, the obtained the position of the first designated point on the end tool under the robot coordinate system; perform data fusion processing on the first desired position and the position of the first designated point under the robot coordinate system to obtain the second desired position of the robotic arm in the robot coordinate system, and the second desired position is sent to the robotic system.
The navigation surgery system according to claim 3, characterized in that, the navigation system further comprises a bone target and a calibration target; the bone target is used for setting a specified position on the patient's body, and the calibration target is used for constructing a calibration target coordinate system with a predetermined second conversion relationship between the calibration target coordinate system and the base coordinate system;

The control unit is configured to: determine the position of the robotic arm in the calibration target coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target; From the second conversion relationship, the first conversion relationship, and the position of the robotic arm in the calibration target coordinate system, the desired position of the robotic arm in the robot coordinate system is obtained.
The navigation surgery system according to claim 3, characterized in that, the navigation system further comprises a bone target, a calibration target and a tool target; the bone target is used for setting a designated position on the patient's body; the calibration The target is used to construct a calibration target coordinate system, and the calibration target coordinate system has a predetermined second conversion relationship with the base coordinate system; the tool target is used to be set at the end mounted on the end of the robotic arm on the tool;

The desired position of the robotic arm in the robot coordinate system includes a first desired position and a second desired position;

The control unit is configured to: determine the position of the robotic arm and the tool target in the calibration target coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target; According to the second conversion relationship, the first conversion relationship, and the position of the robotic arm in the calibration target coordinate system, the first desired position is obtained, and according to the second conversion relationship, the The first conversion relationship and the position of the tool target in the calibration target coordinate system, to obtain the position of the first designated point on the end tool in the robot coordinate system; for the first expectation Perform data fusion processing on the position and the position of the first designated point in the robot coordinate system to obtain the second desired position of the robotic arm in the robot coordinate system, and send the second desired position to the robotic system.
The navigation surgery system according to claim 1 or 2, wherein the robotic arm comprises a plurality of interconnected joints;

When performing kinematic model calibration on the joints of the robotic arm, the control unit is configured to: drive the robotic arm to move, so that the end of the robotic arm passes through a plurality of predetermined positions in space, and respectively Obtain the position of the end of the robotic arm under the base coordinate system and the robot coordinate system at each predetermined position point; take a second designated point in space as an observation point, according to the mechanical The position of the end of the arm in the base coordinate system and the robot coordinate system, the absolute position of the end of the robot arm based on the robot coordinate system is obtained; according to the actual joint angle position of the robot arm and the robot The absolute position of the end of the arm corrects the kinematic model of the joint of the robotic arm.
The navigation surgery system according to claim 8, wherein the navigation system further comprises a base target and a tool target; the base target is used to construct the base coordinate system; the tool target is used for on the end tool mounted on the end of the robotic arm;

The control unit is configured to: calculate the calculated position of the tool target in the robot coordinate system according to the calibrated model of the robot arm; according to the calculated position of the tool target and the navigation tracking device The actual position of the base target obtained by tracking is subjected to rigid body registration to obtain the first conversion relationship.
A registration method for a navigation surgery system, characterized in that the registration method comprises:

Step S10: establishing a robot coordinate system on the robotic arm, and establishing a base coordinate system in the navigation surgery system;

Step S20: tracking the position of the end of the robotic arm in space, and performing kinematic model calibration on the robotic arm;

Step S30: Determine a first conversion relationship between the robot coordinate system and the base coordinate system according to the calibrated model of the robotic arm.
The registration method for a navigation surgery system according to claim 10, wherein a terminal tool is mounted on the end of the robotic arm, and a tool target is provided on the end tool;

Identifying a base target with a navigation tracking device to establish the base coordinate system; and identifying the tool target using the navigation tracking device to track the position of the end of the robotic arm in space.
The registration method of the navigation surgery system according to claim 11, wherein the step S20 comprises:

Step S21: driving the robotic arm to move, so that the end of the robotic arm passes through a plurality of predetermined positions in space;

Step S22: obtain the position of the end of the robotic arm under the base coordinate system and the robot coordinate system at each of the predetermined positions respectively;

Step S23: Using the second designated point in space as the observation point, obtain the end of the robot arm based on the robot coordinate system according to the position of the end of the robot arm in the base coordinate system and the robot coordinate system. the absolute position of ;

Step S24: Correcting the kinematic model of the joint of the robotic arm according to the actual joint angular position of the robotic arm and the absolute position of the end of the robotic arm.
The registration method of the navigation surgery system according to claim 12, wherein the step S30 is specifically:

Calculate the calculated position of the tool target in the robot coordinate system according to the calibrated model of the robot arm, and obtain the actual position of the base target and the tool target according to the actual position of the base target tracked by the navigation and tracking device. The calculated position is subjected to rigid body registration to obtain the first transformation relationship.
A computer-readable storage medium on which a program is stored, characterized in that, when the program is executed, the program executes the registration method according to any one of claims 10-13.
The computer-readable storage medium according to claim 14, wherein after the registration method is executed, the program further executes the following steps:

The desired position of the robotic arm in the robot coordinate system is obtained according to the expected pose of the robotic arm, and the robotic arm is driven to move to the desired position.
The computer-readable storage medium of claim 15, wherein the navigation system further comprises a bone target disposed at a designated location on the patient's body;

When acquiring the desired position of the robotic arm, the program executes the following steps:

determining the position of the robotic arm in the base coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;

According to the first conversion relationship, the position of the robot arm in the base coordinate system is converted into the desired position of the robot arm in the robot coordinate system.
16. The computer-readable storage medium of claim 15, wherein the navigation system further comprises a bone target and a tool target; the bone target is disposed at a designated position on the patient's body; the tool target is disposed on the the end tool mounted on the end of the robotic arm; the desired position of the robotic arm in the robot coordinate system includes a first desired position and a second desired position;

When acquiring the desired position of the robotic arm, the program executes the following steps:

Obtain the positions of the robotic arm and the tool target in the base coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;

converting the position of the robotic arm in the base coordinate system into the first desired position according to the first conversion relationship;

converting the position of the tool target in the base coordinate system into the position of the first specified point on the end tool in the robot coordinate system according to the first conversion relationship;

A data fusion process is performed on the first desired position and the position of the first designated point in the robot coordinate system to obtain a second desired position of the robotic arm in the robot coordinate system.
The computer-readable storage medium of claim 15, wherein the navigation system further comprises a bone target and a calibration target; the bone target is arranged at a designated position on the patient's body; the calibration target is used for constructing a calibration target coordinate system with a predetermined second conversion relationship between the calibration target coordinate system and the base coordinate system;

When acquiring the desired position of the robotic arm, the program executes the following steps:

Determine the position of the robotic arm under the calibration target coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;

According to the second conversion relationship and the first conversion relationship, the position of the robot arm in the calibration target coordinate system is converted into the desired position of the robot arm in the robot coordinate system.
The computer-readable storage medium of claim 15, wherein the navigation system further comprises a bone target, a calibration target, and a tool target; the bone target is disposed at a designated position on the patient's body; the calibration The target is used to construct a calibration target coordinate system, and there is a predetermined second conversion relationship between the calibration target coordinate system and the base coordinate system; the tool target is set at the end mounted on the end of the robotic arm on the tool; the desired position of the robotic arm in the robot coordinate system includes a first desired position and a second desired position;

When acquiring the desired position of the robotic arm, the program executes the following steps:

Determine the positions of the robotic arm and the tool target under the calibration target coordinate system when the robotic arm is in the expected pose according to the coordinate system of the bone target;

converting the position of the robotic arm in the calibration target coordinate system into the first desired position according to the second conversion relationship and the first conversion relationship;

According to the second conversion relationship and the first conversion relationship, the position of the tool target in the calibration target coordinate system is converted into the first specified point on the end tool in the robot coordinate system s position;

A data fusion process is performed on the first desired position and the position of the first designated point in the robot coordinate system to obtain a second desired position of the robotic arm in the robot coordinate system.
A navigation surgery system, characterized by comprising a robot system, a navigation system and a control unit connected in communication, wherein;

the robotic system includes a robotic arm, and the robotic system has a robotic coordinate system defined on the robotic arm;

The navigation system includes a navigation tracking device and a bone target for setting a designated position on a patient's body, and the navigation system has a base coordinate system and a calibration target that can be recognized by the navigation tracking device a coordinate system; the base coordinate system and the robot coordinate system have a predetermined first conversion relationship, and the calibration target coordinate system and the base coordinate system have a predetermined second conversion relationship;

The control unit is configured to: identify the calibration target coordinate system, and determine, according to the coordinate system of the bone target, when the robotic arm is in an expected pose, the robotic arm is in the calibration target coordinate system According to the position of the robot arm in the calibration target coordinate system, the second conversion relationship and the first conversion relationship, the expectation of the robot arm in the robot system coordinate system is obtained. Location.
The navigation surgery system according to claim 20, wherein the navigation system further comprises a base target and a calibration target, the base target is used to construct the base coordinate system, and the calibration target is used for constructing the calibration target coordinate system;

The base target and the calibration target are respectively fixed at different positions, and the calibration target is closer to the support device for carrying the patient than the base target; and/or,

The calibration target has a smaller volume than the base target.
The navigation surgery system of claim 21, wherein the control unit is further configured to: identify the base target, and determine when the robotic arm is in the expected pose based on the bone target The position of the robotic arm under the base coordinate system, and the position of the robotic arm under the robot coordinate system is obtained according to the position of the robotic arm under the base coordinate system and the first conversion relationship. the expected location.
The navigation surgery system according to claim 20, characterized in that, the navigation system further comprises a tool target, which is used for setting on the end tool mounted on the end of the robotic arm;

The control unit is configured to: drive the robotic arm to move, identify the tool target, and determine whether the robotic arm reaches the expected position.
The navigation surgery system according to claim 20, wherein the navigation tracking device is an optical tracking device.
The navigation surgery system according to claim 20, wherein the navigation tracking device is used to track the position of the end of the robotic arm in space; the control unit is based on the position of the end of the robotic arm in space. The position performs kinematic model calibration on the robotic arm, and obtains the first conversion relationship between the base coordinate system and the robot coordinate system according to the calibrated model of the robotic arm.
A computer-readable storage medium on which a program is stored, wherein when the program is executed, the program executes the following steps:

A robot coordinate system is established on the robotic arm, and a base coordinate system and a calibration target coordinate system that can be recognized by the navigation and tracking device are established in the navigation surgery system; wherein, there is a predetermined relationship between the base coordinate system and the robot coordinate system. The first conversion relationship between the calibration target coordinate system and the base coordinate system has a predetermined second conversion relationship;

Identifying the calibration target coordinate system, and determining the position of the robotic arm under the calibration target coordinate system when the robotic arm is in an expected pose according to the coordinate system of the bone target set on the patient's body; According to the second conversion relationship and the first conversion relationship, the position of the robot arm in the calibration target coordinate system is converted into a desired position of the robot arm in the robot coordinate system.
The computer-readable storage medium of claim 26, wherein the program further performs the following steps:

Identifying the base coordinate system, and determining the position of the robotic arm under the base coordinate system when the robotic arm is at the expected position according to the coordinate system of the bone target;

According to the first conversion relationship, the position of the robot arm in the base coordinate system is converted into the expected position of the robot arm in the robot coordinate system.
The computer-readable storage medium according to claim 26, wherein the program further executes the steps of: performing kinematic model calibration on the robotic arm according to the position of the end of the robotic arm in space, and performing kinematic model calibration according to the position of the end of the robotic arm in space. The calibrated model of the robotic arm acquires the first transformation relationship between the base coordinate system and the robot coordinate system.
The computer-readable storage medium according to claim 26, wherein an end tool is mounted on the end of the robotic arm, and a tool target is provided on the end tool;

The program also performs the following steps: driving the robotic arm to move, identifying the tool target, and judging whether the robotic arm reaches the expected position.
An electronic device, characterized by comprising a processor and the computer-readable storage medium according to any one of claims 26 to 29, wherein the processor is configured to execute a program in the computer-readable storage medium.