WO2023029784A1

WO2023029784A1 - Surgery robot tracking and moving method and system

Info

Publication number: WO2023029784A1
Application number: PCT/CN2022/106427
Authority: WO
Inventors: 张逸凌; 刘星宇
Original assignee: 北京长木谷医疗科技有限公司; 张逸凌
Priority date: 2021-09-03
Filing date: 2022-07-19
Publication date: 2023-03-09
Also published as: CN113855236A; CN113855236B

Abstract

A surgery robot tracking and moving method and system. The method comprises: registering a three-dimensional model coordinate system where a pre-acquired three-dimensional skeleton model is located with a world coordinate system where a solid skeleton is located, so as to register the world coordinate system to the three-dimensional model coordinate system, and thereby obtaining a registration result (S202); determining a real-time spatial location of an actuator at a tail end of a robotic arm and of the skeleton in the world coordinate system according to the locations of a tracer at the tail end of the robotic arm and a tracer on the skeleton that are acquired by a tracking camera in real time, and converting the real-time spatial locations in the three-dimensional model coordinate system according to the registration result, so as to obtain spatial locations of the actuator and the skeleton in the three-dimensional model coordinate system (S204); and controlling the robotic arm according to a spatial location of the current target area and the spatial location of the actuator at the tail end of the robotic arm, so as to limit the movement of the actuator to be within the current target area (S206). By means of the method, the accuracy of surgery can be improved.

Description

Method and system for tracking and moving surgical robot

Cross References to Related Applications

This application claims the priority of the Chinese patent application with application number 202111035623.9, entitled "Method and System for Tracking and Moving Surgical Robot", filed on September 03, 2021, which is incorporated herein by reference in its entirety.

technical field

The present application relates to the field of computer technology, in particular to a method and system for tracking and moving a surgical robot.

Background technique

Traditional TKA surgery (total knee arthroplasty) uses osteotomy plates for modular osteotomy, mainly referring to the patient’s preoperative radiographic X-ray films, measuring the bony landmarks during the operation, and manually placing the osteotomy plates for operation. The traditional method mainly Relying on the skill and experience of the surgeon to judge the balance of osteotomy, prosthesis position and soft tissue, resulting in low surgical accuracy.

Contents of the invention

The main purpose of the present application is to provide a method and system for tracking and moving a surgical robot that can improve surgical accuracy.

In order to achieve the above purpose, according to one aspect of the present application, a method for tracking and moving a surgical robot is provided.

The method for tracking and moving the surgical robot according to the present application includes:

Register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located with the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain a registration result;

According to the position of the tracker on the end of the manipulator and the tracker on the bone acquired by the tracking camera in real time, determine the real-time spatial position of the actuator at the end of the manipulator and the bone in the world coordinate system, and convert them according to the registration result Go to the 3D model coordinate system to obtain the spatial position of the actuator and bones in the 3D model coordinate system;

According to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, the mechanical arm is controlled to limit the movement of the actuator within the current target area.

The method also includes:

Before the actuator runs, when the mechanical arm moves to the bone, determine the adjustment path of the actuator according to the current spatial position of the actuator and the current target area in the three-dimensional solid model;

The adjustment path is displayed in the three-dimensional model, so that the operator operates the mechanical arm according to the adjustment path, so that the mechanical arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is coplanar with the current target area.

According to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, the steps of controlling the mechanical arm to limit the movement of the actuator within the current target area include:

After the plane of the actuator is coplanar with the current target area, when the robot arm is operated, run the actuator;

Start the Cartesian damping control mode modeled on virtual springs and dampers. The manipulator is based on the preset stiffness value C of each virtual spring in multiple degrees of freedom directions and the actuator relative to the current target area in multiple degrees of freedom directions The offset Δx outputs the feedback force F opposite to the operated direction, F=Δx*C, so as to limit the movement of the actuator within the current target area.

The direction in which the actuator cuts into the current target area is recorded as the depth direction, the direction within the current target area and perpendicular to the cutting direction is recorded as the horizontal direction, and the direction perpendicular to the current target area is recorded as the vertical direction; the offset includes the deviation in the depth direction. Offset value, horizontal offset value, vertical offset value, offset value rotated around the depth direction, offset value rotated around the horizontal direction, offset value rotated around the vertical direction;

The preset stiffness value of the virtual spring in the depth direction and the preset stiffness value of the virtual spring in the lateral direction are all in the range of 0N/m to 500N/m;

The preset stiffness value of the virtual spring in the vertical direction ranges from 4000N/m to 5000N/m;

The preset stiffness value of the virtual spring in the direction of rotation with the vertical axis as the axis ranges from 0Nm/rad to 20Nm/rad;

The preset stiffness value of the virtual spring in the direction of rotation with the depth direction as the axis and the stiffness value of the virtual spring in the direction of rotation with the horizontal axis as the axis both range from 200Nm/rad to 300Nm/rad.

The step of registering the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system includes:

According to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the intraoperative marker point in the world coordinate system when the surgical probe is used to collect points on the solid bone;

Obtain the spatial position of the preoperative planning point on the bone in the three-dimensional model of the bone in the three-dimensional model coordinate system;

Roughly register the spatial position of the preoperative planning point in the 3D model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system to obtain a coarse registration matrix;

According to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the marking point set in the world coordinate system when the surgical probe performs a marking operation on the solid bone;

According to the coarse registration matrix, the spatial position of the line point set in the world coordinate system is finely registered with the 3D model, and the registration result is obtained.

In order to achieve the above purpose, according to another aspect of the present application, a system for tracking and moving a surgical robot is provided.

The system for tracking and moving the surgical robot according to the present application includes:

The registration module is configured to register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain registration result;

The tracking module is configured to determine the real-time spatial position of the actuator at the end of the mechanical arm and the bone in the world coordinate system according to the position of the tracker on the end of the mechanical arm and the tracker on the bone acquired by the tracking camera in real time, according to The registration result is transformed into the 3D model coordinate system to obtain the spatial position of the actuator and bones in the 3D model coordinate system;

The motion control module is configured to control the mechanical arm according to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, so as to limit the movement of the actuator to the current target area.

The system also includes:

The plane alignment module is configured to determine the adjustment path of the actuator according to the current spatial position of the actuator and the current target area in the three-dimensional solid model when the mechanical arm moves to the bone before the actuator runs;

The display module is configured to display the adjustment path in the three-dimensional model, so that the operator operates the mechanical arm according to the adjustment path, so that the mechanical arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is the same as the current target area. noodle.

The motion control module is further configured to:

After the plane of the actuator is coplanar with the current target area, when the mechanical arm is operated, the actuator is operated;

A computer device includes a memory and a processor, the memory stores a computer program that can run on the processor, and the processor implements the steps in each of the above method embodiments when executing the computer program.

A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

The above-mentioned method, system, computer equipment and storage medium for tracking and moving the surgical robot perform registration on the three-dimensional model coordinate system in which the pre-acquired three-dimensional model of the skeleton is located and the world coordinate system in which the skeleton of the entity is located, so as to realize the registration of the world coordinate system. Accurate to the 3D model coordinate system, during the osteotomy process, the real-time spatial position of the actuator and bone in the world coordinate system can be tracked in real time, so that the spatial position of the actuator and bone in the 3D model coordinate system can be obtained according to the registration result. Then determine the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm to control the mechanical arm and limit the movement of the actuator to the current target area. It can not only prevent damage to ligaments, blood vessels, nerves and other tissues, but also effectively avoid excessive osteotomy, improving the accuracy and safety of surgery.

Description of drawings

The accompanying drawings, which constitute a part of this application, are included to provide a further understanding of the application and make other features, objects and advantages of the application apparent. The drawings and descriptions of the schematic embodiments of the application are used to explain the application, and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is an application environment diagram of a method for surgical robot tracking and movement in an embodiment;

FIG. 2 is a schematic flow chart of a method for tracking and moving a surgical robot in an embodiment;

Fig. 3 is a structural block diagram of a system for surgical robot tracking and movement in an embodiment;

Figure 4 is an internal block diagram of a computer device in one embodiment.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

The terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or elements need not be limited to those steps explicitly listed or units, but may include other steps or units not explicitly listed or inherent to the process, method, product or apparatus.

In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

The method for tracking and moving a surgical robot provided in this application can be applied to a surgical robot system as shown in FIG. 1 , and the surgical robot system can be applied to joint surgery, for example, knee joint replacement surgery. The surgical robot system includes a host computer main control system 102, a manipulator system 104 and an optical navigation and positioning system 106, wherein the host computer main control system 102 communicates with the manipulator system 104 and the optical navigation and positioning system 106 through the network, and the manipulator system 104 communicates with the optical navigation positioning system 106 through the network.

The host computer main control system 102 mainly includes a host computer and a display screen. Among them, the upper computer is configured to perform various calculations and processing on images, and the upper computer also stores a library of prostheses, which is configured to plan and select models before surgery. The manipulator system includes a manipulator control unit and a manipulator. The manipulator control unit is configured to receive an osteotomy start signal sent by a host computer control system to control the movement of the manipulator. The optical navigation and positioning system 106 is provided with a tracking camera, a tracer and a display screen; a tracer is installed on the end of the mechanical arm and bones (such as the femur and tibia of the knee joint), and a plurality of optical balls are arranged on the tracer , the upper computer determines the spatial position of the knee joint and the end of the mechanical arm in the world coordinate system by tracking the position of the optical ball through the tracking camera (binocular infrared camera). The display screen is configured to display a three-dimensional model of the patient's skeleton, such as the knee joint.

Optionally, the host computer can register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located with the world coordinate system where the skeleton of the entity is located through the optical navigation and positioning system 106, so as to register the world coordinate system to the 3D model Coordinate system to get the registration result. The host computer also uses the optical navigation and positioning system 106 to determine the world coordinates of the actuators and bones at the end of the manipulator in the manipulator system 104 according to the position of the tracker on the end of the manipulator and the tracker on the bone acquired by the tracking camera in real time. According to the real-time spatial position in the 3D model coordinate system, it is transformed into the 3D model coordinate system according to the registration result, and the spatial position of the actuator and bone in the 3D model coordinate system is obtained; according to the spatial position of the current target area, the actuator at the end of the manipulator The spatial position of the robot is controlled to limit the movement of the actuator to the current target area.

In one embodiment, as shown in Figure 2, a method for tracking and moving a surgical robot is provided, including the following steps:

Step 202, registering the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain a registration result.

The registration process of registering the world coordinate system to the 3D model coordinate system can be divided into two stages: coarse registration stage and fine registration stage. In the coarse registration stage, the coarse registration matrix is obtained by roughly registering the spatial positions of the tracked intraoperative marker points in the world coordinate system and the acquired preoperative planning points in the 3D model coordinate system. Fine registration performs fine registration with the 3D model on the spatial position of the tracked line point set in the world coordinate system according to the coarse registration matrix, and then obtains the registration result.

The three-dimensional skeleton model can be a skeleton model of a knee joint, a skeleton model of a hip joint, or other types of skeleton models. The intraoperative marking points are multiple points marked on the bone by the doctor during the operation with a surgical probe. The preoperative planning points are points planned in advance in the three-dimensional model for registration. The line-marking point set is determined by the doctor using the surgical probe to carry out the line-line operation on the bone during the operation. A plurality of optical balls are installed on the surgical probe, and the host computer determines the spatial positions of the intraoperative marking points and the marking point set in the world coordinate system according to the position of the optical balls tracked by the tracking camera.

In one of the embodiments, step 202, registering the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system includes : According to the spatial position of the surgical probe in the world coordinate system acquired by the tracking camera, determine the spatial position of the intraoperative marker point in the world coordinate system when the surgical probe is used to collect points on the solid bone; obtain the 3D model of the bone The spatial position of the preoperative planning point on the bone in the 3D model coordinate system; the spatial position of the preoperative planning point in the 3D model coordinate system is roughly registered with the spatial position of the intraoperative marker point in the world coordinate system to obtain a rough Registration matrix; according to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the scribing point set in the world coordinate system when the surgical probe is scribing on the solid bone; The quasi-matrix precisely registers the spatial position of the line point set in the world coordinate system with the 3D model to obtain the registration result.

In the rough registration stage, the host computer tracks the spatial position of the surgical probe in the world coordinate system through the tracking camera in the optical navigation positioning system, so that the surgical probe can be determined according to the spatial position of the surgical probe in the world coordinate system obtained by the tracking camera. The spatial position of the intraoperative marker point in the world coordinate system when performing the point collection operation on the solid bone. After obtaining the spatial position of the preoperative planning point on the bone in the 3D model coordinate system in the 3D model of the bone, the spatial position of the preoperative planning point in the 3D model coordinate system is compared with the intraoperative marker point in the world coordinate system Coarse registration is carried out at the spatial position of , and the coarse registration matrix is obtained. By roughly registering the intraoperative marker points under the 3D model coordinates with the preoperative planning points under the world coordinate system, the doctor’s intraoperative operation can be aligned with the 3D model, and the initial coordinate system between the world coordinate system and the 3D model coordinate system can be obtained. Transformation relationship, that is, the coarse registration matrix. On the basis of coarse registration, the second stage of fine registration can be performed. In the fine registration stage, no preoperative planning is required, and calibration equipment such as surgical probes are used to draw lines on the solid bone surface during the operation. When the surgical probe is performing a marking operation on the solid bone, according to the spatial position of the tracer on the surgical probe in the world coordinate system during the marking operation process acquired by the tracking camera, determine the bone of the solid knee joint The spatial position of the dashed point set on the world coordinates.

In an optional manner of this embodiment, roughly registering the spatial position of the preoperative planning point in the three-dimensional model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system includes: by presetting the three-dimensional space The point cloud search method triangulates the preoperative planning points according to the spatial position of the preoperative planning points in the 3D model coordinate system, and triangulates the intraoperative marking points according to the spatial position of the intraoperative marking points in the world coordinate system Through the processing, the actual operation triangle sequence corresponding to the intraoperative marker points and the planning triangle sequence corresponding to the preoperative planning points are obtained; through the preset 3D space point cloud search method, the preoperative planning points are compared in the 3D model coordinate system according to the planning triangle sequence Correct the spatial position of the corrected preoperative planning point to obtain the corrected preoperative planning point; register the intraoperative marker point corresponding to the actual operation triangle sequence with the corrected preoperative planning point.

Both intraoperative marker points and preoperative planning points are point sets. Triangulation processing refers to forming a triangle from every three points. The principle of triangle composition is that the perimeter is the largest, and the points in the triangles can overlap, so as to obtain the practical triangle sequence and preoperative planning points corresponding to the marked points in the operation. The corresponding planning triangle sequence.

Through the preset 3D space point cloud search method, the preoperative planning point is triangulated according to the spatial position of the preoperative planning point in the 3D model coordinate system, and the surgical operation is performed according to the spatial position of the intraoperative marker point in the world coordinate system. Triangulation processing is performed on the marked points in the operation to obtain the practical triangle sequence corresponding to the intraoperative marked point and the planning triangle sequence corresponding to the preoperative planning point, including: according to the spatial position of the preoperative planning point in the three-dimensional model coordinate system, the preoperative planning point The first three points of the intraoperative marker point form a triangle, and the first three points of the intraoperative marker point form a triangle according to the spatial position of the intraoperative marker point in the world coordinate system; starting from the fourth point, select two points from the previous points Points form a triangle with the current point to obtain the actual operation triangle sequence corresponding to the marked point in the operation and the planning triangle sequence corresponding to the preoperative planning point; the triangle formation sequence of the actual operation triangle sequence and the planning triangle sequence are the same. The triangulation method of intraoperative marker points and preoperative planning points is the same.

Exemplarily, for the preoperative planning points, assuming that the order of the point clouds in the preoperative planning points is P1, P2, P3...Pn, the first three points automatically form a triangle, and starting from the fourth point can be Select two points from the points to form a triangle with the current point. The selection principle is that the perimeter of the triangle formed after selection is the largest. According to this principle, several triangle sequences are obtained. The way of generating the triangular sequence of marked points during operation is the same as the way of planning points before operation.

In this optional implementation mode, by presetting the three-dimensional space point cloud search method, correcting the spatial position of the preoperative planning point in the three-dimensional model coordinate system according to the planning triangle sequence includes: through the preset three-dimensional space point cloud search method , determine the second neighborhood space point set on the 3D model according to the spatial position of the preoperative planning point in the 3D model coordinate system; filter out the second target point set from the second neighborhood space point set; The spatial position of the previous planning point under the coordinates of the three-dimensional model is corrected to the position of the second target point set.

Optionally, a second neighborhood space point set on the three-dimensional model of the preoperative planning point in the coordinate system of the three-dimensional model is determined through a preset three-dimensional space point cloud search method. The second neighborhood space point set includes a large number of points.

The planning triangle sequence includes multiple triangles, and each triangle includes three triangle points. For the current triangle, according to the preset screening strategy, the target point corresponding to each triangle point of the current triangle is screened in the second neighborhood space point set to obtain the first A set of target points. The default screening strategy is that the triangle formed by the screened three target points is congruent with the triangle in the practical triangle sequence. Since the error of congruent triangles is extremely small, the spatial positions of the three triangular points of the current triangle under the coordinates of the 3D model can be corrected to the positions of the corresponding target points, and the correction process can be repeated to achieve continuous alignment of a large number of triangles in the planned triangle sequence. The spatial position of the pre-planning point under the coordinates of the three-dimensional model is corrected, and then the corrected pre-operative planning point closest to the intraoperative marker point is obtained.

Afterwards, the intraoperative marker points corresponding to the actual operation triangle sequence are registered with the corrected preoperative planning points through the registration algorithm to obtain the registration results. For example, the registration algorithm may be ICP (Iterative Closest Point, iterative closest point algorithm). When the registration is completed, the preoperative planning points can become transparent. For example, the preoperatively planned three-dimensional model may include a three-dimensional femoral model and a three-dimensional tibial model, and the three-dimensional femoral model may be as shown in FIG. 3 , and the points in the figure are femoral marker points. The three-dimensional tibial model can be shown in Figure 4, and the points in the figure are tibial marker points. Register the femoral marker points in the intraoperative marker points with the femoral planning points. After the registration is completed, the registration points become transparent. Correspondingly, the tibial marker points in the intraoperative marker points are registered with the tibial planning points. After the registration is completed, the registration points become transparent.

In this embodiment, by triangulating the intraoperative marker points and preoperative planning points, the preoperative planning points are corrected according to the planning triangle sequence, and the corrected preoperative planning points are obtained. Since the triangle is unique and sufficient The stability of the registration is improved, and the preoperative planning points are corrected in advance, which effectively improves the accuracy of registration.

After the rough registration is completed, the second stage of fine registration can be performed. In the fine registration stage, the scribing area where the scribing operation can be performed is the key bone area on the bone surface, that is, the area containing key bone points.

Exemplarily, the position of the tracer on the surgical probe is tracked by the tracking camera in the optical navigation positioning system, and the tracer on the surgical probe is in the world coordinate system during the marking process obtained according to the tracking camera Determine the spatial position of the line point set on the skeleton of the entity in world coordinates to obtain the line point set. Further, in the line marking operation, the surgical probe can be used to sample at the frequency S, and the point collection operation can be performed online, and the entire line segment can be subdivided into several point sets, so as to obtain the line point set.

In the fine registration process, the neighborhood space point set of the dashed point set on the 3D model can be determined first, and then the dashed point set can be aligned according to the neighborhood space point set and the spatial position of the dashed point set in the world coordinate system. The spatial position in the three-dimensional model coordinate system is corrected, and then the corrected line point set is registered with the space position of the line point set in the world coordinate system.

In an optional manner of this embodiment, finely registering the spatial position of the lined point set in the world coordinate system with the 3D model according to the coarse registration matrix includes: The spatial position in the world coordinate system is reflected back to the 3D model coordinate system, and the position of the dashed point set in the 3D model coordinate system is obtained; according to the position of the dashed point set in the 3D model coordinate system, the neighborhood space is performed on the 3D model Search to obtain the first neighborhood space point set; according to the space position of the first neighborhood space point set and the dashed point set in the world coordinate system, the spatial position of the dashed point set in the 3D model coordinate system is corrected to obtain The corrected set of dashed points; register the corrected set of dashed points with the spatial position of the set of dashed points in the world coordinate system.

The coarse registration matrix represents the conversion relationship between the world coordinate system and the 3D model coordinate system obtained by coarse registration. According to the coarse registration matrix, the spatial position of the dashed point set in the world coordinate system can be reflected back to the 3D model coordinate system, so as to obtain the position of the dashed point set in the 3D model coordinate system. Since the 3D model corresponds to the 3D model coordinate system, the neighborhood space search can be performed on the 3D model according to the position of the dashed point set in the 3D model coordinate system to obtain the first neighborhood space point set. The first neighborhood space point set is a neighborhood space point set corresponding to the dashed line point set in the three-dimensional model coordinate system.

In an optional manner, correcting the spatial position of the dashed point set in the three-dimensional model coordinate system according to the spatial position of the first neighborhood spatial point set and the dashed point set in the world coordinate system includes: according to the dashed point set At the spatial position in the world coordinate system, triangular pairing is performed on the points in the dashed point set to obtain a paired triangle sequence; according to the first neighborhood space point set and the paired triangle sequence, the spatial position of the dashed point set in the 3D model coordinate system is obtained. Make corrections.

The dashed point set is composed of points on multiple line segments, for example, may include points in three line segments. The points in the set of dashed points are paired in triangles, and a point is selected in each line segment, and every three points form a triangle. The principle of composition is that the perimeter of the triangle is the largest. According to the triangle pairing method, a sequence of paired triangles is obtained. The sequence of paired triangles includes a plurality of triangles.

In the coarse registration, the spatial position of the preoperative planning points under the coordinates of the 3D model is corrected through the second neighborhood space point set, and the line point set is adjusted in 3D according to the first neighborhood space point set and the paired triangle sequence. The spatial position in the model coordinate system is corrected.

Further, correcting the spatial position of the dashed point set in the three-dimensional model coordinate system according to the first neighborhood space point set and the paired triangle sequence includes: filtering out the first target point set from the first neighborhood space point set; The paired triangle sequence corrects the spatial position of the dashed point set in the three-dimensional model coordinate system to the position of the first target point set.

The first neighborhood space point set includes a large number of points. The paired triangle sequence includes multiple triangles, and each triangle includes three triangle points. For the current triangle, the target point corresponding to each triangle point of the current triangle can be screened in the second neighborhood space point set according to the paired triangle sequence to obtain the first A set of target points. The default screening strategy is that the triangle formed by the screened three target points is congruent with the triangle in the paired triangle sequence. Since the error of congruent triangles is extremely small, the spatial positions of the three triangle points of the current triangle under the coordinates of the three-dimensional model can be respectively corrected to the positions corresponding to the target points in the first target point set, and the correction process can be repeated to achieve A large number of triangles continuously correct the spatial position of the dashed point set in the 3D model coordinates, making the spatial position of the dashed point set reflected in the 3D model coordinate system more accurate.

Afterwards, the corrected set of dashed points and the spatial position of the set of dashed points in the world coordinate system are registered through a registration algorithm to obtain a registration result. For example, the registration algorithm may be ICP (Iterative Closest Point, iterative closest point algorithm). The registration result can be the transformation relationship between the final world coordinate system and the three-dimensional coordinates, and the accuracy of the intraoperative operation can be improved through the registration result.

In this embodiment, the spatial position of the scribed point set on the skeleton of the entity in the world coordinate system is obtained through the scribe operation, so that the spatial position of the scribed point set in the world coordinate system is calculated according to the coarse registration matrix Performing fine registration with the 3D model, compared with the traditional point-taking registration algorithm, greatly improves the registration efficiency, and the registration accuracy is also greatly improved.

Step 204, according to the position of the tracker on the end of the manipulator and the tracker on the bone acquired by the tracking camera in real time, determine the real-time spatial position of the actuator at the end of the manipulator and the bone in the world coordinate system, and according to the registration result Transform it into the 3D model coordinate system to obtain the spatial position of the actuator and bones in the 3D model coordinate system.

During the operation, the optical navigation and positioning system tracks the tracker on the end of the manipulator and the tracker on the bone in real time through the tracking camera, and the tracker on the end of the manipulator and the tracker on the bone acquired by the tracking camera in real time , determine the real-time spatial position of the actuator and bones at the end of the manipulator in the world coordinate system. For example, the actuator at the end of a robotic arm could be a saw blade.

According to the registration results, the real-time spatial position of the actuator at the end of the manipulator in the world coordinate system and the real-time spatial position of the bone in the world coordinate system are respectively transformed into the three-dimensional model coordinate system, and then the actuator at the end of the manipulator is obtained. The spatial position in the 3D model coordinate system, and the spatial position of the bone in the 3D model coordinate system.

Step 206, according to the spatial position of the current target area and the spatial position of the actuator at the end of the robotic arm, control the robotic arm to limit the movement of the actuator within the current target area.

In one embodiment, during the operation of the actuator at the end of the mechanical arm, the offset of the actuator relative to the current target area is determined according to the current spatial position of the actuator and the spatial position of the current target area of the bone; according to the offset The amount is used to control the robotic arm to limit the movement of the actuator to the current target area.

By tracking the camera (binocular infrared camera) in real time to track the position of the optical ball at the end of the manipulator, the position of the optical ball on the femur area, and the position of the optical ball on the tibial area, the actuator at the end of the manipulator can be determined The current spatial position of the actuator and the current spatial position of each target area, so that the spatial position of the actuator and the spatial position of the current target area can be determined in real time, and then based on the spatial position of the actuator, the spatial position of the current target area can be used to determine the relative position of the actuator. The offset of the current target area.

When the surgical robot is applied to knee joint replacement surgery, the target area may be a pre-planned osteotomy plane of the knee joint. The osteotomy planes may include femoral osteotomy planes and tibial osteotomy planes, and the number of tibial osteotomy planes may be one plane area, namely the tibial osteotomy planes. For the femoral osteotomy plane, the number can include 5 plane areas, including the frontal femoral osteotomy plane, femoral anterior oblique osteotomy plane, femoral posterior condyle osteotomy plane, femoral posterior oblique osteotomy plane, and distal femoral osteotomy plane .

The pre-planned operation sequence of multiple target areas is displayed in the three-dimensional model, and the current target area is a target area selected from the multiple target areas in response to the operator.

In this embodiment, before the actuator runs, when the mechanical arm is operated to the bone, the adjustment path of the actuator is determined according to the current spatial position of the actuator and the current target area in the three-dimensional solid model; it is displayed in the three-dimensional model The path is adjusted so that the operator operates the mechanical arm according to the adjusted path, so that the mechanical arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is coplanar with the current target area.

Optionally, determine the position difference between the spatial position of the current target area and the current spatial position of the actuator according to the current spatial position of the actuator and the current target area in the three-dimensional solid model, and determine that the manipulator is operated according to the position difference The displacement amount, so as to determine the adjustment path of the actuator according to the displacement amount. The adjustment path is displayed in the three-dimensional model to guide the doctor to support the robotic arm, so that the robotic arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is coplanar with the current target area.

In one embodiment, according to the spatial position of the current target area and the spatial position of the actuator at the end of the robotic arm, the step of controlling the mechanical arm to limit the movement of the actuator within the current target area includes:

After the plane of the actuator is coplanar with the current target area, when the manipulator is operated, run the actuator; start the Cartesian damping control mode modeled on the virtual spring and damper, and the manipulator is based on the direction of multiple degrees of freedom The preset stiffness value C of each virtual spring and the offset Δx of the actuator relative to the current target area in the direction of multiple degrees of freedom will output the feedback force F opposite to the operated direction, F=Δx*C, so that the actuator The movement of is limited to the current target area.

In this embodiment, the stiffness-damping model of the virtual spring is also called Cartesian Impedance Control Mode (CICM). In damped control mode, the behavior of the robot is compliance-sensitive and reacts to external influences such as obstacles or process forces. Applying an external force can cause the robot to deviate from the planned orbital path.

For example, in any target area, in a direction perpendicular to the current target area, a relatively large stiffness value is set, and the stiffness value is greater than a predetermined threshold, so as to limit the movement of the actuator in a direction perpendicular to the current target area , so as to effectively prevent the actuator from deviating from the current target area.

After the actuator is aligned with the current target area, run the actuator. At this time, the control robot enters the state of the virtual spring damping model. In this state, the entire mechanical arm can be regarded as an approximate virtual spring, in any direction When a force is applied, the virtual spring obeys Hooke's law. In the direction perpendicular to the current target area, if the stiffness in this direction is large, the actuator will have a small deviation in this direction, so that the actuator can be stably limited to the current target area, and avoid The actuator moves in a direction perpendicular to the current target area, so as to minimize the actuator beyond the target area and reduce accidental injuries to patients.

In one embodiment, the direction in which the actuator cuts into the current target area is recorded as the depth direction, the direction within the current target area and perpendicular to the cutting direction is recorded as the horizontal direction, and the direction perpendicular to the current target area is recorded as the vertical direction; The displacement direction includes the offset value in the depth direction, the offset value in the horizontal direction, and the offset value in the vertical direction; the offset value for rotating around the depth direction, the offset value for rotating around the horizontal direction, and the offset value for rotating around the vertical direction.

The preset stiffness values of the virtual springs in the depth direction and the preset stiffness values of the virtual springs in the transverse direction both range from 0 N/m to 500 N/m. According to Hooke's law, when the force is constant, the smaller the stiffness, the larger the spring deformation. Therefore, setting the stiffness in the depth direction as small as possible can help the displacement of the actuator in this direction. In the transverse direction, the stiffness of the setting is also relatively small, which also helps the actuator to move in this direction for cutting.

The preset stiffness value of the virtual spring in the vertical direction ranges from 4000N/m to 5000N/m. According to Hooke's law, when the force is constant, the greater the stiffness, the smaller the spring deformation. Therefore, setting the stiffness in the Z direction as large as possible can help to avoid the displacement of the actuator in the Z direction, because if the displacement occurs in the Z direction, the saw blade will be directly separated from the current target area, which is likely to cause harm to the patient , which is not allowed.

The preset stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis ranges from 0Nm/rad to 20Nm/rad, so that the saw blade can rotate in the current target area with the vertical direction Z as the axis.

The preset stiffness value of the virtual spring in the rotation direction with the depth direction as the axis and the stiffness value of the virtual spring in the rotation direction with the horizontal axis as the axis are both 200Nm/rad to 300Nm/rad, limiting the saw blade to the depth direction The displacement of rotating on the axis and rotating on the horizontal axis further prevents the saw blade from breaking away from the current target area and ensures the safety of osteotomy.

Certainly, the value range may also be other range values. Optionally, when setting the spring stiffness in different degrees of freedom directions, you can use the function setStiffness(…)(type:double) to set.

In this embodiment, the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located is registered with the world coordinate system where the skeleton of the entity is located, so as to realize the registration of the world coordinate system to the 3D model coordinate system, which can be performed during osteotomy. During the process, the real-time spatial positions of the actuators and bones in the world coordinate system are tracked in real time, so that the spatial positions of the actuators and bones in the 3D model coordinate system are obtained according to the registration results, and then the spatial position of the current target area, mechanical The spatial position of the actuator at the end of the arm to control the robotic arm confines the motion of the actuator to the current target region. It can not only prevent damage to ligaments, blood vessels, nerves and other tissues, but also effectively avoid excessive osteotomy, improving the accuracy and safety of surgery.

In one embodiment, the above method also includes the step of preoperative planning, which step includes:

After the medical image of the bone is obtained, the medical image is segmented and three-dimensionally reconstructed to obtain the three-dimensional model of the bone; based on the three-dimensional model, the key parameters of the bone are determined; the type and model of the three-dimensional prosthesis model are determined based on the key parameters of the bone; the selected The three-dimensional prosthesis model is implanted into the three-dimensional model; the placement position and placement angle of the three-dimensional prosthesis model are adjusted based on the key bone parameters and the type and model of the three-dimensional prosthesis model.

In this embodiment, after obtaining the bone CT or MRI image data of the target user, the scanned image can be segmented through the neural network model, and can be segmented into regions of different granularities, such as the femoral region and the tibial region, or It can also be divided into femoral region, tibial region, fibula region and patella region as required; and then 3D reconstruction can be performed on the images of each segmented region to obtain a 3D model of each bone region.

In this embodiment, after acquiring the bone CT or nuclear magnetic image data of the target user, the scanned image can be segmented through the neural network model, and can be segmented into regions of different granularities as required, for example, in the acquired CT image of the knee joint Finally, it can be divided into femoral region and tibial region, or can be divided into femoral region, tibial region, fibula region and patella region according to needs; and then 3D reconstruction can be performed on the images of each segmented region to obtain a 3D model of each bone region.

Key bone parameters can include key anatomical points of bones, key axes of bones and bone size parameters. Key anatomical points of bones can be identified based on deep learning algorithms, such as neural network models, and the identified key anatomical points of bones can be marked on the 3D model .

Bone size can include left and right femur diameter, femur anteroposterior diameter, tibial left and right diameter and tibial anteroposterior diameter. The line connecting the medial and lateral borders of the tibia is determined, and the anteroposterior diameter of the tibia is determined according to the line connecting the anterior and posterior borders of the tibia.

The key axis of the bone is determined based on the key anatomical points of the bone, and the key angle of the bone is determined based on the key axis of the bone. However, based on the key axis of the bone and the key angle of the bone, it is helpful to determine the type and model of the three-dimensional prosthesis model. The three-dimensional prosthesis model of the knee joint generally includes a three-dimensional femoral prosthesis model, a three-dimensional tibial prosthesis model, and a spacer model connecting the three-dimensional tibial prosthesis model and the three-dimensional femoral prosthesis model.

The three-dimensional prosthesis model can be a prosthesis model for total knee joint replacement currently available on the market. There are many types of three-dimensional prosthesis models, and each type of three-dimensional prosthesis model has multiple models. For example, the types of three-dimensional femoral prosthesis models include ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc., and the models of ATTUNE-PS include 1, 2, 3, 3N, 4, 4N, 5, 5N, 6, 6N.

In this embodiment, the selected three-dimensional skeletal prosthesis model is implanted into the three-dimensional bone model, and the placement position and placement angle of the three-dimensional prosthesis model are adjusted based on the key parameters of the skeleton and the type and model of the three-dimensional prosthesis model. In this embodiment, the three-dimensional visual display of the matching adjustment process and matching effect of the bone and the prosthesis is realized. After obtaining the three-dimensional model after implanting the three-dimensional prosthesis model, it can be determined whether the femoral prosthesis model is consistent with The 3D femur model has been fitted.

Based on the tibial varus angle, femoral valgus angle, left and right tibial diameter, and tibial anteroposterior diameter, it can be determined whether the tibial prosthetic model has been installed and adapted to the three-dimensional tibial model.

As an optional implementation of this embodiment, the three-dimensional model includes a three-dimensional femoral model, the three-dimensional prosthesis model includes a three-dimensional femoral prosthesis model, key bone parameters include femoral key parameters, femoral key parameters include femoral mechanical axis, femoral Condyle line, posterior condyle connection line, left and right femoral diameter and femoral anteroposterior diameter; the steps of adjusting the placement position and placement angle of the three-dimensional prosthesis model based on the key bone parameters and the type and model of the three-dimensional prosthesis model include: based on the left and right femoral diameter and the femoral Adjust the placement position of the 3D femoral prosthesis model; adjust the varus or valgus angle of the 3D femoral prosthesis model so that the cross section of the 3D femoral prosthesis model is perpendicular to the mechanical axis of the femur; adjust the varus angle of the 3D femoral prosthesis Rotation angle or external rotation angle, make the femoral posterior condyle angle PCA (the included angle between the femoral condyle line and the posterior condyle line on the cross-sectional projection line) within the preset range.

In this optional implementation manner, when the placement position of the femoral prosthesis model satisfies that the femoral prosthesis model can cover the left and right sides of the femur and the front and back of the femur, the installation position is appropriate.

Based on the current position of the femoral prosthesis model, the femoral valgus angle and femoral varus angle can be determined according to the relative angle between the central axis of the femoral prosthesis model in the upper and lower direction of the coronal plane and the femoral force line, and according to the transverse axis of the femoral prosthesis model The external rotation angle and internal rotation angle are determined by the relative angle to the condylar line; the femoral flexion angle is determined by the angle between the femoral mechanical axis and the central axis of the femoral prosthesis model in the sagittal front-posterior direction. By adjusting the above angles, it can be determined whether the installation angle of the three-dimensional femoral prosthesis model is appropriate. For example, when the varus/valgus angle is adjusted to 0°, and the PCA is generally adjusted to 3°, then it is determined as the placement position of the femoral prosthesis model Adjust the installation angle to a suitable position.

As an optional implementation of this embodiment, the three-dimensional model also includes a three-dimensional tibial model, and the three-dimensional femoral prosthesis model also includes a three-dimensional tibial prosthesis model; the bone key parameters also include tibial key parameters, and the tibial key parameters include tibial mechanical axis, Left and right tibial diameter and tibial anteroposterior diameter; the steps of adjusting the placement position and placement angle of the 3D prosthesis model based on the key bone parameters and the type and model of the 3D prosthesis model include: adjusting the 3D tibial prosthesis based on the left and right tibial diameter and the tibial anteroposterior diameter Placement of the model; adjust the varus or valgus angle of the three-dimensional tibial prosthesis so that the mechanical axis of the tibia is perpendicular to the cross-section of the three-dimensional tibial prosthesis.

In this optional implementation, in addition to determining the installation position and angle through the above methods, the posterior inclination angle of the tibial prosthesis can also be determined according to the design principles of the tibial prosthesis, and the adjustment of the flexion angle of the tibial prosthesis can be based on the patient's physiological The characteristics are determined, adjust to 0° or other, avoid notch (gap), Over.

As an optional implementation of this embodiment, after the step of adjusting the placement position and placement angle of the 3D prosthesis model, the method further includes: performing a simulated osteotomy based on the matching relationship between the 3D prosthesis model and the 3D prosthesis model, Obtain a three-dimensional bone postoperative simulation model; perform motion simulation on the three-dimensional femoral postoperative simulation model including extension and flexion; determine the extension gap in the extension state, and determine the flexion gap in the flexion state; compare the extension gap and flexion Gap, to verify the matching of the three-dimensional prosthesis model.

In this optional implementation, the femoral osteotomy thickness is determined according to the design principles of the femoral prosthesis, and different femoral prostheses may correspond to different osteotomy thicknesses; The osteotomy plane can be determined.

After adjusting the placement position and placement angle of the three-dimensional prosthesis model, the simulated osteotomy is performed based on the matching relationship between the three-dimensional prosthesis model and the three-dimensional model, and a three-dimensional skeleton postoperative simulation model is obtained.

After obtaining the three-dimensional skeletal postoperative simulation model, the motion simulation can be performed, and the extension gap and flexion gap can be determined through the extension position simulation map and the flexion position simulation map. Based on the extension gap and the flexion gap, it is determined whether the three-dimensional prosthesis model fits the osteotomized three-dimensional model. By simulating the installation effect of the prosthesis, it can be observed from different angles whether the size and position of the prosthesis are appropriate, whether there is collision or dislocation of the prosthesis, and then it is possible to accurately determine whether the prosthesis fits the bone. The user can determine whether the 3D prosthesis model can be adjusted through the final simulation image. If the type and model of the bone prosthesis are changed, the prosthesis library can be called again to generate the replaced 3D prosthesis model based on the new bone prosthesis model. Skeletal postoperative simulation model. By simulating the expected postoperative effect, the final 3D prosthetic model can be more closely matched to the patient's knee joint. In one embodiment, the preoperative planning method further includes: determining the three-dimensional coordinates of the center point of the femoral medullary cavity based on the three-dimensional femoral model; creating an intramedullary positioning analog rod by a circular fitting method; using the intramedullary positioning analog rod Determine the opening point of the femur.

In an optional implementation, the position of the needle entry point of the intramedullary positioning analog rod in the femur can also be determined during knee arthroplasty, wherein the apex of the intercondylar notch can be used as the needle entry point of the intramedullary positioning analog rod, The position of the point can be used as the opening point of the femur. During the operation, the intramedullary locating analog rod and the opening point of the femur are visualized on the three-dimensional bone model to guide the doctor to open the pulp.

The steps shown in the flow diagrams of the figures may be implemented in a computer system, such as a set of computer-executable instructions, and, although a logical order is shown in the flow diagrams, in some cases, may be executed differently from this The steps shown or described are performed in the order shown or described.

In one embodiment, as shown in FIG. 3 , a system for tracking and moving a surgical robot is provided, including: a registration module 302, a tracking module 304 and a motion control module 306; wherein:

The registration module 302 is configured to register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain the registration quasi-result.

The tracking module 304 is configured to determine the real-time spatial position of the actuator at the end of the mechanical arm and the bone in the world coordinate system according to the positions of the tracker on the end of the mechanical arm and the tracker on the bone acquired by the tracking camera in real time, Transform it into the 3D model coordinate system according to the registration result, and obtain the spatial positions of the actuator and bones in the 3D model coordinate system.

The motion control module 306 is configured to control the mechanical arm according to the spatial position of the current target area and the spatial position of the actuator at the end of the robotic arm, so as to limit the movement of the actuator within the current target area.

In one embodiment, the above system also includes:

In one embodiment, the motion control module 306 is further configured to:

In one embodiment, the direction in which the actuator cuts into the current target area is marked as the depth direction, the direction within the current target area and perpendicular to the cutting direction is marked as the horizontal direction, and the direction perpendicular to the current target area is marked as the vertical direction; The amount includes the offset value in the depth direction, the offset value in the horizontal direction, the offset value in the vertical direction, the offset value rotated around the depth direction, the offset value rotated around the horizontal direction, the offset value rotated around the vertical direction; the depth direction The value ranges of the preset stiffness values of the virtual springs above and the preset stiffness values of the virtual springs in the lateral direction are both 0N/m～500N/m; the value ranges of the preset stiffness values of the virtual springs in the vertical direction are 4000N/m～5000N/m; the value range of the preset stiffness value of the virtual spring in the rotation direction with the vertical axis as the axis is 0Nm/rad～20Nm/rad; the preset stiffness value of the virtual spring in the rotation direction with the depth direction as the axis It is assumed that the value ranges of the stiffness value and the stiffness value of the virtual spring in the rotation direction with the horizontal axis as the axis are both 200Nm/rad-300Nm/rad.

In one embodiment, registration module 304 is further configured to:

According to the spatial position of the surgical probe in the world coordinate system obtained by the tracking camera, determine the spatial position of the intraoperative marker point in the world coordinate system when the surgical probe is used to collect points on the solid bone; obtain the bone in the 3D model of the bone The spatial position of the preoperative planning point on the 3D model coordinate system; the spatial position of the preoperative planning point in the 3D model coordinate system is roughly registered with the spatial position of the intraoperative marker point in the world coordinate system, and the rough registration is obtained. Quasi-matrix; according to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the marking point set in the world coordinate system when the surgical probe is scribing on the solid bone; according to the coarse registration The matrix precisely registers the spatial position of the line point set in the world coordinate system with the 3D model to obtain the registration result.

For the definition of the system for tracking and moving the surgical robot, please refer to the definition of the method for tracking and moving the surgical robot above, and details will not be repeated here. Each module in the above-mentioned system for tracking and moving the surgical robot can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure may be as shown in FIG. 4 . The computer device includes a processor, memory, network interface and database connected by a system bus. Wherein, the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer equipment includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs and databases. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is configured to store data of a method of tracking and movement of a surgical robot. The network interface of the computer device is configured to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for tracking and moving a surgical robot is realized.

Those skilled in the art can understand that the structure shown in Figure 4 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation to the computer equipment on which the solution of the application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, the memory stores a computer program, and the processor implements the steps in the foregoing embodiments when executing the computer program.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing embodiments are implemented.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patents. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A method for tracking and moving a surgical robot, comprising:

Register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located with the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain a registration result;

According to the position of the tracker on the end of the manipulator and the tracker on the bone acquired by the tracking camera in real time, determine the real-time spatial position of the actuator at the end of the manipulator and the bone in the world coordinate system, and convert them according to the registration result Go to the 3D model coordinate system to obtain the spatial position of the actuator and bones in the 3D model coordinate system;

According to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, the mechanical arm is controlled to limit the movement of the actuator within the current target area.
The method according to claim 1, wherein the method further comprises:

Before the actuator runs, when the mechanical arm moves to the bone, the adjustment path of the actuator is determined according to the current spatial position of the actuator and the current target area in the three-dimensional solid model;

The adjustment path is displayed in the three-dimensional model, so that the operator operates the mechanical arm according to the adjustment path, so that the mechanical arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is coplanar with the current target area.
The method according to claim 2, wherein, according to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, the step of controlling the mechanical arm to limit the movement of the actuator within the current target area comprises:

After the plane of the actuator is coplanar with the current target area, when the robot arm is operated, run the actuator;

Start the Cartesian damping control mode modeled on virtual springs and dampers. The manipulator is based on the preset stiffness value C of each virtual spring in multiple degrees of freedom directions and the actuator relative to the current target area in multiple degrees of freedom directions The offset Δx outputs the feedback force F opposite to the operated direction, F=Δx*C, so as to limit the movement of the actuator within the current target area.
The method according to claim 3, wherein the direction in which the actuator cuts into the current target area is marked as the depth direction, the direction within the current target area and perpendicular to the cutting direction is marked as the horizontal direction, and the direction perpendicular to the current target area is marked as Vertical direction; the offset includes the offset value in the depth direction, the offset value in the horizontal direction, the offset value in the vertical direction, the offset value rotated around the depth direction, the offset value rotated around the horizontal direction, the offset value rotated around the vertical direction transfer value;

The preset stiffness value of the virtual spring in the depth direction and the preset stiffness value of the virtual spring in the lateral direction are all in the range of 0N/m to 500N/m;

The preset stiffness value of the virtual spring in the vertical direction ranges from 4000N/m to 5000N/m;

The preset stiffness value of the virtual spring in the direction of rotation with the vertical direction as the axis ranges from 0Nm/rad to 20 Nm/rad;

The preset stiffness value of the virtual spring in the direction of rotation with the depth direction as the axis and the stiffness value of the virtual spring in the direction of rotation with the horizontal axis as the axis both range from 200Nm/rad to 300Nm/rad.
The method according to claim 1, wherein the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located is registered with the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system The steps include:

According to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the intraoperative marker point in the world coordinate system when the surgical probe is used to collect points on the solid bone;

Obtain the spatial position of the preoperative planning point on the bone in the three-dimensional model of the bone in the three-dimensional model coordinate system;

Roughly register the spatial position of the preoperative planning point in the 3D model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system to obtain a coarse registration matrix;

According to the spatial position of the surgical probe acquired by the tracking camera in the world coordinate system, determine the spatial position of the marking point set in the world coordinate system when the surgical probe performs a marking operation on the solid bone;

According to the coarse registration matrix, the spatial position of the line point set in the world coordinate system is finely registered with the 3D model, and the registration result is obtained.
A surgical robot tracking and movement system comprising:

The registration module is configured to register the 3D model coordinate system where the pre-acquired 3D model of the skeleton is located and the world coordinate system where the skeleton of the entity is located, so as to register the world coordinate system to the 3D model coordinate system to obtain registration result;

The tracking module is configured to determine the real-time spatial position of the actuator at the end of the mechanical arm and the bone in the world coordinate system according to the position of the tracker on the end of the mechanical arm and the tracker on the bone acquired by the tracking camera in real time, according to The registration result is transformed into the 3D model coordinate system to obtain the spatial position of the actuator and bones in the 3D model coordinate system;

The motion control module is configured to control the mechanical arm according to the spatial position of the current target area and the spatial position of the actuator at the end of the mechanical arm, so as to limit the movement of the actuator to the current target area.
The system according to claim 6, wherein said system further comprises:

The plane alignment module is configured to determine the adjustment path of the actuator according to the current spatial position of the actuator and the current target area in the three-dimensional solid model when the mechanical arm moves to the bone before the actuator runs;

The display module is configured to display the adjustment path in the three-dimensional model, so that the operator operates the mechanical arm according to the adjustment path, so that the mechanical arm drives the actuator to move to the outer edge of the current target area, so that the plane of the actuator is the same as the current target area. noodle.
The system of claim 6, wherein the motion control module is further configured to:

After the plane of the actuator is coplanar with the current target area, when the mechanical arm is operated, the actuator is operated;

Start the Cartesian damping control mode modeled on virtual springs and dampers. The manipulator is based on the preset stiffness value C of each virtual spring in multiple degrees of freedom directions and the actuator relative to the current target area in multiple degrees of freedom directions The offset Δx outputs the feedback force F opposite to the operated direction, F=Δx*C, so as to limit the movement of the actuator within the current target area.
A computer device, comprising a memory and a processor, the memory stores a computer program that can run on the processor, and the processor implements the method according to any one of claims 1 to 5 when executing the computer program A step of.
A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are realized.