CN110037768A - Joint replacement surgery assisted location method, positioning device and system - Google Patents
Joint replacement surgery assisted location method, positioning device and system Download PDFInfo
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- CN110037768A CN110037768A CN201910329634.4A CN201910329634A CN110037768A CN 110037768 A CN110037768 A CN 110037768A CN 201910329634 A CN201910329634 A CN 201910329634A CN 110037768 A CN110037768 A CN 110037768A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The embodiment of the present invention provides a kind of joint replacement surgery assisted location method, positioning device and system, this method comprises: obtaining the mapping relations of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device；Pose of the joint part in the visual space coordinate system is obtained, and obtains pose of the surgical instrument end in the visual space coordinate system；According to the mapping relations, the surgical instrument end and the joint part are transformed into threedimensional model coordinate system in the pose in visual space coordinate system；Show the joint part and surgical instrument end, in the virtual image of the threedimensional model coordinate system for carrying out operation auxiliary positioning according to the display result of the virtual image.Since doctor can intuitively observe the relative positional relationship of joint part and surgical instrument end in surgical procedure, so that osteotomy accuracy rate is high, operational risk can reduce, so that the accuracy of prosthese installation site and matching degree improve.
Description
Technical field
The present invention relates to medical instruments field more particularly to a kind of joint replacement surgery assisted location methods, positioning device
And system.
Background technique
Degenerative gonitis is the joint disease to run down with the age, mainly by aging and the long-term mistake of knee joint
Degree is used and is caused, knee joint surface cartilage wear, and the lubricating fluid of capsula articularis genus is caused to tail off, and joint tissue is made to generate chronic hair
Inflammation gradually appears sour, swollen, numb pain, anchylosis.60 years old domestic or more group according to statistics, has eighty per cant to endure degenerative joint to the fullest extent
Scorching institute is bitter, some crowd endures the hardship of arthrogryposis deformation to the fullest extent all the year round.
In face of above-mentioned arthrosis disease, mainly solved at present by traditional full artificial knee replacement surgery.Operation
When, the main removing operation for carrying out bad bone by hand by rule of thumb by doctor, doctor can not accurate observation to surgical instrument with perform the operation
The relative pose in joint, it is difficult to what is avoided all abrades fine or not bone, or even health soft tissue such as ligamentum cruciatum etc. also without
Method retains, so that patient was subjected to biggish wound bring wound, and up to 1 to 2 years very long recovery times.
The location determining method of current operation on joint, osteotomy accuracy rate is low, and there are cortical bones to penetrate risk, thus false
The accuracy and matching degree of body installation site are poor, and postoperative line of force recovery is also difficult to close to physiological status.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of joint replacement surgery assisted location method, positioning dress
It sets and system.
In a first aspect, the embodiment of the present invention provides a kind of joint replacement surgery assisted location method, comprising: obtain joint
The mapping relations of threedimensional model coordinate system and the visual space coordinate system of positioning device；Joint part is obtained in the visual space
Pose in coordinate system, and obtain pose of the surgical instrument end in the visual space coordinate system；It is closed according to the mapping
The pose of the surgical instrument end and the joint part in visual space coordinate system is transformed into threedimensional model and sat by system
In mark system；The joint part and surgical instrument end are shown in the virtual image of the threedimensional model coordinate system, for
Operation auxiliary positioning is carried out according to the display result of the virtual image.
Second aspect, the embodiment of the present invention provide a kind of joint replacement surgery auxiliary locator, comprising: first obtains mould
Block, for obtaining the mapping relations of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device；Second obtains
Module for obtaining pose of the joint part in the visual space coordinate system, and obtains surgical instrument end in the view
Feel the pose in space coordinates；Processing module, for according to the mapping relations, by the surgical instrument end and described
Joint part is transformed into threedimensional model coordinate system in the pose in visual space coordinate system；Output module, for described three
The joint part and surgical instrument end are shown in the virtual image of dimension module coordinate system, for according to the virtual image
Display result carry out operation auxiliary positioning.
The third aspect, the embodiment of the present invention provide a kind of joint replacement surgery auxiliary system, comprising: surgical instrument, vision
The joint replacement surgery auxiliary locator of navigator and second aspect of the present invention.
Fourth aspect, the embodiment of the present invention provides a kind of electronic equipment, including memory, processor and is stored in memory
Computer program that is upper and can running on a processor, processor realize first aspect present invention joint replacement hand when executing program
The step of art assisted location method.
5th aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with calculating
Machine program realizes first aspect present invention joint replacement surgery assisted location method when the computer program is executed by processor
Step.
Joint replacement surgery assisted location method, positioning device and system provided in an embodiment of the present invention are closed by obtaining
Pose of the position in visual space coordinate system is saved, and obtains pose of the surgical instrument end in visual space coordinate system, is tied
The mapping relations for closing the visual space coordinate system of threedimensional model coordinate system and positioning device, in the void of the threedimensional model coordinate system
The joint part and surgical instrument end are shown in quasi- image, so that doctor can intuitively observe in surgical procedure
The relative positional relationship of joint part and surgical instrument end can reduce operational risk, and then make so that osteotomy accuracy rate is high
The accuracy and matching degree for obtaining prosthese installation site improve.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is joint replacement surgery assisted location method flow chart provided in an embodiment of the present invention；
Fig. 2 is joint replacement surgery auxiliary locator structure chart provided in an embodiment of the present invention；
Fig. 3 is joint replacement surgery auxiliary system structural schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of joint replacement surgery assisted location method.This method can be applied to knee joint or hip
The joint replacement surgeries scene such as joint.In the specific implementation process, this method can be implemented by corresponding operation auxiliary locator,
Operation auxiliary locator can be installed on the appropriate location of operative region, this operation auxiliary can also be installed in surgical instrument
Positioning device, to realize the auxiliary positioning of operation on joint.
It should be understood that although hereinafter describing various visual reference framves using term " first ", " second " etc.,
But these information should not necessarily be limited by these terms, these terms are only used to for same type of things being distinguished from each other out.
Fig. 1 is joint replacement surgery assisted location method flow chart provided in an embodiment of the present invention, as shown in Figure 1, this hair
Bright embodiment provides a kind of joint replacement surgery assisted location method, comprising:
101, obtain the mapping relations of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device.
Threedimensional model before 101, in order to carry out auxiliary positioning, is obtained ahead of time for showing joint part to be performed the operation
The threedimensional model of joint part, and obtain expression of the threedimensional model in respective coordinates system.For example, according to operation joint part
CT scan image establish the bone for showing operative site and dissect 3D model, then spatially to this 3D model foundation one
Coordinate system indicates, has corresponding coordinate for point each on 3D model, that is to say, that each point of operative site corresponds to
In the coordinate of threedimensional model.
In 101, this is the preparation stage of operation, and positioning device is the device for executing this method, with visual space,
The correlation step of this method is carried out by the coordinate that the visual space captures.Positioning device can pass through connection vision guided navigation instrument (tool
The navigation instrument of standby 3D camera, is illustrated as example below) or the integrated 3D camera module of positioning device itself, energy
Enough coordinates that some key points are captured in its visual space.In this step, positioning device obtains, and joint part is fixed
The mapping relations of coordinate and joint part between above-mentioned threedimensional model coordinate system in the visual space of position device (can be by 4 × 4
Homogeneous transform matrix expression), so that the region of interest that positioning device captures can be mapped to threedimensional model spatially,
Surgical instrument is observed on the coordinate system space of threedimensional model convenient for doctor in subsequent step and implements the position of operation.
102, pose of the joint part in visual space coordinate system is obtained, and obtains surgical instrument end in visual space
Pose in coordinate system.
In 102, prepare in implementation phase or operation implementation process in operation, vision guided navigation instrument starts to capture joint portion
Position and attitude (abbreviation pose) of the position in visual space coordinate system, while surgical instrument end is also captured in visual space coordinate
Pose in system.Surgical instrument end is the key position for implementing operation, whet a knife such as the brill used in joint replacement surgery or
Bistrique, positioned at the end of surgical instrument.
103, according to mapping relations, the pose of surgical instrument end and joint part in visual space coordinate system is turned
It changes in threedimensional model coordinate system.
In 103, according to the mapping relations between the two spaces coordinate system obtained in 101, positioning device leads vision
Pose of the joint part of boat instrument capture in visual space coordinate system, and capture surgical instrument end is in visual space coordinate
Pose in system is transformed into respectively in the coordinate system of threedimensional model.
104, joint part and surgical instrument end are shown, in the virtual image of threedimensional model coordinate system for basis
The display result of virtual image carries out operation auxiliary positioning.
Joint part can be shown in man-machine interface by threedimensional model coordinate system, such as threedimensional model is above-mentioned basis
The three-dimensional virtual image of CT scan picture construction.The coordinate of the end of joint part and surgical instrument is converted to be sat to threedimensional model
After mark system, the opposite of joint part and surgical instrument end can be reconstructed in the corresponding virtual image of threedimensional model coordinate system
Positional relationship.During implementing operation, according to the opposite of the joint part and surgical instrument end shown in man-machine interface
Positional relationship, the auxiliary positioning that can be performed the operation.
Joint replacement surgery assisted location method provided in an embodiment of the present invention, by obtaining joint part in visual space
Pose in coordinate system, and pose of the surgical instrument end in visual space coordinate system is obtained, in conjunction with threedimensional model coordinate system
With the mapping relations of the visual space coordinate system of positioning device, joint part is shown in the virtual image of threedimensional model coordinate system
And surgical instrument end, so that doctor can intuitively observe the opposite of joint part and surgical instrument end in operation
Positional relationship can reduce operational risk, so that the accuracy and matching of prosthese installation site so that osteotomy accuracy rate is high
Degree improves.
Content based on the above embodiment obtains joint part in visual space coordinate system as a kind of alternative embodiment
In pose, comprising: the pose for obtaining the fixed First look frame of reference of joint predetermined position, in conjunction with First look frame of reference
With the relative pose of joint part, pose of the joint part in visual space coordinate system is obtained；Correspondingly, surgical instrument is obtained
Pose of the end in visual space coordinate system, comprising: obtain the pose of the second visual reference frame fixed in surgical instrument, knot
The relative pose of the second visual reference frame and surgical instrument is closed, position of the surgical instrument end in visual space coordinate system is obtained
Appearance.
Specifically, Conventional visual navigator is difficult to Direct Acquisition operative site and surgical instrument in the standard of its visual space
True coordinate.In the embodiment of the present invention, the predetermined position (on the bone of such as juxtra-articular) of joint part is fixed with visual reference
Frame (referred to as First look frame of reference), position of the visual reference frame for identified patient's joint part during surgery.Visual reference
Frame can be made of witch ball, reflecting piece, and vision guided navigation instrument can be with the three-dimensional space of reflection sphere on real-time tracing visual reference frame
Position.First look frame of reference constitutes a space coordinates by a series of (at least three) reflection spheres, is depended on for characterizing by it
The spatial position of object and posture (abbreviation pose).Can by doctor with tool by visual indicia frame of reference squeeze into patient femur,
Shin bone or pelvis are fixed, thus the relative pose of First look frame of reference and operative site be it is determining, first can be passed through
The pose of visual reference frame determines the position of joint part.
As a preferred embodiment, First look frame of reference is settable multiple.For example, joint two sides respectively place one,
To increase positioning accuracy.
Visual indicia frame of reference (referred to as the second visual reference frame) is also provided in surgical instrument, it is contemplated that surgical instrument needs
Carry out disinfection processing, and the visual reference frame at instrument end may be designed as easy disassembly and fixed form.Preoperative needs are demarcated
Relative position and attitude relationship between surgical instrument and the second frame of reference fixed thereon, i.e. second view at known surgical instrument end
Feel the relative pose relationship of frame of reference and surgical instrument.Second visual reference frame and the relative pose of surgical instrument are it has been determined that
The relative pose of one visual reference frame and operative site also has determined that.By vision guided navigation instrument capture First look frame of reference with
The relative pose of second visual reference frame can get the relative pose of surgical instrument end and operative site.It is sat in threedimensional model
The relative positional relationship of joint part and surgical instrument end is reconstructed in the corresponding virtual image of mark system.In the mistake for implementing operation
Cheng Zhong can perform the operation according to the relative positional relationship of the joint part and surgical instrument end that show in man-machine interface
Auxiliary positioning.
Joint replacement surgery assisted location method provided in an embodiment of the present invention, by joint predetermined position it is fixed the
The second visual reference frame is fixed on one visual reference frame and surgical instrument, so as to accurately obtain joint part and surgical device
Tool end shows that result is more quasi- so that being transformed into the virtual image of threedimensional model coordinate system in the pose of visual space
Really.
Content based on the above embodiment obtains the threedimensional model coordinate system in joint and determines as a kind of alternative embodiment
The mapping relations of the visual space coordinate system of position device, comprising: in threedimensional model space, obtain the multiple mark points of joint part
In the coordinate of threedimensional model coordinate system；When obtaining the correspondence markings point for the probe tip touching joint part demarcated, Mei Yibiao
Coordinate of the note point in visual space coordinate system；According to mark point in the coordinate of two coordinate systems, the threedimensional model seat in joint is obtained
The mapping relations of mark system and the visual space coordinate system of positioning device.
Specifically, joint part chooses several mark points in threedimensional model space, and mark point can be bone tissue dissection
Index point, coordinate of the mark point in threedimensional model coordinate system is known.Use the probe touching joint part demarcated
The centre of above-mentioned mark point, captures these mark points by vision guided navigation instrument, then can obtain these mark points and position
Coordinate under the visual space coordinate system of device.By the related mathematical principle of space coordinate conversion, to phase in two groups of coordinate values
The coordinate of isolabeling point carries out analytic operation, can obtain reflecting between above-mentioned threedimensional model coordinate system and visual space coordinate system
Penetrate relationship.
Joint replacement surgery assisted location method provided in an embodiment of the present invention, by obtaining the multiple mark points of joint part
In the coordinate of threedimensional model coordinate system, and when obtaining probe tip demarcate and touching the correspondence markings point of joint part, often
Coordinate of one mark point in visual space coordinate system.It is realized by multiple mark points, operating process is simple and calculation amount is smaller.
Content based on the above embodiment, as a kind of alternative embodiment, in conjunction with First look frame of reference and joint part
Relative pose, obtain joint part before the pose in visual space coordinate system, further includes: obtain the probe pinpoint demarcated
When multiple mark points of end touching joint part, coordinate of each mark point in visual space coordinate system；Obtain First look ginseng
Frame is examined in the pose of visual space coordinate system；According to each mark point visual space coordinate system coordinate and First look
Frame of reference obtains the relative pose of First look frame of reference and joint part in the pose of visual space coordinate system.
Specifically, it is similar that several mark points are chosen in threedimensional model space with above-mentioned joint part, are selected in joint part
Multiple mark points are taken, these mark points can be bone tissue anatomic landmark point.Use the probe touching joint part demarcated
The centre of above-mentioned mark point, captures these mark points by vision guided navigation instrument, then can obtain these mark points and position
Coordinate under the visual space coordinate system of device.The predetermined patterns in joint are fixed with First look frame of reference, vision guided navigation simultaneously
The spatial pose of instrument acquisition First look frame of reference.By the related mathematical principle of space coordinate conversion, First look is referred to
The pose of frame and the coordinate of above-mentioned multiple mark points carry out analytic operation, can obtain First look frame of reference and joint part
Relative pose.The relative pose that First look frame of reference and joint part are obtained by obtaining, can be accurately in visual space
The pose of middle determining joint part.
Content based on the above embodiment obtains joint part in visual space coordinate system as a kind of alternative embodiment
In pose before, further includes: obtain the operative region planned on the threedimensional model in joint of doctor；Correspondingly, in three-dimensional mould
Joint part and surgical instrument end are shown in the virtual image of type, specifically: it is shown in the virtual image of threedimensional model
Joint part, the operative region of joint part and surgical instrument end.
Doctor can carry out CT image at the planning of operative region, such as shooting patient articular on threedimensional model first, into
After row three-dimensional reconstruction obtains threedimensional model, takes root in three dimensional design auxiliary software Chinese medicine and perform the operation according to patient articular's anatomical structure
Planning, determines excision/removing region.Correspondingly, the display of operative region is also carried out in the virtual image of threedimensional model, i.e.,
Joint part is shown in the virtual image of threedimensional model, the region of operation and the end of surgical instrument are needed in joint part
End, to carry out the auxiliary positioning that can be performed the operation according to display result.
Joint replacement surgery assisted location method provided in an embodiment of the present invention, by the way that the operative region of joint part exists
It is shown in the virtual image of threedimensional model, it, can be intuitive by the relative pose of operative region and surgical instrument end
The end of surgical instrument is judged whether in operative region, to realize accurate auxiliary positioning.
Content based on the above embodiment, as a kind of alternative embodiment, according to operative region and surgical instrument end
Relative pose, if detecting, surgical instrument end beyond operative region, carries out risk averse processing；Risk averse processing packet
It includes, control surgical instrument end stop motion, control surgical instrument issue vibration signal and fed back and issued alarm sound
It is fed back.
Specifically, operative region and surgical instrument end are in the pose and the two in threedimensional model space in visual coordinate system
In pose be known.In the embodiment of the present invention, it can be carried out by the relative pose to operative region and surgical instrument end
Real-time detection, according to collision detection or other related algorithms, once detect that surgical instrument end beyond operative region, then carries out
Risk averse.For example including the stop motion of surgical instrument end carries out to stop operation, the transmittable instruction control of control system
Surgical instrument main shaft stops operating immediately.
As a preferred embodiment, above-mentioned mode is likely to result in surgical instrument repeatedly starting and stopping, influences procedure efficiency, prolongs
Long operating time.Can also be using another mode: doctor holds surgical instrument and carries out grinding action, bistrique there is main shaft to drive with
Constant speed rotation.Vibration motor is also equipped with inside surgical instrument, when exceeding given surgical region, control system sends signal
Control vibration motor issues the vibration of certain pattern, reminds doctor.On the other hand, it can be carried out by issuing specific alarm sound
Feedback, as display or other loudspeaking equipment issue prompt tone.Vibrational feedback and sound feedback can be selected according to demand, or
It uses simultaneously.By giving doctor's tactile and feedback acoustically, so that human-computer interaction is more naturally efficiently.
Joint replacement surgery assisted location method provided in an embodiment of the present invention, according to operative region and surgical instrument end
Relative pose, if detecting, surgical instrument end beyond operative region, carries out risk averse processing, to further increase
The accuracy of auxiliary positioning, safety.
Fig. 2 is joint replacement surgery auxiliary locator structure chart provided in an embodiment of the present invention, as shown in Fig. 2, the pass
Section replacement operation auxiliary locator includes: that the first acquisition module 201, second obtains module 202, processing module 203 and defeated
Module 204 out.Wherein, the first acquisition module 201 is used to obtain the threedimensional model coordinate system in joint and the vision sky of positioning device
Between coordinate system mapping relations；Second acquisition module 202 is used to obtain pose of the joint part in visual space coordinate system, and
Obtain pose of the surgical instrument end in visual space coordinate system；Processing module 203 is used for according to mapping relations, by surgical device
Tool end and joint part are transformed into threedimensional model coordinate system in the pose in visual space coordinate system；Output module 204,
For showing joint part and surgical instrument end in the virtual image of threedimensional model coordinate system, for according to virtual image
Display result carry out operation auxiliary positioning.
Specifically, in the preparation stage of operation, the first acquisition module 201 (can have 3D to take the photograph by connecting vision guided navigation instrument
As the navigation instrument of head, it is illustrated below as example) or the first integrated 3D camera module of acquisition module itself, it can
The coordinate of some key points is captured in its visual space.Firstly, first obtains the acquisition joint part of module 201 in positioning device
Visual space in coordinate and joint part between above-mentioned threedimensional model coordinate system mapping relations (can by 4 × 4 it is homogeneous
Transformation matrix expression) so that the region of interest that positioning device captures can be mapped to threedimensional model spatially, after being convenient for
Doctor observes surgical instrument on the coordinate system space of threedimensional model and implements the position of operation in continuous step.
Prepare in implementation phase or operation implementation process in operation, the second acquisition module 202 is opened by vision guided navigation instrument
Begin position and attitude (abbreviation pose) of the capture joint part in visual space coordinate system, while also capture surgical instrument end exists
Pose in visual space coordinate system.Surgical instrument end is the key position for implementing operation, as used in joint replacement surgery
Brill whet a knife or bistrique, positioned at the end of surgical instrument.
The mapping relations between the two spaces coordinate system that module 201 obtains are obtained according to first, processing module 203 is the
Pose of the joint part that two acquisition modules are captured by vision guided navigation instrument in visual space coordinate system, and capture surgical device
Pose of the tool end in visual space coordinate system, is transformed into respectively in the coordinate system of threedimensional model.
Joint part can be shown in man-machine interface by threedimensional model coordinate system, such as threedimensional model is above-mentioned basis
The three-dimensional virtual image of CT scan picture construction.Processing module 203 is by joint part and the coordinate of the end of surgical instrument through turning
After changing to threedimensional model coordinate system, output module 204 reconstructs joint portion in the corresponding virtual image of threedimensional model coordinate system
The relative positional relationship of position and surgical instrument end, and be output to man-machine interface and shown.During implementing operation, root
According to the relative positional relationship of the joint part and surgical instrument end that show in man-machine interface, the auxiliary that can be performed the operation is fixed
Position.
Installation practice provided in an embodiment of the present invention is the detailed process and in detail in order to realize above-mentioned each method embodiment
Thin content please refers to above method embodiment, and details are not described herein again.
Joint replacement surgery auxiliary locator provided in an embodiment of the present invention obtains module by second and obtains joint portion
Pose of the position in visual space coordinate system, and obtain pose of the surgical instrument end in visual space coordinate system, in conjunction with the
One obtains the mapping relations of the visual space coordinate system of the threedimensional model coordinate system that module obtains and positioning device, by handling mould
After block processing, output module shows joint part and surgical instrument end in the virtual image of threedimensional model coordinate system, makes
The relative positional relationship of joint part and surgical instrument end can intuitively be observed in surgical procedure by obtaining doctor, to cut
Bone accuracy rate is high, can reduce operational risk, so that the accuracy of prosthese installation site and matching degree improve.
Fig. 3 is joint replacement surgery auxiliary system structural schematic diagram provided in an embodiment of the present invention, as shown in figure 3, the pass
Section replacement operation auxiliary system includes: display screen 301, surgical instrument 302, vision guided navigation instrument 303 and computer, in the computer
Joint replacement surgery auxiliary locator including above-described embodiment.Wherein, display screen 301 is connect with computer, computer with
Vision guided navigation instrument 303 connects, and surgical instrument 302 is located in the visual space of the vision guided navigation instrument 303.Joint replacement surgery is auxiliary
Helping positioning device is by computer implemented virtual bench.Computer is connect with vision guided navigation instrument 303, so that joint replacement
The the first acquisition module and the second acquisition module of operation auxiliary locator execute above-mentioned each method reality by vision guided navigation instrument 303
Apply the correlation step of example.Computer is connected with display screen 301, so that output module carries out above-mentioned steps by display screen 301
In display.Surgical instrument 302 is located in the visual space of vision guided navigation instrument 303, i.e., vision guided navigation instrument 303 can obtain operation
Coordinate corresponding to the spatial position of instrument 302.
As alternative embodiment, it is fixed with First look frame of reference 305 near joint, is fixed in surgical instrument 302
Second visual reference frame 305.
Content based on the above embodiment, as a kind of alternative embodiment, surgical instrument 302 connects water supply line, operation
The cavity that the end of instrument 302 is equipped with for water spray.The water supply line, for coolant liquid to be inputted the surgical instrument 302
Water spray cavity, cools down operative site by coolant liquid.The high temperature injury bone tissue that high-speed grinding generates in order to prevent, hand
The equipment that art instrument can be fabricated to water-spraying control Yu grinding action one.302 end of surgical instrument is equipped with bistrique, and grinding spindle is logical
It crosses main motor and drives progress high speed rotation, form a tubulose cavity between main shaft and shell, surgical instrument end can connect water
Coolant liquid is injected the water spray cavity of surgical instrument by external hydraulic pump by cable.In bistrique high speed rotation can synchronously control it is cold
But the injection of liquid, the temperature of bone surface when reducing grinding action.
It is provided in an embodiment of the present invention that water supply line is connected with by art instrument by joint replacement surgery auxiliary system,
Surgical instrument end is equipped with water spray cavity, can carry out the cooling of operative site in the course of surgery, high-speed grinding is avoided to generate
High temperature injury bone tissue.
Content based on the above embodiment is equipped with vibration motor as a kind of alternative embodiment inside surgical instrument 302；
The vibration motor is used to be carried out according to the display result of virtual image in operation auxiliary position fixing process, the end of surgical instrument 302
When touching bone tissue, fed back by shaking Xiang doctor, shockproofness is corresponding with the density of bone tissue.It is touched in bistrique
To different densities bone tissue when, the power that the vibration motor in surgical instrument 302 feeds back to doctor's hand is in different size, thus
Doctor can quickly make operational adjustment according to feedback dynamics.It is fed back by shaking Xiang doctor, shockproofness and bone group
The density knitted is corresponding, is conducive to doctor according to the density domination dynamics of bone tissue, to further increase the standard of location of operation
True property.
Content based on the above embodiment is equipped with vibration horse as a kind of alternative embodiment, inside the surgical instrument 302
It reaches；The vibration motor is used to be carried out according to the display result of virtual image in operation auxiliary position fixing process, 302 end of surgical instrument
When beyond operative region, fed back by shaking Xiang doctor.
It is carried out in operation auxiliary position fixing process according to the display result of virtual image, doctor holds surgical instrument 302 and carries out
Grinding action, bistrique have main shaft to drive to rotate with constant speed.Vibration motor is also equipped with inside surgical instrument 302, when beyond finger
When determining operative region, control system sends signal, and control vibration motor issues vibration (while the display or other of certain pattern
Loudspeaking equipment issues prompt tone), remind doctor.This method gives doctor's tactile and feedback acoustically, so that human-computer interaction
More naturally efficiently.When surgical instrument end exceeds operative region, is fed back, can be further increased by shaking Xiang doctor
The precision of location of operation.
System embodiment provided in an embodiment of the present invention realizes above-mentioned each method embodiment by auxiliary locator, specifically
Process and detailed content please refer to above method embodiment, and details are not described herein again.
The joint replacement surgery auxiliary system can be observed intuitively in surgical procedure by display by doctor
The relative positional relationship of joint part and surgical instrument end can reduce operational risk, and then make so that osteotomy accuracy rate is high
The accuracy and matching degree for obtaining prosthese installation site improve.
Fig. 4 is the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention, as shown in figure 4, the service
Device may include: processor (processor) 401,402, memory communication interface (Communications Interface)
(memory) 403 and bus 404, wherein processor 401, communication interface 402, memory 403 are completed mutually by bus 404
Between communication.Communication interface 402 can be used for the information transmission of electronic equipment.Processor 401 can call in memory 403
Logical order includes following method to execute: the visual space of the threedimensional model coordinate system and positioning device that obtain joint is sat
Mark the mapping relations of system；Pose of the joint part in visual space coordinate system is obtained, and obtains surgical instrument end in vision
Pose in space coordinates；According to mapping relations, by surgical instrument end and joint part in visual space coordinate system
Pose be transformed into threedimensional model coordinate system；Joint part and operation are shown in the virtual image of threedimensional model coordinate system
Instrument end, for carrying out operation auxiliary positioning according to the display result of virtual image.
In addition, the logical order in above-mentioned memory 403 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes the above-mentioned each side of the present invention
The all or part of the steps of method embodiment.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Matter stores computer instruction, which makes computer execute service item monitoring method provided by above-described embodiment,
For example, obtain the mapping relations of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device；It obtains and closes
Pose of the position in visual space coordinate system is saved, and obtains pose of the surgical instrument end in visual space coordinate system；Root
According to mapping relations, the pose of surgical instrument end and joint part in visual space coordinate system is transformed into threedimensional model and is sat
In mark system；Show joint part and surgical instrument end, in the virtual image of threedimensional model coordinate system for according to virtual
The display result of image carries out operation auxiliary positioning.
The apparatus embodiments described above are merely exemplary, wherein unit can be as illustrated by the separation member
Or may not be and be physically separated, component shown as a unit may or may not be physical unit, i.e.,
It can be located in one place, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of the modules achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case where dynamic, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
The method of certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of joint replacement surgery assisted location method characterized by comprising
Obtain the mapping relations of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device；
Pose of the joint part in the visual space coordinate system is obtained, and obtains surgical instrument end in the visual space
Pose in coordinate system；
According to the mapping relations, by the position of the surgical instrument end and the joint part in visual space coordinate system
Appearance is transformed into threedimensional model coordinate system；
Show the joint part and surgical instrument end, in the virtual image of the threedimensional model coordinate system for basis
The display result of the virtual image carries out operation auxiliary positioning.
2. joint replacement surgery assisted location method according to claim 1, which is characterized in that the acquisition joint part
Pose in the visual space coordinate system, comprising:
The pose for obtaining the fixed First look frame of reference of joint predetermined position, in conjunction with the First look frame of reference and joint
The relative pose at position obtains pose of the joint part in the visual space coordinate system；
Correspondingly, the pose for obtaining surgical instrument end in the visual space coordinate system, comprising:
The pose for obtaining the second visual reference frame fixed in surgical instrument, in conjunction with the second visual reference frame and surgical instrument
Relative pose, obtain pose of the surgical instrument end in the visual space coordinate system.
3. joint replacement surgery assisted location method according to claim 1, which is characterized in that described to obtain the three of joint
The mapping relations of dimension module coordinate system and the visual space coordinate system of positioning device, comprising:
In threedimensional model space, the multiple mark points of joint part are obtained in the coordinate of threedimensional model coordinate system；
When obtaining the correspondence markings point for the probe tip touching joint part demarcated, each mark point is in visual space coordinate system
Coordinate；
According to the mark point in the coordinate of two coordinate systems, the threedimensional model coordinate system in joint and the vision of positioning device are obtained
The mapping relations of space coordinates.
4. joint replacement surgery assisted location method according to claim 1, which is characterized in that the acquisition joint part
Before the pose in the visual space coordinate system, further includes:
Obtain the operative region that doctor plans on the threedimensional model in joint；
Correspondingly, the joint part and surgical instrument end are shown in the virtual image of the threedimensional model, specifically:
The joint part, the operative region of joint part and surgical instrument are shown in the virtual image of the threedimensional model
End.
5. joint replacement surgery assisted location method according to claim 4, which is characterized in that according to the operative region
With the relative pose of the surgical instrument end, if detecting, surgical instrument end beyond the operative region, carries out risk
Evade processing；
Risk averse processing includes, control surgical instrument end stop motion, control surgical instrument issue vibration signal into
Row feedback and sending alarm sound are fed back.
6. a kind of joint replacement surgery auxiliary locator characterized by comprising
First obtains module, for obtaining the mapping of the threedimensional model coordinate system in joint and the visual space coordinate system of positioning device
Relationship；
Second obtains module, for obtaining pose of the joint part in the visual space coordinate system, and obtains surgical instrument
Pose of the end in the visual space coordinate system；
Processing module is used for according to the mapping relations, by the surgical instrument end and the joint part in vision sky
Between pose in coordinate system be transformed into threedimensional model coordinate system；
Output module, for showing the joint part and surgical instrument in the virtual image of the threedimensional model coordinate system
End, for carrying out operation auxiliary positioning according to the display result of the virtual image.
7. a kind of joint replacement surgery auxiliary system, including display screen, surgical instrument, vision guided navigation instrument and computer, feature
It is, the computer includes joint replacement surgery auxiliary locator as claimed in claim 6；
The display screen is connect with the computer, and the computer is connect with the vision guided navigation instrument, the surgical instrument position
In the visual space of the vision guided navigation instrument.
8. joint replacement surgery auxiliary system according to claim 7, which is characterized in that be equipped with inside the surgical instrument
Shake motor；
The vibration motor carries out in operation auxiliary position fixing process, surgical instrument end for the display result according to virtual image
When end touches bone tissue, fed back by shaking Xiang doctor, shockproofness is corresponding with the density of bone tissue.
9. joint replacement surgery auxiliary system according to claim 7, which is characterized in that be equipped with inside the surgical instrument
Shake motor；
The vibration motor carries out in operation auxiliary position fixing process, surgical instrument end for the display result according to virtual image
When end is beyond operative region, fed back by shaking Xiang doctor.
10. joint replacement surgery auxiliary system according to claim 7, which is characterized in that the surgical instrument is connected with
Water supply line, the surgical instrument end are equipped with water spray cavity；
The water supply line, for coolant liquid to be inputted to the water spray cavity of the surgical instrument, by coolant liquid to operative site
It is cooled down.
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| CN115954096A (en) * | 2023-03-14 | 2023-04-11 | 南京诺源医疗器械有限公司 | Cavity mirror VR imaging system based on image data processing |
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Application publication date: 20190723 |