CN111728701B - A rapid registration method and device for robot-assisted spinal surgery - Google Patents
A rapid registration method and device for robot-assisted spinal surgeryInfo
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- CN111728701B CN111728701B CN202010736250.7A CN202010736250A CN111728701B CN 111728701 B CN111728701 B CN 111728701B CN 202010736250 A CN202010736250 A CN 202010736250A CN 111728701 B CN111728701 B CN 111728701B
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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
- A61B34/30—Surgical robots
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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
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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
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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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
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
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- Health & Medical Sciences (AREA)
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
本发明公开了一种用于机器人辅助脊柱手术的快速配准方法及装置，所述快速配准方法的步骤包括，将配准装置三维模型与手术对象椎骨三维模型的棘突部位做布尔运算，并导出配准矩阵；导出布尔运算后的配准装置三维模型，并进行快速成型加工；在手术过程中，安装固定配准装置实物在手术对象棘突部位上，完成配准。本发明交互操作简单，学习周期短，配准装置轻便，易于携带消毒，配准速度快，同时避免X射线辐射暴露，改善了手术环境。
This invention discloses a rapid registration method and apparatus for robot-assisted spinal surgery. The rapid registration method includes the following steps: performing a Boolean operation between a 3D model of the registration device and the spinous process region of a 3D model of the vertebrae of the surgical subject, and deriving a registration matrix; exporting the 3D model of the registration device after the Boolean operation and performing rapid prototyping; and during the surgery, installing and fixing the physical registration device onto the spinous process region of the surgical subject to complete the registration. This invention features simple interactive operation, a short learning cycle, a lightweight registration device that is easy to carry and sterilize, fast registration speed, and avoids X-ray radiation exposure, thus improving the surgical environment.
Description
Technical Field
The invention relates to the field of surgical auxiliary appliances, in particular to a rapid registration method and device for robot-assisted spinal surgery.
Background
In robot-assisted orthopaedic surgery, a registration technique that maps preoperative surgeon planning data into the intra-operative surgical object space, i.e., the surgical space and the image space, is often required, and is a key point in determining whether the robot-assisted surgery can be successfully performed.
In the prior art, a C-arm machine is used for registering in combination with a corresponding registering device, a standard righting perspective and a standard lateral perspective are performed on a registering device with navigation mark points by using the C-arm machine in operation, steel ball mark points in a visual field are selected, the steel ball mark points are brought into a C-arm machine imaging model to solve model parameters, and registration calculation is completed by two C-arm images.
The existing registering device and registering method have the following defects that 1, the C-arm machine of the imaging equipment in operation has the problems of large volume, heavy weight, large damage to human body caused by X rays and the like, 2, when the standard positive side position is shot, the shooting angle is extremely difficult to grasp and the problem that an operating table shields the C-arm imaging easily occurs, 3, the image distortion of the C-arm machine is serious, the calculation error of a projection mapping model is large, the registering precision is not high, 4, the whole registering process is complex, the time consumption is long, and the learning period of an operator is long.
It is apparent that the above-mentioned existing registration method and fitting device still have inconvenience and drawbacks in terms of structure, method and use, and further improvements are needed. How to create a new rapid registration method and device for robot-assisted spine surgery belongs to one of the important research and development subjects at present.
Disclosure of Invention
The invention aims to provide a rapid registration method for robot-assisted spine surgery, which has the advantages of rapid registration, simple interactive operation, short learning period, and capabilities of avoiding exposure of X-ray radiation and improving surgery environment, thereby overcoming the defects of the existing registration method.
In order to solve the technical problems, the invention provides a rapid registration method for robot-assisted spine surgery, which comprises the following steps:
S1, performing Boolean operation on a three-dimensional model of a registration device and a spinous process part of a three-dimensional model of a vertebra of an operation object, and deriving a registration matrix;
s2, a three-dimensional model of the registration device after Boolean operation is derived, and rapid forming processing is carried out;
and S3, installing and fixing a registration device object on the spinous process part of the operation object in the operation process to finish registration.
As an improvement of the present invention, the specific steps of the step S1 include:
S11, performing medical image scanning on vertebrae of an operation object, performing three-dimensional reconstruction on the scanned medical image, and reconstructing a three-dimensional model of the vertebrae of the operation object;
s12, defining a three-dimensional model coordinate system of the registration device;
s13, importing the three-dimensional model of the vertebrae of the surgical object and the three-dimensional model of the registration device into a computer graphic space;
S14, adjusting the three-dimensional model of the registration device, enabling the three-dimensional model of the registration device to coincide with the spinous process of the vertebrae three-dimensional model of the operation object, executing Boolean difference operation, and deriving the three-dimensional model of the registration device after Boolean operation for use in the step S2;
And S15, recording a conversion matrix in the adjustment process, namely, a registration matrix, and deriving and storing.
Further, the specific steps of the step S2 include:
S21, performing rapid forming processing on the three-dimensional model of the registration device after Boolean operation;
s22, performing preoperative disinfection treatment on the processed and formed registration device object.
Further, the specific steps of the step S3 include:
S31, stripping off the spinous process of the vertebrae of the operation object;
And S32, mounting and clamping the registration device on the vertebrae of the operation object.
In addition, the invention also provides a registration device which has high registration speed, is portable and easy to carry and sterilize, and simultaneously avoids exposure of X-ray radiation, improves the operation environment and overcomes the defects of the prior registration device.
In order to solve the technical problems, the invention provides a registration device, which is used in the rapid registration method for robot-assisted spine surgery and comprises a Boolean operation area, a connection area and a navigation marker, wherein:
The shape of the Boolean operation area is obtained by performing Boolean subtraction operation on the registration device model and the vertebrae model of the operation object by a computer, and the Boolean operation area is contacted and attached to the vertebrae spinous process of the operation object in operation;
the connecting area connects and fixes the Boolean operation area and the navigation marker;
the navigation marker is provided with a tracking mark for the robot to identify and navigate the registration device.
As a further improvement, the boolean operation region and the navigation marker are connected into an integral structure through a connecting region, wherein:
the connecting area is an I-shaped connecting rod;
The Boolean operation area is fixedly connected to the bottom surface of the middle part of the connection area;
The navigation marker is four cubes fixedly connected to the four ends of the I-shaped connecting area, and identification marking points are arranged on at least three surfaces of the four cube blocks.
Further, the registration device is provided with an installation indication area, and the installation indication area is an arrow or other graphic marks or character marks and is used for indicating the installation direction of the registration device.
Further, a positioning check area is arranged on the registration device, and the positioning check area is a circular or other-shaped mark and is used for calibrating the navigation precision of the robot before operation.
Further, a path simulation area is arranged on the connection area, the path simulation area is a curve drawn by simulating the advancing path of the surgical instrument by a computer, and the path simulation area is imprinted on the connection area.
With such a design, the invention has at least the following advantages:
1. After the three-dimensional model of the registration device and the three-dimensional model of the vertebrae of the surgical object are subjected to Boolean difference operation by using a computer, the personalized customization of the registration device is performed by applying a rapid prototyping processing technology, and the suitability of the registration device is stronger;
2. The registering precision is high, and the registering speed is high;
3. the interaction operation of operators is simple, and the learning period is short;
4. X-ray irradiation is not needed in the operation, so that the exposure of X-ray radiation is avoided, and the operation environment is improved.
Drawings
The foregoing is merely an overview of the present invention, and the present invention is further described in detail below with reference to the accompanying drawings and detailed description.
Fig. 1 is a schematic structural view of a registration device provided by the present invention.
The reference numerals illustrate a 1-Boolean operation area, a 2-installation clamping area, a 3-navigation marker, a 4-connection, a 5-installation indication area and a 6-positioning check area.
Detailed Description
Referring to fig. 1, the present invention provides a registration device, which includes a boolean operation area 1, an installation clamping area 2, a navigation marker 3, a connection area 4, an installation indication area 5, a positioning verification area 6 and a path simulation area (not shown in the figure).
The Boolean operation area 1 and the navigation marker 3 are fixedly connected through the connecting area 4 to form an integrated structure, the Boolean operation area 1 is located in the middle of the connecting area 4, the shape of the Boolean operation area 1 is obtained by performing Boolean subtraction operation on the registration device model and the vertebrae model of the operation object through a computer, and therefore the Boolean operation area 1 and vertebrae of the operation object have higher suitability, and in the operation process, the Boolean operation area 1 is contacted and attached to the vertebrae spinous process of the operation object.
The connecting area 4 is an I-shaped connecting rod, four ends of the I-shape are respectively and vertically fixedly connected to one surface of the cube of the navigation marker 3 and are used for fixedly connecting the Boolean operation area 1 with the navigation marker 3, the Boolean operation area 1 is positioned on the bottom surface of the middle of the connecting area 4, and the navigation marker 3 is fixedly connected to the end of the connecting area 4.
The navigation marker 3 is four cubes fixedly connected to the four I-shaped end parts of the connecting area 4, and identification mark points are arranged on at least three surfaces of the four cube blocks and used for the robot to identify and navigate the registration device.
In this embodiment, the navigation marker 3 is configured as four cubes, and identification mark points are disposed on at least three surfaces, which belongs to optical positioning tracking marks, and in other embodiments, the tracking marks include, but are not limited to, photoelectric positioning tracking marks, electromagnetic positioning tracking marks, acoustic positioning tracking marks, and the like.
The mounting clamping area 2 is arranged on the side of the middle part of the connecting area 4, and in this embodiment, the mounting clamping area 2 is a rectangular groove for clamping the registration device by surgical forceps. In other embodiments, the mounting clamping area 2 may also be in the form of a through hole, bolt hole or other structure for securing the registration device by a k-wire, bolt or other securing means.
The installation indication area 5 and the positioning verification area 6 are arranged on the top surface of the connection area 4, and the installation indication area 5 is an arrow-shaped mark and is used for indicating the installation direction of the registration device. The positioning check area 6 is a round hole and is used for calibrating the navigation precision of the robot before operation. In other embodiments of the present invention, the shape of the installation indication area 5 is not limited to an arrow shape, but may be other shapes or words, or a combination of shapes and words, and the shape of the location checking area 6 is limited to a circle, or may be other shapes.
The path simulation area (not shown in the figure) is a curve drawn by a computer for simulating the travel path of the surgical instrument, and the path simulation area is marked on the connection area 4 and plays a role in providing path reference for an operator in operation.
Preferably, the registration device is made of transparent material.
The invention also provides a rapid registration method for robot-assisted spine surgery, which comprises the following steps:
S1, performing Boolean operation on the three-dimensional model of the registration device and the spinous process part of the three-dimensional model of the vertebrae of the operation object, and deriving a registration matrix
S2, a three-dimensional model of the registration device after Boolean operation is derived, and rapid forming processing is carried out;
and S3, installing and fixing a registration device object on the spinous process part of the operation object in the operation process to finish registration.
Specifically, step S1 may be subdivided into:
S11, performing medical image scanning on vertebrae of an operation object, performing three-dimensional reconstruction on the scanned medical image, and reconstructing a three-dimensional model of the vertebrae of the operation object;
s12, defining a three-dimensional model coordinate system of the registration device;
s13, importing the three-dimensional model of the vertebrae of the surgical object and the three-dimensional model of the registration device into a computer graphic space;
S14, adjusting the three-dimensional model of the registration device, enabling the three-dimensional model of the registration device to coincide with the spinous process of the vertebrae three-dimensional model of the operation object, executing Boolean difference operation, and deriving the three-dimensional model of the registration device after Boolean operation for use in the step S2;
And S15, recording a conversion matrix in the adjustment process, namely, a registration matrix, and deriving and storing.
Specifically, step S2 may be subdivided into:
S21, performing rapid forming processing on the three-dimensional model of the registration device after Boolean operation;
s22, performing preoperative disinfection treatment on the processed and formed registration device object.
Specifically, step S3 may be subdivided into:
S31, stripping off the spinous process of the vertebrae of the operation object;
And S32, mounting and clamping the registration device on the vertebrae of the operation object.
The rapid registration method for robot assisted spine surgery provided by the invention is simple to operate, short in learning period, strong in adaptability of the registration device to vertebrae of an operation object structurally, high in registration speed and high in registration precision.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the invention in any way, and some simple modifications, equivalent variations or modifications can be made by those skilled in the art using the teachings disclosed herein, which fall within the scope of the present invention.
Claims (3)
1. A registration apparatus for use in a rapid registration method for robotic-assisted spinal surgery, comprising:
the rapid registration method for robot-assisted spinal surgery comprises the following steps:
S1, performing Boolean operation on a three-dimensional model of a registration device and a spinous process part of a three-dimensional model of a vertebra of an operation object, and deriving a registration matrix;
s2, a three-dimensional model of the registration device after Boolean operation is derived, and rapid forming processing is carried out;
S3, installing and fixing a registering device object on an operation object thorn position in the operation process to finish registering;
the registration device comprises a boolean operation region, a connection region and a navigation marker, wherein:
The shape of the Boolean operation area is obtained by performing Boolean subtraction operation on the registration device model and the vertebrae model of the operation object by a computer, and the Boolean operation area is contacted and attached to the vertebrae spinous process of the operation object in operation;
the connecting area connects and fixes the Boolean operation area and the navigation marker;
The navigation marker is provided with a tracking mark for the robot to identify and navigate the registration device;
The device comprises a Boolean operation area, a navigation marker, a connecting area, a plurality of identification mark points, a plurality of guide mark points and a plurality of guide mark points, wherein the Boolean operation area is connected with the guide mark through the connecting area to form an integrated structure, and the connecting area is an I-shaped connecting rod;
the connecting area is provided with a positioning check area which is a circular or other-shaped mark and is used for calibrating the navigation precision of the robot before operation;
The connecting area is provided with a path simulation area, the path simulation area is a curve drawn by simulating the advancing path of the surgical instrument by a computer, and the path simulation area is marked on the connecting area.
2. The registration device according to claim 1, wherein the connection area is provided with an installation indication area, and the installation indication area is an arrow or other graphic mark, or a text mark, for indicating the installation direction of the registration device.
3. The registration device according to claim 1, wherein the attachment region is provided with a mounting clamping region, the mounting clamping region being a rectangular recess provided in a medial side of the attachment region for clamping the registration device by surgical forceps.
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| CN202010736250.7A CN111728701B (en) | 2020-07-28 | 2020-07-28 | A rapid registration method and device for robot-assisted spinal surgery |
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| CN112656509B (en) * | 2020-12-18 | 2023-09-22 | 华科精准（北京）医疗科技有限公司 | A registration auxiliary device |
| CN112656508B (en) * | 2020-12-18 | 2023-09-26 | 华科精准（北京）医疗科技有限公司 | Novel registration auxiliary device |
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| CN212729969U (en) * | 2020-07-28 | 2021-03-19 | 北京航空航天大学 | Rapid registration device for robot-assisted spinal surgery |
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| CN101816590B (en) * | 2010-03-10 | 2012-09-26 | 南方医科大学 | Method for manufacturing navigation template of human bone surgery and female die thereof |
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| CN105434009B (en) * | 2015-11-26 | 2019-05-17 | 南京医科大学附属南京儿童医院 | For the navigation template of femoral osteotomies, application method and production method |
| CN105943113B (en) * | 2016-04-13 | 2018-05-25 | 南方医科大学 | A kind of preparation method of mandibular angle bone cutting navigation template |
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| CN110786930B (en) * | 2020-01-06 | 2020-04-17 | 南京佗道医疗科技有限公司 | 5G-based vertebral body strengthening teleoperation system |
| CN111388087A (en) * | 2020-04-26 | 2020-07-10 | 深圳市鑫君特智能医疗器械有限公司 | Surgical navigation system and computer and storage medium for performing surgical navigation method |
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| CN104983460A (en) * | 2015-07-20 | 2015-10-21 | 南方医科大学 | Lumbar vertebra pedicle screw navigation module and manufacturing method thereof |
| CN111388088A (en) * | 2020-04-26 | 2020-07-10 | 深圳市鑫君特智能医疗器械有限公司 | Operation guide plate, three-dimensional model, manufacturing and constructing method, computer and storage medium |
| CN212729969U (en) * | 2020-07-28 | 2021-03-19 | 北京航空航天大学 | Rapid registration device for robot-assisted spinal surgery |
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