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WO2023029922A1 - Procédé et système destinés à limiter la zone de mouvement d'un robot - Google Patents

Procédé et système destinés à limiter la zone de mouvement d'un robot Download PDF

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Publication number
WO2023029922A1
WO2023029922A1 PCT/CN2022/111535 CN2022111535W WO2023029922A1 WO 2023029922 A1 WO2023029922 A1 WO 2023029922A1 CN 2022111535 W CN2022111535 W CN 2022111535W WO 2023029922 A1 WO2023029922 A1 WO 2023029922A1
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stiffness
virtual spring
stiffness value
freedom
virtual
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Chinese (zh)
Inventor
张逸凌
刘星宇
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Longwood Valley Medtech Co Ltd
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Longwood Valley Medtech Co Ltd
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/15—Guides therefor
    • A61B17/154—Guides therefor for preparing bone for knee prosthesis
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools for implanting artificial joints
    • A61F2/4603—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/461—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof of knees
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • 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
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • 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
    • 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
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools for implanting artificial joints
    • A61F2002/4632—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery
    • A61F2002/4633—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning

Definitions

  • the present application relates to the technical field of medical devices, and in particular, relates to a method and system for defining a movement area of a robot.
  • the main purpose of the present application is to provide a method and system for limiting the movement area of a robot, so as to limit the actuator at the end of the mechanical arm within the target area, thereby improving safety.
  • a method for defining the motion area of a robot including:
  • the stiffness-damping model of the virtual spring is established
  • Stiffness values of each of the virtual springs in directions of multiple degrees of freedom are set to limit the movement of the actuator to a pre-planned target area.
  • the direction in which the actuator cuts into the target area is marked as the depth direction
  • the direction within the target area and perpendicular to the depth direction is marked as the lateral direction
  • the direction perpendicular to the target area is marked as vertical direction
  • the stiffness value of the virtual spring in the depth direction is equal to or smaller than the stiffness value of the virtual spring in the transverse direction
  • the stiffness value of the virtual spring in the transverse direction is smaller than the stiffness value of the virtual spring in the vertical direction
  • the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the transverse direction are both less than or equal to the first translation preset stiffness threshold, and the stiffness value of the virtual spring in the vertical direction is greater than or equal to the second Shift the preset stiffness threshold.
  • setting the stiffness values of each of the virtual springs in directions of multiple degrees of freedom includes:
  • the stiffness value of the virtual spring in the rotation direction taking the vertical direction as the axis is smaller than the stiffness value of the virtual spring in the rotation direction taking the depth direction as the axis, and is smaller than the stiffness of the virtual spring in the rotation direction taking the transverse direction as the axis value;
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis is less than or equal to the first rotation preset stiffness threshold
  • the 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 transverse axis as the axis are greater than or equal to the second rotation preset stiffness threshold.
  • the first translation preset stiffness threshold is 0N/m-500N/m;
  • the second translation preset stiffness threshold is 4000N/m-5000N/m;
  • the first rotational preset stiffness threshold is 0Nm/rad to 20Nm/rad;
  • the second rotational preset stiffness threshold is 200Nm/rad ⁇ 300Nm/rad.
  • the damping values of the virtual spring in directions of multiple degrees of freedom are set.
  • the target area includes: femoral front end osteotomy plane, femoral anterior oblique osteotomy plane, femoral posterior condyle osteotomy plane, femoral posterior oblique osteotomy plane, femoral distal end osteotomy plane and tibial osteotomy flat.
  • a system for defining the motion area of a robot includes:
  • the model building module is configured to establish a virtual spring stiffness-damping model according to the displacement offset between the initial position and the actual position of the actuator at the end of the mechanical arm of the robot in multiple degrees of freedom directions;
  • the stiffness setting module is configured to set the stiffness values of each of the virtual springs in directions of multiple degrees of freedom, so as to limit the movement of the actuator to a pre-planned target area.
  • the direction in which the actuator cuts into the target area is marked as the depth direction
  • the direction within the target area and perpendicular to the depth direction is marked as the transverse direction
  • the direction perpendicular to the target area is marked as the horizontal direction.
  • the direction is recorded as the vertical direction;
  • the stiffness setting module is further configured to, in the direction of the translation degree of freedom, set the stiffness value of the virtual spring in the depth direction, the stiffness value of the virtual spring in the transverse direction, and the stiffness value of the virtual spring in the vertical direction ;
  • the stiffness value of the virtual spring in the depth direction is equal to or smaller than the stiffness value of the virtual spring in the transverse direction
  • the stiffness value of the virtual spring in the transverse direction is greater than the stiffness value of the virtual spring in the vertical direction
  • the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the transverse direction are both less than or equal to the first translation preset stiffness threshold, and the stiffness value of the virtual spring in the vertical direction is greater than or equal to the second Shift the preset stiffness threshold.
  • the stiffness setting module is further configured to, in the direction of the rotational degree of freedom, set the stiffness value of the virtual spring in the rotation direction with the depth direction as the axis, and set the stiffness value of the virtual spring in the rotation direction with the transverse direction as the axis.
  • the stiffness value of the virtual spring in the rotation direction taking the vertical direction as the axis is smaller than the stiffness value of the virtual spring in the rotation direction taking the depth direction as the axis, and is smaller than the stiffness of the virtual spring in the rotation direction taking the transverse direction as the axis value;
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis is less than or equal to the first rotation preset stiffness threshold
  • the 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 transverse axis as the axis are greater than or equal to the second rotation preset stiffness threshold.
  • the stiffness setting module is further configured to set the first translation preset stiffness threshold to 0N/m-500N/m;
  • the second translation preset stiffness threshold is 4000N/m-5000N/m;
  • the first rotational preset stiffness threshold is 0Nm/rad to 20Nm/rad;
  • the second rotational preset stiffness threshold is 200Nm/rad ⁇ 300Nm/rad.
  • system for defining the motion region of the robot further includes a damping setting module configured to set damping values of the virtual spring in directions of multiple degrees of freedom.
  • the present application also proposes an electronic device, including: at least one processor and at least one memory; the memory is used to store one or more program instructions; the processor is used to run one or more Program instructions for performing any of the methods described above.
  • the present application also proposes a computer-readable storage medium, which contains one or more program instructions, and the one or more program instructions are used to execute the method described in any one of the above .
  • a stiffness-damping model of the virtual spring is established;
  • the stiffness value of each virtual spring in the degree direction is used to limit the movement of the actuator to the pre-planned target area.
  • FIG. 1 is a flow chart of a method for defining a robot motion area according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of the principle of a stiffness-damping model of a virtual spring according to an embodiment of the present application
  • Fig. 3 is a schematic diagram of directions of multiple degrees of freedom of an actuator according to an embodiment of the present application.
  • Fig. 4A is a schematic diagram of a comparison before and after osteotomy according to an embodiment of the present application.
  • Fig. 4B is a schematic diagram of a femur in a first direction according to an embodiment of the present application.
  • Fig. 4C is a schematic diagram of a femur in a second direction according to an embodiment of the present application.
  • Fig. 4D is a schematic diagram of the third direction of the femur according to an embodiment of the present application.
  • Fig. 4E is a schematic view of the fourth direction of the femur according to an embodiment of the present application.
  • Fig. 4F is a schematic diagram of the fifth direction of the femur according to an embodiment of the present application.
  • Fig. 4G is a schematic diagram of a tibia according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a system for defining a robot motion area according to an embodiment of the present application
  • Fig. 6 is a schematic structural diagram of a device for defining a movement area of a robot according to an embodiment of the present application.
  • the terms “installed”, “disposed”, “provided”, “connected”, “connected”, “socketed” are to be interpreted broadly. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary; internal connectivity.
  • installed disposed, “provided”, “connected”, “connected”, “socketed”
  • it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary; internal connectivity.
  • the method for defining the motion area of a robot in the present application can be applied to the method for defining the osteotomy plane of a robot for knee joint replacement, and can also be applied to the method for defining the motion area of a robot in other fields.
  • Step S102 according to the displacement offsets between the initial position and the actual position of the actuator at the end of the mechanical arm of the robot in directions of multiple degrees of freedom, a stiffness-damping model of the virtual spring is established.
  • the stiffness-damping model of the virtual spring is also called Cartesian Impedance Control Mode (CICM).
  • CICM Cartesian Impedance 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.
  • the model is based on virtual springs and dampers that stretch as the difference between the current measurement and the specified position of the TCP (Tool Center Point).
  • the characteristics of the spring are described by the stiffness value (stiffness), and the characteristics of the damper are described by the damping value (damping). These parameters can be set individually for each translation or rotation dimension.
  • the virtual spring is relaxed. Since the robot's behavior is compliant at this point, external forces or motion commands cause deviations between the robot's position setpoint and actual value. This causes the virtual spring to deflect, producing a force according to Hooke's law.
  • Step S104 setting the stiffness values of each virtual spring in multiple degrees of freedom directions, so as to limit the movement of the actuator to a pre-planned target area.
  • the above-mentioned target area may be a target plane, that is, an osteotomy plane.
  • the target area may include: multiple osteotomy planes at different positions on the femur and tibia.
  • a relatively large stiffness value is set, and the stiffness value is greater than a predetermined threshold, so as to limit the actuator to move in the direction perpendicular to the osteotomy plane. Movement, thereby effectively avoiding the actuator from deviating from the osteotomy plane.
  • the predetermined threshold can be set flexibly.
  • the control robot enters the state of the virtual spring damping model.
  • the entire mechanical arm can be regarded as an approximate virtual spring.
  • the virtual spring obeys Hooke's law.
  • the stiffness in this direction is large, the deflection of the actuator in this direction will be small, so that the actuator can be stably limited to the osteotomy plane.
  • the cutting depth direction of the actuator is marked as the depth direction, represented by a symbol X.
  • the direction in the region where the actuator is located and perpendicular to the cutting direction of the actuator is marked as the transverse direction, represented by the symbol Y.
  • the direction perpendicular to the plane of the actuator is recorded as the vertical direction and is represented by the symbol Z.
  • the degrees of freedom include translation degrees of freedom and rotation degrees of freedom, which are described in two cases below.
  • the stiffness values of the virtual springs in the direction of multiple degrees of freedom in the direction of the translational degree of freedom, set the stiffness of the virtual spring in the depth direction
  • the stiffness value, the stiffness value of the virtual spring in the lateral direction, and the stiffness value of the virtual spring in the vertical direction when setting the stiffness values of the virtual springs in the direction of multiple degrees of freedom, in the direction of the translational degree of freedom, set the stiffness of the virtual spring in the depth direction The stiffness value, the stiffness value of the virtual spring in the lateral direction, and the stiffness value of the virtual spring in the vertical direction.
  • the stiffness value of the virtual spring in the depth direction is equal to or smaller than the stiffness value of the virtual spring in the transverse direction; the stiffness value of the virtual spring in the transverse direction is greater than the stiffness value of the virtual spring in the vertical direction. Both the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the lateral direction are less than or equal to the first translation preset stiffness threshold.
  • the value range of the first translation preset stiffness threshold may be 0N/m ⁇ 500N/m. Therefore, the range of the stiffness value of the virtual spring in the depth direction X and the range of the stiffness value of the virtual spring in the transverse direction Y can be limited within the range of 0 N/m to 500 N/m. Of course, it can also be set to other ranges of values according to actual conditions.
  • the principle is that the stiffness should be set relatively small, because according to Hooke's law, when the force is constant, the smaller the stiffness, the greater the spring deformation. Therefore, setting the stiffness in the depth direction as small as possible can help the actuator to move in this direction and cut.
  • the setting stiffness is also relatively small, which also helps the actuator move in this direction for cutting.
  • Both the depth direction and the transverse direction are on the osteotomy plane, and the stiffness values of the actuator in these two directions are set relatively small, which is conducive to the cutting movement of the actuator.
  • the stiffness value of the virtual spring in the vertical direction is greater than or equal to the second translation preset stiffness threshold.
  • the second translation preset stiffness threshold may be 4000N/m ⁇ 5000N/m. It can be seen from the above that the stiffness of the vertical direction Z of the target area is the largest, and the setting range is 4000N/m-5000N/m. Of course, it can also be set flexibly according to the actual situation. The principle is that it should be as large as possible. Because according to Hooke's law, when the force is constant, the greater the stiffness, the smaller the spring deformation.
  • the stiffness values of each of the virtual springs when setting the stiffness values of each of the virtual springs in the directions of multiple degrees of freedom, set the stiffness values of the virtual springs in the rotation direction with the depth direction X as the axis;
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction Z as the axis is the stiffness value of the virtual spring in the rotation direction with the vertical direction Z as the axis.
  • the stiffness value of the virtual spring in the rotation direction of the axis in the vertical direction Z is smaller than the stiffness value of the virtual spring in the rotation direction of the axis in the depth direction X, and is smaller than the stiffness value of the virtual spring in the rotation direction of the axis in the horizontal direction Y .
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction Z as the axis is less than or equal to the first rotation preset stiffness threshold.
  • the preset stiffness threshold of the first rotation is 0Nm/rad to 20Nm/rad, so that the actuator can rotate in the current target area on the Z axis in the vertical direction,
  • the stiffness of the virtual spring in the rotation direction with the depth direction X as the axis and the stiffness of the virtual spring in the rotation direction with the horizontal Y as the axis are greater than or equal to the second preset rotation stiffness threshold.
  • the second rotation preset stiffness threshold is 200Nm/rad to 300Nm/rad, which limits the displacement of the actuator rotating around the X axis in the depth direction and the Y axis in the lateral direction, and prevents the actuator from breaking away from the current target area. Ensure the safety of osteotomy.
  • the preset stiffness value of the virtual spring in the depth direction X and the preset stiffness value of the virtual spring in the lateral direction Y can be 0N/m
  • the preset stiffness value of the virtual spring in the vertical direction Z is 0N/m.
  • the stiffness value be 5000N/m
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction Z as the axis can be 10Nm/rad
  • the stiffness value of the virtual spring in the rotation direction with the depth direction X as the axis and the horizontal direction
  • the stiffness values of the virtual springs in the rotation direction of the axis Y may all be 300 Nm/rad.
  • the defining method further includes: setting damping values of the virtual spring in directions of multiple degrees of freedom.
  • the spring damping determines how much the virtual spring oscillates after being offset from the center position.
  • the damping value may range from 0.1 to 1.0, for example, 0.7.
  • Oscillation coefficient for all degrees of freedom 0.1 to 1.0; default value: 0.7.
  • the degrees of freedom of Cartesian damping control modes are given by the enumeration CartDOF (package com.kuka.roboticsAPI.geometricModel).
  • the values of this enumeration can be used to describe individual degrees of freedom, or a combination of multiple degrees of freedom.
  • CartDOF.TRANSL A combination of translation degrees of freedom in the X, Y, and Z directions;
  • CartDOF.C rotates degrees of freedom around the X axis
  • CartDOF.ROT combination of rotational degrees of freedom for X, Y, and Z axes
  • CartesianImpedanceControlModeimpedanceMode newCartesianImpedanceControlMode()
  • impedanceMode.parametrize (CartDOF.ALL).setDamping(1); For all combinations of all Cartesian degrees of freedom, set the spring damping to 1;
  • motioncontainer lbr. moveAsync(positionHold(impedanceMode, -1, TimeUnit. SECONDS)).
  • the aforementioned target areas when applied in knee joint replacement surgery, include: femoral anterior oblique osteotomy plane, femoral anterior oblique osteotomy plane, femoral posterior condyle osteotomy plane, femoral posterior oblique osteotomy plane, distal femoral End osteotomy plane and tibial osteotomy plane.
  • the area covered by dark gray is not the area to be osteotomized at the front end of the femur, and this area will be the osteotomy plane of the front end of the femur.
  • the dark gray covered area is the femoral anterior oblique osteotomy area, and this area is the femoral anterior oblique osteotomy plane.
  • the dark gray area is the posterior femoral condyle osteotomy area, which is the posterior femoral condyle osteotomy plane after this area is cut off.
  • the dark gray area is the posterior oblique femoral osteotomy plane after osteotomy.
  • the dark gray area is the area of the distal femur to be osteotomized. After this area is cut off, it becomes the osteotomy plane of the distal femur.
  • the light gray area is a schematic diagram of the saw blade.
  • the dark gray area is the tibial plateau area, which is the tibial osteotomy plane after being cut off.
  • the present application also proposes a method for preoperative planning, which specifically includes the following steps:
  • the medical image of the knee joint is obtained, the medical image is segmented and three-dimensionally reconstructed to obtain a three-dimensional bone model of the knee joint;
  • the key parameters of the bone can include key anatomical points of the bone, key axes of the bone, and bone size parameters, and the key anatomical points of the bone can be identified based on a deep learning algorithm, such as a neural network model, And mark the identified key anatomical points of the bone on the three-dimensional bone model.
  • a deep learning algorithm such as a neural network 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 bone prosthesis model.
  • the three-dimensional skeletal 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 skeletal prosthesis model can be a prosthesis model for total knee replacement currently on the market.
  • There are many types of three-dimensional bone prosthesis models and each type of three-dimensional bone prosthesis model has multiple models.
  • the types of three-dimensional femoral prosthesis models include ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc.
  • the models of ATTUNE-PS include 1, 2, 3, 3N, 4, 4N, 5, 5N, 6, 6N.
  • the implementation of the system determining the prosthesis model through the interactive interface may include: setting the configuration items of each three-dimensional bone prosthesis model on the interface, for example, it may be a three-dimensional femoral prosthesis model configuration item, a three-dimensional tibial prosthesis model configuration item item and the configuration item of the 3D spacer model, when a certain configuration item is triggered (for example, the selected method triggers the configuration item), it can automatically match the corresponding prosthesis library, and then detect which phantom model in the prosthesis library is activated Trigger, the prosthesis that is triggered signals as a replacement prosthesis.
  • the femoral prosthesis model configuration item when the femoral prosthesis model configuration item is triggered, it can establish an association with the femoral prosthesis library, and then display the types and models of all the prosthesis models in the femoral prosthesis library on the interface, and then detect which type of femoral prosthesis model and which type of femoral prosthesis model under this type is triggered, so that the triggered femoral prosthesis model is selected as the femoral prosthesis model.
  • the femoral prosthesis model can be determined based on the femoral valgus angle, femoral varus angle, femoral external rotation angle, femoral internal rotation angle, left and right femoral diameter, and femoral anteroposterior diameter Whether the 3D femur model has been installed and fitted.
  • tibial varus angle femoral valgus angle
  • left and right tibial diameter tibial anteroposterior diameter
  • the three-dimensional bone model includes a three-dimensional femoral model
  • the three-dimensional bone prosthesis model includes a three-dimensional femoral prosthesis model
  • the key parameters of the bone include key parameters of the femur
  • the key parameters of the femur include the mechanical axis of the femur , femoral condyle line, posterior condyle line, femur left and right diameter and femur anteroposterior diameter
  • the step of adjusting the placement position and placement angle of the three-dimensional skeleton prosthesis model based on the key bone parameters and the type and model of the three-dimensional skeleton prosthesis model includes:
  • the installation 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.
  • 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.
  • 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 adjusted to 3°, it can be determined as the correct installation angle of the femoral prosthesis model. Adjust the placement position and placement angle to a suitable position.
  • the three-dimensional bone model also includes a three-dimensional tibial model
  • the three-dimensional femoral prosthesis model also includes a three-dimensional tibial prosthesis model
  • the key bone parameters also include tibial key parameters
  • the tibial key parameters include Tibial mechanical axis, tibial left-right diameter and tibial anterior-posterior diameter
  • the step of adjusting the placement position and placement angle of the three-dimensional skeleton prosthesis model based on the key bone parameters and the type and model of the three-dimensional skeleton prosthesis model includes:
  • the varus angle or valgus angle of the three-dimensional tibial prosthesis is adjusted so that the tibial mechanical axis is perpendicular to the cross-section of the three-dimensional tibial prosthesis.
  • the method further includes:
  • the osteotomy is simulated, and the three-dimensional bone postoperative simulation model is obtained;
  • the extension gap is determined in the state of extension, and the flexion gap is determined in the flexion state;
  • the bone osteotomy thickness is determined according to the bone prosthesis model design principle, and different bone prosthesis models may correspond to different osteotomy thicknesses; the osteotomy thickness, bone prosthesis model Once matched to the bone, the bone's osteotomy plane can be determined.
  • 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 straightening gap and the flexion gap, it is determined whether the three-dimensional bone prosthesis model fits the osteotomized three-dimensional bone 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 misplacement of the prosthesis, and then it is possible to accurately determine whether the prosthesis and the bone fit. The user can determine whether the bone prosthesis model needs to be adjusted through the final simulation image.
  • the prosthesis library can be called again to generate a three-dimensional replacement based on the new bone prosthesis model.
  • Skeletal postoperative simulation model By simulating the expected postoperative effect, the resulting bone prosthesis model can be more closely matched to the patient's knee joint.
  • the gap can be accurately determined, thereby overcoming the reliance on the technique and experience of the surgeon in the related art, and completely relying on the gap balance and the installation of the prosthesis position.
  • the subjective feeling is assessed, which in turn leads to the defect of low surgical precision.
  • 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.
  • 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.
  • this application also proposes a bone registration method, which specifically includes the following step:
  • the three-dimensional model refers to the bone model of the knee joint.
  • the preoperative planning points are points planned in advance in the three-dimensional model for registration.
  • Intraoperative marker points are the points marked on the bone surface by the doctor during the operation.
  • the three-dimensional model may specifically include a three-dimensional femur model and a three-dimensional tibial model.
  • doctors place pins and trackers on each bone in the patient's knee. Then take the medial approach of the knee joint, cut the skin and subcutaneous tissue, enter the joint to fully expose the tibial plateau, and register and register the bones of the knee joint in turn.
  • the optical navigation and positioning system obtains the spatial position of the preoperative planning points on the bones in the 3D model of the knee joint in the coordinate system of the 3D model, and the intraoperative marker points on each bone of the knee joint in the world.
  • the spatial position in the coordinate system For example, 40 bone positioning points can be collected as intraoperative marker points.
  • the registration process of the 3D model can be divided into two stages: the coarse registration stage and the fine registration stage.
  • the preset 3D space point cloud search method can be used for rough registration.
  • the rough registration of the spatial position of the preoperative planning point in the three-dimensional coordinate system and the spatial position of the intraoperative marker point in the world coordinate system includes:
  • the spatial position of the preoperative planning point in the three-dimensional coordinate system and the spatial position of the intraoperative marker point in the world coordinate system are respectively triangulated to obtain the intraoperative marker
  • the intraoperative marker points corresponding to the practical operation triangle sequence are roughly registered with the corrected preoperative planning points.
  • the preset three-dimensional space point cloud search method is used to respectively analyze the spatial position of the preoperative planning point in the three-dimensional coordinate system and the spatial position of the intraoperative marker point in the world coordinate system Perform triangulation processing to obtain the practical triangle sequence corresponding to the intraoperative marker points and the planning triangle sequence corresponding to the preoperative planning points, including:
  • the first three points of the preoperative planning point are formed into a triangle, and according to the intraoperative marker point in the world coordinate system
  • the spatial position below will form a triangle with the first three points of the intraoperative marker points;
  • the triangular sequence is the same as the triangular composition order of the planned triangular sequence.
  • the pre-operative planning points are corrected according to the planning triangle sequence through the preset three-dimensional space point cloud search method, and the corrected pre-operative planning points obtained include:
  • the spatial position of the preoperative planning point under the three-dimensional model coordinates is corrected to the position corresponding to the second target point according to the planning triangle sequence.
  • the second stage of fine registration is required.
  • no preoperative planning is required.
  • surgical probes and other surface calibration equipment can be used to draw lines on the bone surfaces of the solid knee joint, and the lines drawn on each bone surface can be collected through the line drawing operation. Line point set.
  • the scribing area where the scribing operation needs to be performed is the key bone area on the surface of each bone, that is, the area containing the key bone points.
  • 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.
  • a sequence of paired triangles is obtained.
  • the sequence of paired triangles includes a plurality of triangles.
  • the position of the tracker on the surgical probe is tracked by the tracking camera in the optical navigation and positioning system, and the probe tracker on the surgical probe acquired by the tracking camera is in the world coordinates during the scribing process.
  • the surgical probe may be used to perform sampling at a frequency S, and the point collection operation may be performed on the line to subdivide the entire line segment into several point sets.
  • 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.
  • the fine registration of the spatial position of the line point set in the world coordinate system with the 3D model according to the coarse registration matrix includes:
  • the coarse registration matrix represents the conversion relationship between the world coordinate system and the three-dimensional model coordinate system obtained by the coarse registration.
  • 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.
  • 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.
  • the correcting the spatial position of the lined point set in the world coordinate system according to the first neighborhood spatial point set includes:
  • This step specifically includes: screening out a first target point from the point set in the first neighborhood space; correcting the positions of the points in the lined point set to the positions corresponding to the first target point according to the paired triangle sequence.
  • 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.
  • a sequence of paired triangles is obtained.
  • the sequence of paired triangles includes a plurality of triangles.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the spatial position of the lined point set on each bone of the knee joint of the entity in the world coordinate system is acquired through the line line operation, so that the line point set is placed in the world coordinate system according to the rough registration matrix
  • the spatial position below is precisely registered with the 3D model. Compared with the traditional point-taking registration algorithm, the registration efficiency is greatly improved, and the registration accuracy is also greatly improved.
  • the present application also proposes a method for controlling the mechanical arm of a surgical robot, including the following steps:
  • 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 knee joint;
  • the robotic arm is controlled to confine the movement of the actuator within the target area.
  • the surgical robot may be a joint replacement robot (including, but not limited to, a total knee replacement robot and other robots that require osteotomy), and the robot may mainly include a mechanical arm, and (in a detachable manner) an executive arm installed at the end of the robot.
  • the actuator may be an osteotomy saw blade.
  • the main control system of the upper computer can send an osteotomy start signal to the robotic arm, and the robotic arm drives the osteotomy saw at the end to move after receiving the signal.
  • the end of the robotic arm and the actual area to be osteotomized can be pre-set with a tracer.
  • the tracer includes a light-sensitive ball that can emit infrared rays and is tracked in real time by a binocular infrared camera.
  • the position of the light-sensitive ball at the end of the manipulator, the position of the light-sensitive ball on the femoral area, and the position of the light-sensitive ball on the tibial area can determine the current spatial position of the actuator at the end of the manipulator, and the position of each target area.
  • the current spatial position so that the spatial position of the actuator and the spatial position of the current target area can be determined in real time, and the offset of the actuator relative to the current target area can be determined based on the spatial position of the actuator and the spatial position of the current target area.
  • a pre-planned osteotomy sequence is displayed in the three-dimensional model, and the current target area is a target area selected from a plurality of target areas in response to the operator.
  • the position of the actuator determines the position difference between the current spatial position of the target area and the current spatial position of the actuator; determines the displacement of the manipulator according to the position difference; displays in the three-dimensional model the corresponding displacement
  • the instruction adjustment information of the instruction is used to enable the operator to operate the robotic arm according to the instruction adjustment information, so as to adjust the actuator so that its plane is coplanar with the current target area. It can be understood that the plane of the actuator is coplanar with the target area, which means that the actuator is on the outer edge of the current target area, and the plane of the actuator and the current target area are roughly aligned in the same plane.
  • the indication adjustment information corresponding to the displacement amount may include the adjustment path corresponding to the displacement amount enlarged and displayed in the target area, guiding the doctor to hold the mechanical arm and adjust the plane of the actuator to align with the osteotomy plane (the actuator is on the osteotomy plane , the actuator is approximately coplanar with the osteotomy plane).
  • the step of controlling the robotic arm to limit the movement of the actuator within the target area according to the offset includes:
  • the Cartesian damping control mode modeled on the virtual spring and damper is started, and the manipulator is based on the preset stiffness value C of each virtual spring in the aforementioned multiple degrees of freedom directions and in multiple degrees of freedom directions
  • the present application also provides a system for limiting the motion plane of a robot, refer to the schematic structural diagram of a system for limiting the motion plane of a robot shown in Figure 5; the system includes:
  • the model establishment module 61 is configured to establish a virtual spring stiffness-damping model according to the displacement offset between the initial position and the actual position of the actuator at the end of the mechanical arm of the robot in multiple degrees of freedom directions;
  • the stiffness setting module 62 is configured to set stiffness values of each of the virtual springs in directions of multiple degrees of freedom, so as to limit the movement of the actuator to a pre-planned target area.
  • the direction in which the actuator cuts into the target area is marked as the depth direction
  • the direction within the target area and perpendicular to the depth direction is marked as the transverse direction
  • the direction perpendicular to the target area is marked as the horizontal direction.
  • the direction is recorded as the vertical direction;
  • the stiffness setting module 62 is further configured to, in the direction of the translation degree of freedom, set the stiffness value of the virtual spring in the depth direction, the stiffness value of the virtual spring in the transverse direction, and the stiffness value of the virtual spring in the vertical direction;
  • the stiffness value of the virtual spring in the depth direction is equal to or smaller than the stiffness value of the virtual spring in the transverse direction
  • the stiffness value of the virtual spring in the transverse direction is greater than the stiffness value of the virtual spring in the vertical direction
  • the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the transverse direction are both less than or equal to the first translation preset stiffness threshold, and the stiffness value of the virtual spring in the vertical direction is greater than or equal to the second Shift the preset stiffness threshold.
  • the stiffness setting module 62 is further configured to, in the direction of the rotational degree of freedom, set the stiffness value of the virtual spring in the rotation direction with the depth direction as the axis, and set the stiffness value of the virtual spring in the rotation direction with the transverse direction as the axis.
  • the stiffness value of the virtual spring in the rotation direction taking the vertical direction as the axis is smaller than the stiffness value of the virtual spring in the rotation direction taking the depth direction as the axis, and is smaller than the stiffness of the virtual spring in the rotation direction taking the transverse direction as the axis value;
  • the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis is less than or equal to the first rotation preset stiffness threshold
  • the 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 transverse axis as the axis are greater than or equal to the second rotation preset stiffness threshold.
  • the stiffness setting module 62 is further configured to set the first translation preset stiffness threshold to 0N/m-500N/m, and the second translation preset stiffness threshold to 4000N/m-5000N/m , the first rotation preset stiffness threshold is 0N/m ⁇ 20N/m, and the second rotation preset stiffness threshold is 200N/m ⁇ 300N/m.
  • a damping setting module 63 is further included, configured to set damping values of the virtual spring in directions of multiple degrees of freedom.
  • the model building module 61 , the stiffness setting module 62 and the damping setting module 63 can all be located in the robotic arm subsystem 12 .
  • the present application also proposes a device for defining a robot motion plane, refer to the schematic structural diagram of a device for defining a robot motion plane shown in FIG. 6 ; the device includes: at least one processor 71 and at least one memory 72; The memory 72 is used to store one or more program instructions; the processor 71 is used to run one or more program instructions to perform any of the steps described above.
  • the present application also proposes a computer-readable storage medium, which contains one or more program instructions, and the one or more program instructions are used to perform the steps described in any one of the above .
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the processor reads the information in the storage medium, and completes the steps of the above method in combination with its hardware.
  • a storage medium may be a memory, which may be, for example, volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
  • the non-volatile memory can be read-only memory (Read-Only Memory, referred to as ROM), programmable read-only memory (Programmable ROM, referred to as PROM), erasable programmable read-only memory (Erasable PROM, referred to as EPROM) , Electrically Erasable Programmable Read-Only Memory (Electrically Erasable EPROM, referred to as EEPROM) or flash memory.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • flash memory Electrically Erasable Programmable Read-Only Memory
  • the volatile memory may be Random Access Memory (RAM for short), which acts as an external cache.
  • RAM Random Access Memory
  • many forms of RAM are available, such as Static Random Access Memory (Static RAM, SRAM for short), Dynamic Random Access Memory (Dynamic RAM, DRAM for short), Synchronous Dynamic Random Access Memory (Synchronous DRAM, referred to as SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, referred to as DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, referred to as ESDRAM), synchronous connection dynamic random access memory (Synchlink DRAM, referred to as SLDRAM) and direct memory bus random access memory (DirectRambus RAM, referred to as DRRAM).
  • Static Random Access Memory Static Random Access Memory
  • Dynamic RAM Dynamic RAM
  • Synchronous Dynamic Random Access Memory Synchronous Dynamic Random Access Memory
  • DDRSDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • the storage medium described in the embodiments of the present application is intended to include but not limited to these and any other suitable types of storage.
  • each module or each step of the above-mentioned application can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network composed of multiple computing devices
  • they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be made into individual integrated circuit modules, or they can be integrated into Multiple modules or steps are fabricated into a single integrated circuit module to realize.
  • the present application is not limited to any specific combination of hardware and software.

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Abstract

Sont divulgués dans la présente demande un procédé et un système destinés à limiter une zone de mouvement d'un robot. Le procédé comprend : l'établissement d'un modèle d'amortissement de la rigidité d'un ressort virtuel selon un décalage de déplacement entre une position initiale et une position réelle d'un actionneur au niveau d'une extrémité arrière d'un bras de robot d'un robot dans chacune des directions de multiples degrés de liberté ; et le réglage des valeurs de rigidité respectives des ressorts virtuels dans les directions des multiples degrés de liberté, de façon à cantonner le mouvement de l'actionneur à une zone cible préplanifiée. Dans la présente demande, la rigidité dans chacune des directions des multiples degrés de liberté est définie à l'aide d'un modèle d'amortissement de la rigidité d'un ressort virtuel, de telle sorte que les mouvements dans les directions des multiples degrés de liberté sont limités. Lorsqu'une force externe est appliquée aux multiples degrés de liberté, le déplacement est très minime dans la direction du degré de liberté où la rigidité est importante, de telle sorte qu'un déplacement peut ne même pas se produire. Ainsi, un actionneur peut être cantonné à une zone cible, empêchant ainsi un patient d'être blessé par l'actionneur s'éloignant de la zone cible.
PCT/CN2022/111535 2021-09-03 2022-08-10 Procédé et système destinés à limiter la zone de mouvement d'un robot Ceased WO2023029922A1 (fr)

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