Rapid registration method and device for a robot-assisted spinal operation

A robot-assisted and surgical technology, applied in surgical robotics, computer-aided surgery, computer-aided planning/modeling, etc., can solve the problems of large human injury, complex interaction, and low registration accuracy, and avoid X-ray radiation. Expose, improve the surgical environment, interact with simple effects

Pending Publication Date: 2020-10-02
BEIHANG UNIV
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Problems solved by technology

[0004] The existing registration devices and registration methods have the following defects: 1. The intraoperative imaging equipment C-arm machine has problems such as large volume, heavy weight, and X-ray damage to the human body; 2. When shooting the standard front and side views, The shooting angle is extremely difficult to grasp, and it is prone to the problem that the operating bed blocks the C-arm imaging; 3. The image distortion of the C-arm machine i...

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  • Rapid registration method and device for a robot-assisted spinal operation

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Embodiment Construction

[0043] see figure 1 , the present invention provides a registration device, including 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 out).

[0044] The Boolean operation area 1 and the navigation marker 3 are fixedly connected to form an integral structure through the connection area 4, and the Boolean operation area 1 is located in the middle of the connection area 4. The shape obtained by performing Boolean subtraction operations on the vertebral model, so the Boolean operation area 1 has a high adaptability to the vertebrae of the surgical object. During the operation, the Boolean operation area 1 is in contact with and fits on the vertebral spinous process of the surgical object .

[0045] The connection area 4 is an I-shaped connecting rod, and the four ends of the I-shape are vertically fixedl...

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Abstract

The invention discloses a rapid registration method and device for a robot-assisted spinal operation. The method comprises the steps: carrying out the Boolean operation of a three-dimensional model ofa registration device and a spinous process part of a vertebral three-dimensional model of an operation object, and exporting a registration matrix; exporting the registration device three-dimensional model after Boolean operation, and carrying out rapid prototyping processing; and in the operation process, enabling the registration device object to be installed and fixed on the spinous process part of the operation object, and completing registration. The method is simple in interactive operation, short in learning period, light in registration device, easy to carry to disinfect and high inregistration speed, X-ray radiation exposure is avoided, and the operation environment is improved.

Description

technical field [0001] The invention relates to the field of surgical aids, in particular to a rapid registration method and device for robot-assisted spinal surgery. Background technique [0002] In robot-assisted orthopedic surgery, it is often necessary to map the preoperative surgeon's planning data to the intraoperative surgical object space, that is, the registration technology between the surgical space and the image space is the key to determining whether the robot-assisted surgery can be successfully performed. [0003] The existing technology needs to use the C-arm machine combined with the corresponding registration device for registration. During the operation, the C-arm machine is used to perform standard anteroposterior and standard lateral perspectives on the registration device with navigation markers, and the steel in the field of view is selected. The ball mark point is brought into the C-arm imaging model to solve the model parameters, and the two C-arm im...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B34/20A61B34/10
CPCA61B34/10A61B34/20A61B34/30A61B2034/105A61B2034/2051A61B2034/2055A61B2034/2063A61B2034/2065A61B2034/207
Inventor 胡磊俞国鑫张坚
Owner BEIHANG UNIV
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