Osteotomy control system, computer-assisted medical device and computer program product

Abstract

The embodiment of the invention is applicable to the technical field of computer-aided medical treatment and osteotomy, and provides an osteotomy control system, computer-aided medical equipment and a computer program product, the osteotomy control system comprises a data processing unit, an optical positioning system and mechanical arm equipment; wherein the optical positioning system is used for collecting three-dimensional image information of an operation area of a patient and a tool at the tail end of the mechanical arm and transmitting the three-dimensional image information to the data processing unit; the data processing unit is used for calculating relative position information between the mechanical arm tail end tool and the osteotomy safety boundary according to the three-dimensional image information, and generating a control instruction when the mechanical arm tail end tool exceeds the osteotomy safety boundary; the mechanical arm equipment is used for applying acting force to the mechanical arm tail end tool according to the control instruction, and the mechanical arm tail end tool is prevented from exceeding the osteotomy safety boundary. By the adoption of the osteotomy control system, the safety and osteotomy precision of orthopedic surgery can be improved, and the operation burden of doctors is reduced.

Description

Technical Field

[0001] The embodiments of the present application belong to the technical field of computer-assisted medical treatment and osteotomy surgery, and in particular, to an osteotomy control system, a computer-assisted medical device, and a computer program product. Background Art

[0002] Osteotomy is one of the common orthopedic surgical procedures. With the widespread application of computer-assisted medicine, using computer equipment to assist in osteotomy can reduce the difficulty of the surgeon's operation and improve the efficiency of the operation.

[0003] Computer-assisted osteotomy surgery usually involves installing tools at the end of a robotic arm device and using the end tools to perform the osteotomy operation. In related technologies, the above-mentioned computer-assisted osteotomy operation requires the collection of boundary point set information of the osteotomy area. For example, a patient's CT image is obtained and the corresponding osteotomy boundary points are planned. On this basis, the computer device needs to convert the above-mentioned osteotomy boundary points to the coordinate system corresponding to the robotic arm device, and then use the robotic arm device to perform the relevant osteotomy operation. Since the above process involves multiple coordinate transformations, the data cannot be synchronized in real time between the various devices, which seriously affects the accuracy of the osteotomy operation. Summary of the invention

[0004] In view of this, the embodiments of the present application provide an osteotomy control system, a computer-assisted medical device and a computer program product, which can directly use the relative position information of the surgical area and the end tool of the robotic arm in the world coordinate system provided by the optical positioning system for data processing, without the need to perform coordinate transformation on the collected data, thereby facilitating the unified calculation and real-time control of related equipment, helping to improve the safety and accuracy of orthopedic surgery and reducing the operating burden of doctors.

[0005] A first aspect of an embodiment of the present application provides an osteotomy control system, the osteotomy control system comprising a data processing unit, and an optical positioning system and a robotic arm device respectively connected to the data processing unit for communication; wherein:

[0006] The optical positioning system is used to collect three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device, and transmit the three-dimensional image information to the data processing unit;

[0007] The data processing unit is used to calculate the relative position information between the end tool of the robot arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information, and generate a control instruction when it is determined according to the relative position information that the end tool of the robot arm exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the end tool of the robot arm in the world coordinate system provided by the optical positioning system;

[0008] The robotic arm device is used to receive the control instruction transmitted by the data processing unit, and exert a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0009] Optionally, the frequency at which the optical positioning system transmits the three-dimensional image information to the data processing unit is lower than the frequency at which the data processing unit transmits the generated control instructions to the robotic arm device.

[0010] Optionally, the osteotomy safety boundary is composed of a boundary point set; and the data processing unit is specifically used to:

[0011] Determine a positional relationship between a tool end point corresponding to the robot arm end tool and the osteotomy safety boundary, wherein the positional relationship includes that the tool end point is located on the osteotomy side of the osteotomy safety boundary, or that the tool end point is located on the non-osteotomy side of the osteotomy safety boundary;

[0012] If the tool end point is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into a plurality of angle areas based on each position point in the boundary point set, and a target area where the tool end point is located in the plurality of angle areas is determined;

[0013] A plurality of triangles are obtained by connecting the tool end point with each vertex of the target area, and the relative position information is determined according to the area sizes of the plurality of triangles obtained.

[0014] Optionally, determining the positional relationship between the tool end point corresponding to the robot arm end tool and the osteotomy safety boundary includes:

[0015] Sort the position points in the boundary point set in a clockwise direction to determine the midpoint of the line connecting the first position point and the last position point;

[0016] Based on the midpoint, a vertical vector is calculated that is coplanar with the plane where each position point in the boundary point set is located and is perpendicular to the vector corresponding to the line connecting the first position point and the last position point;

[0017] Calculating a vector angle between a tool end point vector and the vertical vector; the starting points of the tool end point vector and the vertical vector are both the midpoint, and the tool end point vector points from the midpoint to the tool end point;

[0018] If the vector angle is an obtuse angle, determining that the tool end point is located on the osteotomy side of the osteotomy safety boundary;

[0019] If the vector angle is an acute angle, it is determined that the tool end point is located on the non-osteotomy side of the osteotomy safety boundary.

[0020] Optionally, dividing the osteotomy area formed by the osteotomy safety boundary into a plurality of angle areas based on each position point in the boundary point set, and determining a target area where the tool end point is located in the plurality of angle areas, comprises:

[0021] Connect each position point in the boundary point set with the midpoint of the line connecting the first position point and the last position point therein to obtain a plurality of position point vectors and a plurality of angle regions; any position point vector points from the midpoint to a corresponding position point in the boundary point set;

[0022] The angles between each of the position point vectors and the first position point vector are calculated in turn, and the target area where the tool end point is located in the multiple angle areas is determined according to the size of the angles; the first position point vector is a vector formed by the midpoint pointing to the first position point.

[0023] Optionally, determining the relative position information according to the obtained area sizes of the plurality of triangles includes:

[0024] Calculating the area of ​​the triangle area corresponding to the target area and the triangle areas of two target triangles respectively, where any of the target triangles is composed of the tool end point, the midpoint and a vertex of the target area;

[0025] If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, it is determined that the end point of the tool is located inside the osteotomy region;

[0026] If the area of ​​the region is smaller than the sum of the areas of the two triangles, it is determined that the tool end point is located outside the osteotomy region.

[0027] Optionally, the data processing unit is further used for:

[0028] Calculating a normal vector perpendicular to an osteotomy boundary line segment in the target region, wherein the osteotomy boundary line segment is obtained by connecting two position points of the boundary point set located in the target region;

[0029] The control instruction is generated based on the normal vector, and the control instruction is transmitted to the robotic arm device.

[0030] Optionally, the force applied by the robotic arm device on the end tool of the robotic arm according to the control instruction is 15-25 Newtons.

[0031] A second aspect of an embodiment of the present application provides a computer-assisted medical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the computer-assisted medical device implements the following method:

[0032] Collecting three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device through an optical positioning system;

[0033] Calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information;

[0034] generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the robot arm end tool in the world coordinate system provided by the optical positioning system;

[0035] The control instruction is transmitted to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0036] A third aspect of the embodiments of the present application provides a computer program product, including a computer program. When the computer program is run, the following method is executed:

[0037] Collecting three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device through an optical positioning system;

[0038] Calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information;

[0039] generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the robot arm end tool in the world coordinate system provided by the optical positioning system;

[0040] The control instruction is transmitted to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0041] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer, the following method is implemented:

[0042] Collecting three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device through an optical positioning system;

[0043] Calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information;

[0044] generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the robot arm end tool in the world coordinate system provided by the optical positioning system;

[0045] The control instruction is transmitted to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0046] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0047] The osteotomy control system in the embodiment of the present application can use the optical positioning system to collect three-dimensional images of the surgical area and the end tool of the robotic arm, and obtain a unified three-dimensional image of the end tool of the robotic arm and the surgical area. Therefore, the relative position information obtained by the data processing unit based on the above three-dimensional image processing represents the relative position of the surgical area and the end tool of the robotic arm in the world coordinate system provided by the optical positioning system. In this way, the data processing unit does not need to perform coordinate conversion on various data, and can perform subsequent calculations or processing based on the relative position of the surgical area and the end tool of the robotic arm in the same coordinate system, which can realize unified calculation of data without multiple coordinate conversion processing of the data, which helps to improve the efficiency and real-time performance of data processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 is a schematic diagram of an osteotomy control system provided in an embodiment of the present application;

[0050] Figure 2 is a schematic diagram of an osteotomy control method provided in an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of a possible implementation of S202 in an osteotomy control method provided in an embodiment of the present application;

[0052] Figures 4 to 9 is a schematic diagram of a specific example of each stage in an osteotomy control process provided by an embodiment of the present application;

[0053] Fig.10 It is a schematic diagram of a computer-assisted medical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0055] The technical solution of the present application is described below through specific embodiments.

[0056] Reference Figure 1 , shows a schematic diagram of an osteotomy control system provided in an embodiment of the present application, and the system may specifically include an optical positioning system 101, a data processing unit 102, and a robotic arm device 103. Among them, the optical positioning system 101 and the robotic arm device 103 may be respectively connected to the data processing unit 102 for communication. In this way, the information collected by the optical positioning system 101 may be transmitted to the data processing unit 102 for processing in a timely manner. After the data processing unit 102 processes the information collected by the optical positioning system 101, it may generate corresponding control instructions, and the data processing unit 102 may send the control instructions to the robotic arm device 103 in a timely manner. The robotic arm device 103 may operate in the manner indicated by the control instructions to assist the doctor in completing the current surgical operation. For example, the above-mentioned control instructions may be generated when the end tool of the robotic arm device 103 exceeds the osteotomy safety boundary. The control instructions may instruct the robotic arm device 103 to apply a force on the end tool, such as a force directed to the inside of the osteotomy safety boundary, to prevent the end tool from exceeding the safety boundary.

[0057] It should be noted that in the description of the embodiments of the present application, unless otherwise specified, "robotic arm device" and "robotic arm" refer to the same device, and "robotic arm end tool" and "end tool" both refer to tools installed at the end of the above-mentioned robotic arm.

[0058] In the embodiment of the present application, the optical positioning system 101 may be a device with functions such as navigation and image acquisition. The optical positioning system 101 may collect three-dimensional image information of the patient's surgical area and the end-of-arm tool installed at the end of the robotic arm device 103. Specifically, the above three-dimensional image information may include data such as the osteotomy boundary position of the surgical site or area, surgical planning data, and the position of the end-of-arm tool. The optical positioning system 101 may transmit the three-dimensional image information to the data processing unit 102 for processing.

[0059] In a possible implementation of an embodiment of the present application, the optical positioning system 101 may be a navigator, which may provide navigation and three-dimensional image acquisition related functions during surgery. The embodiment of the present application does not limit the specific type of the optical positioning system 101.

[0060] In the embodiment of the present application, the data processing unit 102 may be a computer device with data processing capabilities. For example, the data processing unit 102 may process the three-dimensional image information transmitted by the optical positioning system 101 and output the processed data. In some examples, the data processing unit 102 may also be referred to as a "public machine" or "host computer" or "intermediate device", etc., which is not limited in the embodiment of the present application.

[0061] In the embodiment of the present application, after receiving the three-dimensional image information transmitted by the optical positioning system 101, the data processing unit 102 can process the three-dimensional image information and calculate the relative position information between the end tool of the robot arm and the osteotomy safety boundary in the surgical area. The osteotomy safety boundary can be obtained according to the preoperative plan, and it is a restrictive boundary that can ensure the safety of osteotomy during the actual osteotomy process. The osteotomy operation should be performed within the osteotomy safety boundary to ensure the safety of the operation.

[0062] The embodiment of the present application utilizes the optical positioning system 101 to collect three-dimensional images of the surgical area and the end tool of the robotic arm, and can obtain a unified three-dimensional image of the end tool of the robotic arm and the surgical area. Therefore, the relative position information obtained by the data processing unit 102 based on the above three-dimensional image processing represents the relative position of the surgical area and the end tool of the robotic arm in the world coordinate system provided by the optical positioning system 101. In this way, the data processing unit 102 does not need to perform coordinate conversion on various data, and can perform subsequent calculations or processing based on the relative position of the surgical area and the end tool of the robotic arm in the same coordinate system, which can realize unified calculation of data without multiple coordinate conversion processing on the data, which helps to improve the efficiency and real-time performance of data processing.

[0063] Usually, the patient will experience random jitters during the osteotomy process. Affected by the patient's jitters, the osteotomy tool installed at the end of the mechanical arm will also rotate or translate. On the other hand, the original data collected by the relevant equipment, such as the original CT image data of the patient's surgical site, will not change due to the rotation or translation of the osteotomy tool because it is already fixed. However, in actual operation, since the rotation or translation of the osteotomy tool will cause the subsequent real-time acquisition of the position information of the mechanical arm and osteotomy tool to change, if the data is processed by coordinate transformation, the accuracy of the processed result will be reduced. In order to solve the computational complexity problem caused by the osteotomy boundary and tool movement, the embodiment of the present application uniformly calculates and processes the information such as the patient's surgical area and the position of the end tool from the optical positioning system 101. After the relative position and other values ​​are calculated, the accuracy of data processing can be further improved.

[0064] In the embodiment of the present application, the data processing unit 102 can determine whether the end tool of the robot arm exceeds the osteotomy safety boundary based on the calculated relative position information. If the end tool of the robot arm does not exceed the osteotomy safety boundary, it can be said that the current surgical operation is performed within a safe range. Otherwise, once the end tool of the robot arm exceeds the above-mentioned osteotomy safety boundary, continuing the operation may cause serious safety problems. At this time, the doctor needs to be reminded.

[0065] In the embodiment of the present application, when the data processing unit 102 determines that the end tool has crossed the osteotomy safety boundary based on the calculated relative position information between the surgical area and the end tool of the robot arm, the data processing unit 102 generates a corresponding control instruction, which may be an instruction to instruct the robot arm device 103 to drive the end tool back to the osteotomy safety boundary. The data processing unit 102 may send the generated control instruction to the robot arm device 103 in real time.

[0066] In the embodiment of the present application, the robotic arm device 103 can be various types of robotic arms, such as a six-axis robotic arm, a seven-axis robotic arm, etc. The embodiment of the present application does not limit the specific type of the robotic arm device 103.

[0067] When the robot arm device 103 receives the control instruction transmitted by the data processing unit 102, the robot arm device 103 can exert a force on the end tool according to the control instruction to prevent the end tool from exceeding the osteotomy safety boundary.

[0068] In a possible implementation of the embodiment of the present application, the robot arm device 103 can assist in osteotomy surgery under the operation of a doctor. For example, the doctor can hold the robot arm and use the end tool to perform osteotomy at the surgical site. When the robot arm device 103 applies a force on the end tool, the doctor holding the robot arm can sense the effect of the force and operate the end tool back to the osteotomy safety boundary, thereby ensuring the safety of the surgery.

[0069] In a possible implementation of the embodiment of the present application, the magnitude of the force applied by the robot arm device 103 on the robot arm end tool according to the control instruction may be between 15-20 N. For example, the robot arm device 103 applies a force of 20 N on the end tool, and the doctor holding the robot arm to assist in the operation can feel a certain magnitude of force, and then can operate the end tool to return to the osteotomy safety boundary according to the direction of the force.

[0070] In the embodiment of the present application, a complete control cycle of the osteotomy control system may include a complete control process from the optical positioning system 101 collecting three-dimensional image information to the robot arm device 103 applying a force on the robot arm end tool according to the control instruction transmitted by the data processing unit 102. In a complete control cycle, the frequency of the optical positioning system 101 transmitting the three-dimensional image information to the data processing unit 102 may be less than and as close as possible to the frequency of the data processing unit 102 transmitting the generated control instruction to the robot arm device 103. In this way, it can be ensured that the relative position between the surgical area represented by the collected three-dimensional image information and the robot arm end tool can be recognized by the data processing unit 102 in real time and the control instruction can be fed back to the robot arm device 103 accordingly, so that when the end tool exceeds the osteotomy safety boundary, the robot arm device 103 can apply a reverse force on the end tool in real time, thereby improving the stability and accuracy of the control process of the osteotomy control system.

[0071] Combination Figure 1 The osteotomy control system shown, refer to Figure 2 , showing a schematic diagram of an osteotomy control method provided by an embodiment of the present application, the method is from Figure 1 The osteotomy control process is described from the perspective of the data processing unit 102 in the method. The optical positioning system and the robotic arm device involved in the method may refer to Figure 1 The optical positioning system 101 and the mechanical arm device 103 in the embodiment of the present invention are shown in FIG. 1 . Specifically, the method may include the following steps:

[0072] S201, collecting three-dimensional image information of the patient's surgical area and the robot arm end tool installed at the end of the robot arm device through an optical positioning system.

[0073] For example, the optical positioning system may have navigation and data acquisition functions. During surgery, the optical positioning system may be used to collect three-dimensional image information of the patient's surgical area and the end-of-arm tool, such as the location of the osteotomy boundary of the surgical site, surgical planning data, and the location of the osteotomy tool at the end of the robotic arm.

[0074] S202: Calculate the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information.

[0075] In an embodiment of the present application, the three-dimensional image information collected by navigation can be transmitted to the data processing unit in real time. The data processing unit can receive and fuse these data, establish a three-dimensional model of the surgical area and determine the safety boundary of the patient's osteotomy, that is, the osteotomy safety boundary. In this process, the data processing unit can calculate the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area based on the received three-dimensional image information. The relative position information represents the relative position of the surgical area and the end tool of the robotic arm in the world coordinate system provided by the optical positioning system. Therefore, the relevant data processed by the data processing unit can be data collected based on the same coordinate system, which helps the data processing unit to perform unified calculations on the relevant data without the need to perform coordinate conversion processing on different data, reducing the complexity of data processing, improving the efficiency and timeliness of data processing, and also helping to improve the real-time performance of subsequent control processes.

[0076] In a possible implementation of the embodiment of the present application, as Figure 3 As shown, in S202, the relative position information between the end tool of the robot arm and the osteotomy safety boundary in the surgical area is calculated based on the three-dimensional image information, which may specifically include the following steps S2021-S2023:

[0077] S2021. Determine the positional relationship between the tool end point corresponding to the robot arm end tool and the osteotomy safety boundary.

[0078] In an embodiment of the present application, the tool end point corresponding to the end tool of the robotic arm may refer to the position point where the end tool is located in real time, and the positional relationship between the tool end point and the osteotomy safety boundary may include two situations: the tool end point is located on the osteotomy side of the osteotomy safety boundary, or the tool end point is located on the non-osteotomy side of the osteotomy safety boundary.

[0079] In a possible implementation of an embodiment of the present application, the osteotomy safety boundary can be obtained by a data processing unit after processing the three-dimensional image information acquired by the optical positioning system. This boundary can be composed of a boundary point set, which can include multiple position points. The specific positions of these position points can be determined according to the preoperative planning plan.

[0080] In one example, the boundary point set can be expressed as N3 = {P1, P2, P3, P4, P5, P6, P7 ... P n}, the osteotomy safety boundary in this example consists of n position points.

[0081] In the embodiment of the present application, in order to determine the positional relationship between the end tool point and the osteotomy safety boundary, the position points in the boundary point set N3 can be sorted in a clockwise direction to determine the first position point P1 and the last position point P n The midpoint of the line is denoted by P m .

[0082] like Figure 4 As shown, the data processing unit can take the first position point P1 and the last position point P of the sorted boundary point set N3. n The line segment p1p n , and determine the line segment p1p n The midpoint P m It should be noted that Figure 4 The figure is only an example of the boundary point set N3. The fifth position point P5 and the last position point P in the point set are not shown in the example. n Other locations in between.

[0083] In the embodiment of the present application, based on the midpoint P m The calculated plane is coplanar with the plane where each position point in the boundary point set N3 is located, and is perpendicular to the plane between the first position point P1 and the last position point P n The vector corresponding to the line The vertical vector of

[0084] Specifically, Figure 4 As shown, in determining the boundary point set N3, the first position point P1 and the last position point P n The midpoint P of the line m After that, we can calculate the vector and The cross product of gets the normal vector of the plane where the point set N3 is located. By calculating the normal vector and vector The cross product of can be obtained by coplanar with the plane where each position point in point set N3 is located and perpendicular to the vector The vertical vector

[0085] On this basis, if Figure 5 As shown, the data processing unit can calculate the tool end point vector and the vertical vector The vector angle θ between them. Among them, the end tool point can be expressed as P T , the tool end point vector can be expressed as Tool end point vector It can be the midpoint P m Point to tool end point P T A vector, the tool end point vector With the above vertical vector The starting point is the midpoint P m .

[0086] In the embodiment of the present application, if the vector angle θ is an obtuse angle, the tool end point P can be determined as T On the osteotomy side of the osteotomy safety margin. Figure 5 If the vector angle θ is an acute angle, the tool end point P can be determined T On the non-osteotomy side of the osteotomy safety boundary. Figure 5 The underside is shown in .

[0087] In the embodiment of the present application, when determining the tool end point P T When it is located on the non-osteotomy side of the osteotomy safety boundary, the tool end point P can be expressed as T There will be no safety issues at the current location, and the data processing unit may not process the current operation. T When the tool is located on the osteotomy side of the osteotomy safety boundary, the data processing unit may execute subsequent steps S2022-S2023 to further identify the tool end point P T The specific location.

[0088] S2022: Divide the osteotomy area formed by the osteotomy safety boundary into a plurality of angle areas based on each position point in the boundary point set, and determine a target area where the tool end point is located in the plurality of angle areas.

[0089] In the embodiment of the present application, when the tool end point P T When located at the osteotomy side of the osteotomy safety boundary, the data processing unit may divide the osteotomy region formed by the osteotomy safety boundary into a plurality of angle regions based on each position point in the boundary point set N3.

[0090] like Figure 6 As shown, each position point in the boundary point set N3 can be connected to the aforementioned midpoint P m Connect to get n vectors, thereby dividing the osteotomy area into Figure 6 The n-1 angular regions shown.

[0091] On this basis, the data processing unit can further determine the tool end point P TThe target area in multiple angle areas, that is, determining P T Which specific area it is in among the n-1 angle areas obtained by segmentation.

[0092] In a possible implementation of the embodiment of the present application, each position point in the boundary point set N3 can be connected to the first position point P1 and the last position point P n The midpoint P of the line m Connect to obtain multiple position point vectors and multiple angle regions; any position point vector can be the midpoint P m Pointing to a vector formed by a corresponding position point in the boundary point set N3. For example, the first position point vector can be formed by the midpoint P m The vector pointing to the first position point P1 is By calculating each position point vector and the first position point vector in turn The tool end point P can be determined based on the calculated angle. T The target area is located in multiple angle zones.

[0093] Specifically, Figure 6 As shown, the data processing unit can sequentially calculate the obtained n vectors and the first position point vector The angles between {θ1,θ2,θ3,…,θ n},calculate and The angle θ between them is determined according to the size of the angle. T The target area. For example, Figure 7 Medium T At the position points P1, P2 and P m The angle area of ​​the composition.

[0094] S2023. Obtain a plurality of triangles by connecting the tool end point with each vertex of the target area, and determine the relative position information according to the area sizes of the plurality of triangles obtained.

[0095] In the embodiment of the present application, P can be determined according to the triangle area method. T Is it within the osteotomy area? Figure 7 As shown, assuming P T In the first angle region, that is, Figure 7 In the figure, the position points P1, P2 and P m In the angle area formed by T Connect each vertex of the target area to obtain multiple triangles. T Respectively with P1, P2 and P m Connect and get Figure 7 Multiple triangles are shown.

[0096] The data processing unit can calculate the area of ​​the triangle area corresponding to the target area and the area of ​​the two target triangles. T , midpoint P m If the area of ​​the area is greater than or equal to the sum of the areas of the two triangles, the tool end point P can be determined. T Located inside the osteotomy area; if the area of ​​the area is less than the sum of the areas of the two triangles, the tool end point P can be determined T Located outside the osteotomy area.

[0097] Specifically, see Figure 7 , the triangular area corresponding to the target area can be the triangle Δp1p2p m The corresponding area can be expressed as S = SΔp1p2p m , the two target triangles can be Figure 7 The triangle Δp in T p1p m and Δp T p2p m , the corresponding triangle areas of the two target triangles can be expressed as S1 = SΔp T p1p m and S1=SΔp T p2p m Therefore, when comparing the area sizes, if S ≥ S1 + S2, the tool end point P can be determined. T Located inside the osteotomy area; if S<S1+S2, the tool end point P can be determined T Located outside the osteotomy area. For example, Figure 8 That is the tool end point P T A specific example is located outside the osteotomy area.

[0098] When determining the tool end point P T When the end tool of the robotic arm is outside the osteotomy area, it can be considered that it has exceeded the safety boundary of the osteotomy, and the doctor needs to be promptly prompted to move the end tool into the safety boundary.

[0099] S203, generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary.

[0100] In the embodiment of the present application, when it is determined that the end tool of the robotic arm is about to cross or has crossed the osteotomy safety boundary, the data processing unit can generate a corresponding control instruction to prevent the end tool from crossing the osteotomy safety boundary or prompt the doctor to control the robotic arm device to move the tool end point P of the end tool to the safety boundary of the osteotomy. T Move back into the safe boundaries of the osteotomy.

[0101] In the embodiments of the present application, Fig. 9 As shown, when the tool end point P T When the osteotomy safety boundary is outside, the data processing unit can calculate a normal vector perpendicular to the osteotomy boundary line segment in the target area. The osteotomy boundary line segment can be formed by connecting two position points in the boundary point set N3 located in the target area, namely Fig. 9 The position points P1 and P2 in are obtained. Therefore, Fig. 9 The osteotomy boundary line segment in is also the line segment P1P2. The normal vector perpendicular to the line segment P1P2 is calculated as Then, the data processing unit can be based on the normal vector Generate control instructions and transmit the control instructions to the robotic arm device.

[0102] S204, transmitting the control instruction to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0103] In the embodiment of the present application, the control instruction generated by the data processing unit may be to instruct the robot arm device to apply a certain magnitude and direction to the end tool in the same direction as the normal vector The same force, so the tool end point P T Move back into the safe boundaries of the osteotomy.

[0104] In a possible implementation of the embodiment of the present application, the magnitude of the force applied by the robot arm device on the end tool according to the control instruction can be 15-25 Newtons. For example, a magnitude of 20 Newtons can be applied, and the direction is the same as Fig.10 The normal vector in The same force.

[0105] Figure 2 The steps S201-S204 shown may be Figure 1The algorithm flow to be executed in a complete control cycle of the osteotomy control system. In order to ensure the real-time performance between the data acquisition of the optical positioning system and the data processing process of the data processing unit and the process of the robotic arm device responding to instructions to control the end tool, within a complete control cycle of the osteotomy control system, the frequency of the optical positioning system transmitting three-dimensional image information to the data processing unit can be less than and as close as possible to the frequency of the data processing unit transmitting the generated control instructions to the robotic arm device.

[0106] It should be noted that the order of execution of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned introduction of the osteotomy control system in the embodiments of the present application and the various embodiments of the osteotomy control method based on the data processing unit can refer to each other.

[0107] Reference Fig.10 , shows a schematic diagram of a computer-assisted medical device provided in an embodiment of the present application. Fig.10 As shown, the computer-assisted medical device 1000 in the embodiment of the present application includes: a processor 1010, a memory 1020, and a computer program 1021 stored in the memory 1020 and executable on the processor 1010. When the processor 1010 executes the computer program 1021, the steps in each embodiment of the above-mentioned osteotomy control method are implemented, for example Figure 2 Alternatively, when the processor 1010 executes the computer program 1021, the functions of the relevant modules or units in the above-mentioned system embodiments are realized, for example, Figure 1 The functionality of the data processing unit 102 is shown.

[0108] Exemplarily, the computer program 1021 may be divided into one or more modules / units, which are stored in the memory 1020 and executed by the processor 1010 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which may be used to describe the execution process of the computer program 1021 in the computer-assisted medical device 1000. For example, the computer program 1021 may be divided into an acquisition module, a calculation module, a generation module, and a transmission module, and the specific functions of each module are as follows:

[0109] An acquisition module, used for acquiring three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device through an optical positioning system;

[0110] A calculation module, used for calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information;

[0111] A generating module, used for generating a control instruction when it is determined that the end tool of the robot arm exceeds the osteotomy safety boundary according to the relative position information; the relative position information represents the relative position of the surgical area and the end tool of the robot arm in the world coordinate system provided by the optical positioning system;

[0112] A transmission module is used to transmit the control instruction to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0113] The computer-assisted medical device 1000 may be a data processing unit in the aforementioned embodiments or a computer device capable of implementing the functions related to the aforementioned data processing unit. For example, the computer-assisted medical device 1000 may be a computing device such as a desktop computer or a cloud server. The computer-assisted medical device 1000 may include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art will appreciate that Fig.10 It is only an example of the computer-assisted medical device 1000 and does not constitute a limitation of the computer-assisted medical device 1000. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer-assisted medical device 1000 may also include input and output devices, network access devices, buses, etc.

[0114] The processor 1010 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] The memory 1020 may be an internal storage unit of the computer-assisted medical device 1000, such as a hard disk or memory of the computer-assisted medical device 1000. The memory 1020 may also be an external storage device of the computer-assisted medical device 1000, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer-assisted medical device 1000. Further, the memory 1020 may also include both an internal storage unit of the computer-assisted medical device 1000 and an external storage device. The memory 1020 is used to store the computer program 1021 and other programs and data required by the computer-assisted medical device 1000. The memory 1020 may also be used to temporarily store data that has been output or is to be output.

[0116] The present application also discloses a computer device, which may be the aforementioned computer-assisted medical device. The computer device may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the osteotomy control method described in the aforementioned embodiments is implemented.

[0117] The embodiment of the present application further discloses a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the osteotomy control method as described in the above embodiments is implemented.

[0118] The embodiment of the present application further discloses a computer program product, including a computer program. When the computer program is run on a computer, the computer is enabled to execute the osteotomy control method described in the aforementioned embodiments.

[0119] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An osteotomy control system, characterized in that: The osteotomy control system comprises a data processing unit, and an optical positioning system and a robotic arm device respectively connected to the data processing unit for communication; wherein: The optical positioning system is used to collect three-dimensional image information of the patient's surgical area and the end tool of the robotic arm installed at the end of the robotic arm device, and transmit the three-dimensional image information to the data processing unit; The data processing unit is used to calculate the relative position information between the end tool of the robot arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information, and generate a control instruction when it is determined according to the relative position information that the end tool of the robot arm exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the end tool of the robot arm in the world coordinate system provided by the optical positioning system; The robotic arm device is used to receive the control instruction transmitted by the data processing unit, and exert a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

2. The osteotomy control system according to claim 1, characterized in that: The frequency at which the optical positioning system transmits the three-dimensional image information to the data processing unit is lower than the frequency at which the data processing unit transmits the generated control instructions to the robotic arm device.

3. The osteotomy control system according to claim 1 or 2, characterized in that: The osteotomy safety boundary is composed of a boundary point set; the data processing unit is specifically used for: Determine a positional relationship between a tool end point corresponding to the robot arm end tool and the osteotomy safety boundary, wherein the positional relationship includes that the tool end point is located on the osteotomy side of the osteotomy safety boundary, or that the tool end point is located on the non-osteotomy side of the osteotomy safety boundary; If the tool end point is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into a plurality of angle areas based on each position point in the boundary point set, and a target area where the tool end point is located in the plurality of angle areas is determined; A plurality of triangles are obtained by connecting the tool end point with each vertex of the target area, and the relative position information is determined according to the area sizes of the plurality of triangles obtained.

4. The osteotomy control system according to claim 3, characterized in that: The determining of the positional relationship between the tool end point corresponding to the robot arm end tool and the osteotomy safety boundary comprises: Sort the position points in the boundary point set in a clockwise direction to determine the midpoint of the line connecting the first position point and the last position point; Based on the midpoint, a vertical vector is calculated that is coplanar with the plane where each position point in the boundary point set is located and is perpendicular to the vector corresponding to the line connecting the first position point and the last position point; Calculating a vector angle between a tool end point vector and the vertical vector; the starting points of the tool end point vector and the vertical vector are both the midpoint, and the tool end point vector points from the midpoint to the tool end point; If the vector angle is an obtuse angle, determining that the tool end point is located on the osteotomy side of the osteotomy safety boundary; If the vector angle is an acute angle, it is determined that the tool end point is located on the non-osteotomy side of the osteotomy safety boundary.

5. The osteotomy control system according to claim 3, characterized in that: The step of dividing the osteotomy region formed by the osteotomy safety boundary into a plurality of angle regions based on each position point in the boundary point set, and determining a target region where the tool end point is located in the plurality of angle regions, comprises: Connect each position point in the boundary point set with the midpoint of the line connecting the first position point and the last position point therein to obtain a plurality of position point vectors and a plurality of angle regions; any position point vector points from the midpoint to a corresponding position point in the boundary point set; The angles between each of the position point vectors and the first position point vector are calculated in turn, and the target area where the tool end point is located in the multiple angle areas is determined according to the size of the angles; the first position point vector is a vector formed by the midpoint pointing to the first position point.

6. The osteotomy control system according to claim 5, characterized in that: The step of determining the relative position information according to the obtained area sizes of the plurality of triangles includes: Calculating the area of ​​the triangle area corresponding to the target area and the triangle areas of two target triangles respectively, where any of the target triangles is composed of the tool end point, the midpoint and a vertex of the target area; If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, it is determined that the end point of the tool is located inside the osteotomy region; If the area of ​​the region is smaller than the sum of the areas of the two triangles, it is determined that the tool end point is located outside the osteotomy region.

7. The osteotomy control system according to claim 6, characterized in that: The data processing unit is further used for: Calculating a normal vector perpendicular to an osteotomy boundary line segment in the target region, wherein the osteotomy boundary line segment is obtained by connecting two position points of the boundary point set located in the target region; The control instruction is generated based on the normal vector, and the control instruction is transmitted to the robotic arm device.

8. The osteotomy control system according to any one of claims 1-2 or 4-7, characterized in that: The force applied by the robotic arm device on the end tool of the robotic arm according to the control instruction is 15-25 Newtons.

9. A computer-assisted medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the computer-assisted medical device implements the following method: The optical positioning system is used to collect three-dimensional image information of the patient's surgical area and the end-of-arm tool installed at the end of the robotic arm device; Calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information; generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary; The relative position information represents the relative position of the surgical area and the tool at the end of the robot arm in the world coordinate system provided by the optical positioning system; The control instruction is transmitted to the robotic arm device; the robotic arm device is used to apply a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the following method is performed: The optical positioning system is used to collect three-dimensional image information of the patient's surgical area and the end-of-arm tool installed at the end of the robotic arm device; Calculating the relative position information between the end tool of the robotic arm and the osteotomy safety boundary in the surgical area according to the three-dimensional image information; generating a control instruction when it is determined according to the relative position information that the robot arm end tool exceeds the osteotomy safety boundary; The relative position information represents the relative position of the surgical area and the tool at the end of the robot arm in the world coordinate system provided by the optical positioning system; Transmitting the control instruction to the robotic arm device; The robotic arm device is used to exert a force on the robotic arm end tool according to the control instruction to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

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