A fast registration method and apparatus for robotically assisted spine surgery

Abstract

The application discloses a rapid registration method and device for robot-assisted spine surgery, and steps of the rapid registration method include: performing a Boolean operation on a spinous process part of a three-dimensional model of a vertebra of a surgical subject and a three-dimensional model of a registration device, and deriving a registration matrix; deriving the three-dimensional model of the registration device after the Boolean operation, and performing rapid prototyping processing; and in a surgical process, fixing the registration device in place on the spinous process part of the surgical subject, and completing registration. The application has the advantages of simple interactive operation, short learning period, portable and easy-to-disinfect registration device, fast registration speed, avoidance of X-ray radiation exposure, and improvement of a surgical environment.

Description

Technical Field

[0001] This invention relates to the field of surgical aids, and in particular to a rapid registration method and apparatus for robot-assisted spinal surgery. Background Technology

[0002] In robot-assisted orthopedic surgery, it is often necessary to map the preoperative surgical planning data into the surgical object space during the operation. That is, the registration technology between the surgical space and the image space is the key to the success of robot-assisted surgery.

[0003] Existing technology requires the use of a C-arm machine in conjunction with a corresponding registration device for registration. During the operation, the C-arm machine is used to perform standard anteroposterior and standard lateral fluoroscopy on the registration device with navigation markers. The steel ball markers in the field of view are selected and input into the C-arm machine imaging model to solve the model parameters. The registration calculation is completed by two C-arm images.

[0004] The existing registration devices and methods have the following drawbacks: 1. Intraoperative imaging equipment such as C-arm machines are large in size, heavy in weight, and pose significant risks to human health due to X-rays; 2. When taking standard anteroposterior and lateral views, the shooting angle is extremely difficult to control, and the operating table can easily obstruct C-arm imaging; 3. C-arm machine images suffer from severe distortion and deformation, large calculation errors in the projection mapping model, and low registration accuracy; 4. The entire registration process is complex, time-consuming, and requires a long learning curve for operators.

[0005] Therefore, it is evident that the existing registration methods and fitting devices still have inconveniences and shortcomings in terms of structure, method, and use, and urgently need further improvement. How to create a new rapid registration method and device for robot-assisted spinal surgery is indeed one of the important research topics at present. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a rapid registration method for robot-assisted spinal surgery, which enables rapid registration, simple interactive operation, short learning cycle, avoids X-ray radiation exposure, improves the surgical environment, and thus overcomes the shortcomings of existing registration methods.

[0007] To address the aforementioned technical problems, this invention provides a rapid registration method for robot-assisted spinal surgery, comprising the following steps:

[0008] S1: Perform Boolean operations on the spinous process of the 3D model of the registration device and the 3D model of the vertebrae of the surgical object, and export the registration matrix;

[0009] S2: Export the 3D model of the registration device after Boolean operation and perform rapid prototyping.

[0010] S3: During the operation, the registration device is installed on the spinous process of the surgical subject to complete the registration.

[0011] As an improvement of the present invention, the specific steps of step S1 include:

[0012] S11: Perform a medical imaging scan on the vertebrae of the surgical subject and reconstruct the three-dimensional model of the scanned medical images to reconstruct the three-dimensional model of the vertebrae of the surgical subject;

[0013] S12: Define the coordinate system of the three-dimensional model of the registration device;

[0014] S13: Import the three-dimensional model of the surgical object's vertebra and the three-dimensional model of the registration device into the computer graphics space;

[0015] S14: Adjust the three-dimensional model of the registration device so that the three-dimensional model of the registration device coincides with the spinous process of the three-dimensional model of the vertebra of the surgical object, perform Boolean difference operation, and export the three-dimensional model of the registration device after Boolean operation for use in step S2;

[0016] S15: Record the transformation matrix of the adjustment process, which is the registration matrix, and export and save it.

[0017] Furthermore, the specific steps of step S2 include:

[0018] S21: Perform rapid prototyping on the three-dimensional model of the registration device after Boolean operation;

[0019] S22: The completed registration device is sterilized before surgery.

[0020] Furthermore, the specific steps of step S3 include:

[0021] S31: Cleanly remove the spinous process of the vertebrae in the surgical object;

[0022] S32: Install and clamp the registration device onto the vertebra of the surgical subject.

[0023] In addition, the present invention provides a registration device that enables fast registration, is lightweight and easy to carry and sterilize, and avoids X-ray radiation exposure, thereby improving the surgical environment and overcoming the shortcomings of existing registration devices.

[0024] To address the aforementioned technical problems, this invention provides a registration device used in the aforementioned rapid registration method for robot-assisted spinal surgery, comprising a Boolean operation area, a connection area, and a navigation marker, wherein:

[0025] The shape of the Boolean operation area is obtained by the computer through Boolean subtraction between the registration device model and the vertebral model of the surgical object. During the operation, the Boolean operation area is in contact with and attached to the spinous process of the vertebral body of the surgical object.

[0026] The connection area connects and fixes the Boolean operation area and the navigation marker;

[0027] The navigation marker is equipped with tracking markers for the robot to identify and navigate the registration device.

[0028] As a further improvement, the Boolean operation area and the navigation marker are connected by a connection area to form an integrated structure, wherein:

[0029] The connecting area is an I-shaped connecting rod;

[0030] The Boolean operation area is fixedly connected to the bottom center of the connection area;

[0031] The navigation marker consists of four cubes fixedly connected to the four ends of the I-shaped connection area, with identification markers provided on at least three surfaces of the four cubes.

[0032] Furthermore, the registration device is provided with an installation indication area, which is an arrow or other graphic symbol or text symbol used to indicate the installation direction of the registration device.

[0033] Furthermore, the registration device is provided with a positioning verification area, which is a circular or other shaped mark used for preoperative calibration of robot navigation accuracy.

[0034] Furthermore, the connection area is provided with a path simulation area, which is a curve drawn by computer simulation of the movement path of surgical instruments, and the path simulation area is engraved on the connection area.

[0035] With this design, the present invention has at least the following advantages:

[0036] 1. After performing Boolean difference calculations on the 3D model of the registration device and the 3D model of the vertebrae of the surgical subject using a computer, the registration device is customized using rapid prototyping technology, resulting in a more adaptable registration device.

[0037] 2. High registration accuracy and fast registration speed;

[0038] 3. The operator's interactive operation is simple and the learning cycle is short;

[0039] 4. No X-ray irradiation is required during the operation, avoiding X-ray radiation exposure and improving the surgical environment. Attached Figure Description

[0040] The above is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 This is a schematic diagram of the registration device provided by the present invention.

[0042] Explanation of reference numerals in the attached diagram: 1-Boolean operation area; 2-Mounting clamping area; 3-Navigation marker; 4-Connection; 5-Mounting indicator area; 6-Positioning verification area. Detailed Implementation

[0043] Please see Figure 1 The present invention provides a registration device, including a Boolean operation area 1, a mounting clamping area 2, a navigation marker 3, a connection area 4, a mounting indication area 5, a positioning verification area 6, and a path simulation area (not shown in the figure).

[0044] The Boolean operation area 1 and the navigation marker 3 are fixedly connected to each other as an integral structure through the connection area 4. The Boolean operation area 1 is located in the middle of the connection area 4. The shape of the Boolean operation area 1 is obtained by the computer through Boolean subtraction operation between the registration device model and the vertebral model of the surgical object. Therefore, the Boolean operation area 1 has a high compatibility with the vertebral model of the surgical object. During the operation, the Boolean operation area 1 contacts and adheres to the spinous process of the vertebral model of the surgical object.

[0045] The connecting area 4 is an I-shaped connecting rod, with the four ends of the I-shape respectively vertically fixed to one surface of the cube of the navigation marker 3, for fixing the Boolean operation area 1 and the navigation marker 3. The Boolean operation area 1 is located on the bottom surface of the middle part of the connecting area 4, and the navigation marker 3 is fixedly connected to the end of the connecting area 4.

[0046] The navigation marker 3 consists of four cubes fixedly connected to the four ends of the I-shaped connection area 4. Identification markers are provided on at least three surfaces of the four cubes for the robot to identify and navigate the registration device.

[0047] It should be noted that in this embodiment, the navigation marker 3 is configured as four cubes, and identification markers are set on at least three surfaces, which are optical positioning and tracking markers. In other embodiments, the tracking markers include, but are not limited to, photoelectric positioning and tracking markers, electromagnetic positioning and tracking markers, acoustic positioning and tracking markers, etc.

[0048] The mounting clamping area 2 is located on the central side of the connecting area 4. In this embodiment, the mounting clamping area 2 is a rectangular groove used to clamp the registration device with surgical forceps. In other embodiments, the mounting clamping area 2 can also be a through hole, bolt hole, or other structural form, used to fix the registration device with Kirschner wires, bolts, or other fixing methods.

[0049] The installation indicator area 5 and the positioning verification area 6 are disposed on the top surface of the connection area 4. The installation indicator area 5 is an arrow-shaped identifier used to indicate the installation direction of the registration device. The positioning verification area 6 is a circular hole used for preoperative calibration of the robot navigation accuracy. In other embodiments of the present invention, the shape of the installation indicator area 5 is not limited to an arrow shape, but may be other shapes or characters, or a combination of shapes and characters. The shape of the positioning verification area 6 is also limited to a circle, but may be other shapes.

[0050] The path simulation area (not shown in the figure) is a curve drawn by computer simulation of the movement path of surgical instruments. The path simulation area is engraved on the connection area 4 and plays the role of providing path reference for the surgeon during the operation.

[0051] Preferably, the registration device is made of a transparent material.

[0052] This invention also provides a rapid registration method for robot-assisted spinal surgery, comprising the following steps:

[0053] S1: Perform Boolean operations on the spinous process regions of the 3D model of the registration device and the 3D model of the vertebrae of the surgical subject, and export the registration matrix.

[0054] S2: Export the 3D model of the registration device after Boolean operation and perform rapid prototyping.

[0055] S3: During the operation, the registration device is installed on the spinous process of the surgical subject to complete the registration.

[0056] Specifically, step S1 can be further subdivided into:

[0057] S11: Perform a medical imaging scan on the vertebrae of the surgical subject and reconstruct the three-dimensional model of the scanned medical images to reconstruct the three-dimensional model of the vertebrae of the surgical subject;

[0058] S12: Define the coordinate system of the three-dimensional model of the registration device;

[0059] S13: Import the three-dimensional model of the surgical object's vertebra and the three-dimensional model of the registration device into the computer graphics space;

[0060] S14: Adjust the three-dimensional model of the registration device so that the three-dimensional model of the registration device coincides with the spinous process of the three-dimensional model of the vertebra of the surgical object, perform Boolean difference operation, and export the three-dimensional model of the registration device after Boolean operation for use in step S2;

[0061] S15: Record the transformation matrix of the adjustment process, which is the registration matrix, and export and save it.

[0062] Specifically, step S2 can be further subdivided into:

[0063] S21: Perform rapid prototyping on the three-dimensional model of the registration device after Boolean operation;

[0064] S22: The completed registration device is sterilized before surgery.

[0065] Specifically, step S3 can be further subdivided into:

[0066] S31: Cleanly remove the spinous process of the vertebrae in the surgical object;

[0067] S32: Install and clamp the registration device onto the vertebra of the surgical subject.

[0068] The rapid registration method for robot-assisted spinal surgery provided by this invention is simple to operate, has a short learning cycle, and the registration device is structurally highly compatible with the vertebrae of the surgical subject, resulting in fast registration speed and high registration accuracy.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, or alterations made by those skilled in the art using the disclosed technical content shall fall within the protection scope of the present invention.

Claims

1. A registration device used in a rapid registration method for robot-assisted spinal surgery, characterized in that: The rapid registration method for robot-assisted spinal surgery includes the following steps: S1: Perform Boolean operations on the spinous process of the 3D model of the registration device and the 3D model of the vertebrae of the surgical object, and export the registration matrix; S2: Export the 3D model of the registration device after Boolean operation and perform rapid prototyping. S3: During the surgery, the actual registration device is installed on the spinous process of the surgical subject to complete the registration; The registration device includes a Boolean operation area, a connection area, and a navigation marker, wherein: The shape of the Boolean operation area is obtained by the computer through Boolean subtraction between the registration device model and the vertebral model of the surgical object. During the operation, the Boolean operation area is in contact with and attached to the spinous process of the vertebral body of the surgical object. The connection area connects and fixes the Boolean operation area and the navigation marker; The navigation marker is equipped with tracking markers for the robot to identify and navigate the registration device; The Boolean operation area and the navigation marker are connected by a connecting area to form an integrated structure, wherein: the connecting area is an I-shaped connecting rod; the Boolean operation area is fixedly connected to the bottom center of the connecting area; the navigation marker is four cubes fixedly connected to the four ends of the I-shaped connecting area, and identification markers are provided on at least three surfaces of the four cubes; The connection area is provided with a positioning verification area, which is a circular or other shaped mark used for preoperative calibration of robot navigation accuracy; The connection area is provided with a path simulation area, which is a curve drawn by computer simulation of the movement path of surgical instruments, and the path simulation area is engraved on the connection area.

2. The registration device according to claim 1, characterized in that, The connection area is provided with an installation indication area, which is an arrow or other graphic symbol, or a text symbol, used to indicate the installation direction of the registration device.

3. The registration device according to claim 1, characterized in that, The connection area is provided with a mounting clamping area, which is a rectangular groove located on the middle side of the connection area, used to clamp the registration device with surgical forceps.

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