A method for intraoperative registration of surgical robots assisted by RTVIT technology
The RTVIT technology-assisted method uses a depth camera on a C-arm machine for real-time tracking and virtual imaging to address registration challenges, enhancing surgical precision and safety by integrating three-dimensional data for efficient surgical robot operations.
Patent Information
- Application Number
- CN202210550122.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-05-20
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2042-05-20
AI Technical Summary
Existing surgical robots face challenges in achieving accurate intraoperative registration, particularly for large anatomical structures like the pelvis, due to limitations in two-dimensional imaging and the need for multiple adjustments, which prolongs surgical time and exposes patients and doctors to radiation risks.
An RTVIT technology-assisted method using a depth camera on a C-arm machine for real-time tracking and virtual C-arm imaging simulation, integrating three-dimensional CT data with real-time depth camera data for precise registration.
Facilitates quick and accurate intraoperative registration, reducing surgical time and radiation exposure by enabling real-time tracking and simulation of optimal C-arm orientations.
Smart Images
Figure CN114948221B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the medical field, and in particular to an intraoperative registration method for a surgical robot assisted by RTVIT technology. Background Art
[0002] Surgical precision, minimal invasiveness, and intelligent safety are the goals pursued by orthopedic surgeons. Traditional trauma orthopedic surgery has shortcomings such as cumbersome positioning steps and insufficient operational precision. Currently, with the development of robotic technology, the use of robots for orthopedic surgery can solve the problems of cumbersome positioning steps and insufficient operational precision. With the encouragement of national policies to promote the development of intelligent manufacturing and robots, trauma orthopedics has ushered in its own robotic era. Many surgical robots represented by the domestically produced "Tianji" have begun to enter the operating rooms of major medical centers across the country, bringing good news to patients with their unique precision, minimal invasiveness, and safety, while also improving the efficiency and quality of trauma orthopedic surgery.
[0003] However, in the actual operation of the surgical robot, we found that it is very difficult to achieve accurate registration through two-dimensional X-rays. Shooting with only a limited number of angles cannot completely restore the three-dimensional spatial information. At the same time, the selection of shooting angles needs to meet strict requirements, and often requires multiple filming and repeated adjustments, wasting a lot of time and energy. Especially for pelvic surgery, two-dimensional registration often requires accurate pelvic inlet, outlet, obturator, iliac oblique, sacral lateral and other imaging data. It is difficult for experienced surgeons to obtain satisfactory images in a very short time. Multiple calibrations are often required. The intraoperative registration time is the main reason for the extension of the surgical time of trauma orthopedic surgery robots. Although the operation of three-dimensional CT is relatively simple and accurate, due to the limitations of the intraoperative image acquisition device C-arm, the intraoperative three-dimensional CT shooting is limited to smaller parts such as the spine. For large parts such as the acetabulum and pelvis, a large C-arm machine with a price of tens of millions is required. Such equipment has a great purchasing pressure for most second-tier city hospitals; in addition, intraoperative three-dimensional CT has a great radiation risk for both patients and doctors. Summary of the invention
[0004] The purpose of the present invention is to address the problems existing in the background technology and to propose an RTVIT technology-assisted surgical robot intraoperative registration method.
[0005] The technical solution of the present invention is a RTVIT technology-assisted surgical robot intraoperative registration method, comprising the following specific steps:
[0006] S1. The patient undergoes CT scan before surgery to obtain CT imaging information;
[0007] S2, using a threshold segmentation method to process the CT image information, reconstructing a three-dimensional image of the patient's skin and bones in the preoperative CT scan to obtain three-dimensional image information;
[0008] S3, placing the patient on the operating table, exposing the part to be operated on, and adjusting the angle of the depth camera on the C-arm machine so that the exposed part to be operated on the patient is within the scanning range of the depth camera;
[0009] S4, importing the three-dimensional image information into the control system, and the control system processes the three-dimensional image information until the three-dimensional image information coincides with the three-dimensional point cloud of the patient's surgical site collected by the depth camera, that is, the initial registration of the surgical registration is completed;
[0010] S5, while adjusting the position of the C-arm in the C-arm machine, use the depth camera on the C-arm to track the surgical part in real time, and perform C-arm imaging simulation according to the preoperative three-dimensional imaging information of the surgical part to obtain simulated imaging information B;
[0011] S6, determining whether the simulated imaging information B meets the requirements for performing clinical surgery on the patient's surgical site;
[0012] If it is satisfied, the C-arm movement direction is appropriate and meets the needs of clinical surgery;
[0013] If not satisfied, the orientation of the C-arm movement is inappropriate, and S5 is continued.
[0014] Preferably, the thickness of the scanning layer when performing CT scanning on the patient in S1 is no more than 2 mm.
[0015] Preferably, in S2, the obtained three-dimensional image information is stored in STL format.
[0016] Preferably, the method of using the depth camera on the C-arm to perform real-time tracking of the surgical part in S5 is: using the ICP registration algorithm in the KinectFusion algorithm to perform real-time registration of the preoperative three-dimensional image information with the three-dimensional point cloud captured by the depth camera in real time.
[0017] Preferably, the method for performing C-arm imaging simulation in S5 is: calculating the position of the surgical site in the coordinate system of the C-arm in the C-arm machine to obtain position information A, and combining the position information A, the parameters of the C-arm in the C-arm machine, and the imaging principle of the C-arm to perform C-arm imaging simulation on the preoperative three-dimensional reconstructed image of the surgical site.
[0018] Compared with the prior art, the above technical solution of the present invention has the following beneficial technical effects:
[0019] The RTVIT technology-assisted surgical robot intraoperative registration method provided by the present invention installs a depth camera on the basis of an existing C-arm machine; the depth camera can simultaneously collect image information and three-dimensional information (RGBD) of the object surface, and then uses a control system to register and track the collected three-dimensional image information with the three-dimensional intraoperative image of the patient's surgical site collected by the depth camera, and simulates the C-arm imaging principle to perform virtual C-arm X-ray imaging, and then determines whether the simulated imaging meets the needs of clinical surgery on the patient's surgical site, thereby helping the surgeon to quickly find the best shooting orientation of the C-arm machine during the operation, shortening the surgeon's learning curve, greatly improving the efficiency of surgical treatment for orthopedic patients, and better serving the majority of orthopedic patients. It is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 The present invention is a flowchart of an embodiment of the present invention. DETAILED DESCRIPTION Embodiment 1
[0021] like Figure 1 As shown, the present invention proposes an RTVIT technology-assisted surgical robot intraoperative registration method, which includes the following specific steps:
[0022] S1. The patient undergoes CT scanning before surgery to obtain CT imaging information; the thickness of the scanning layer during CT scanning of the patient is no more than 2 mm;
[0023] S2. Processing the CT image information using a threshold segmentation method to reconstruct a three-dimensional image of the patient's skin and bones in the preoperative CT scan to obtain three-dimensional image information; and storing the obtained three-dimensional image information in an STL format for later use;
[0024] S3, placing the patient on the operating table, exposing the part to be operated on, and adjusting the angle of the depth camera on the C-arm machine so that the exposed part to be operated on the patient is within the scanning range of the depth camera;
[0025] S4, importing the three-dimensional image information into the control system, and the control system processes the three-dimensional image information until the three-dimensional image information coincides with the three-dimensional point cloud of the patient's surgical site captured by the depth camera, that is, the initial registration of the surgical registration is completed; the control system processes the three-dimensional image information by using the three-dimensional interactive function to perform interactive actions such as rotating and moving the three-dimensional image information, so that the three-dimensional image information and the three-dimensional point cloud of the patient's surgical site captured by the depth camera basically coincide, and at this time, the initial position of the patient's surgical site in the depth camera coordinate system is determined, that is, it is considered that the initial registration is completed;
[0026] S5. In order to obtain the position of the patient's surgical site to be photographed by the depth camera during surgery, the shooting position of the C-arm needs to be adjusted, and the depth camera will also move accordingly; the ICP registration algorithm in the KinectFusion algorithm is used to register (overlap) the preoperative 3D image information with the 3D point cloud captured by the depth camera in real time, so that the position of the patient's surgical site in the depth camera coordinate system is updated in real time, thereby achieving the purpose of real-time tracking of the surgical site by the depth camera;
[0027] While adjusting the orientation of the C-arm in the C-arm machine, the depth camera on the C-arm is used to track the surgical part in real time, and C-arm imaging simulation is performed according to the preoperative three-dimensional imaging information of the surgical part to obtain simulated imaging information B;
[0028] S6, determining whether the simulated imaging information B meets the requirements for performing clinical surgery on the patient's surgical site;
[0029] If it is satisfied, the C-arm movement direction is appropriate and meets the needs of clinical surgery;
[0030] If not satisfied, the orientation of the C-arm movement is inappropriate, and S5 is continued. Embodiment 2
[0031] The present invention proposes an RTVIT technology-assisted surgical robot intraoperative registration method. Compared with the first embodiment, the method for performing C-arm imaging simulation in S5 of this embodiment is: calculating the position of the surgical part in the coordinate system of the C-arm in the C-arm machine, obtaining the position information A, combining the position information A, the parameters of the C-arm in the C-arm machine and the imaging principle of the C-arm, to perform C-arm imaging simulation on the preoperative three-dimensional reconstructed image of the surgical part.
[0032] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.
Claims
1. A RTVIT technology-assisted surgical robot intraoperative registration method, characterized in that: The specific steps include: S1. The patient undergoes CT scan before surgery to obtain CT imaging information; S2, using a threshold segmentation method to process the CT image information, reconstructing a three-dimensional image of the patient's skin and bones in the preoperative CT scan to obtain three-dimensional image information; S3, placing the patient on the operating table, exposing the part to be operated on, and adjusting the angle of the depth camera on the C-arm machine so that the exposed part to be operated on the patient is within the scanning range of the depth camera; S4, importing the three-dimensional image information into the control system, and the control system processes the three-dimensional image information until the three-dimensional image information coincides with the three-dimensional point cloud of the patient's surgical site collected by the depth camera, that is, the initial registration of the surgical registration is completed; S5, while adjusting the orientation of the C-arm in the C-arm machine, use the depth camera on the C-arm to track the surgical part in real time; the method of using the depth camera on the C-arm to track the surgical part in real time is: using the ICP registration algorithm in the KinectFusion algorithm to perform real-time registration of the preoperative three-dimensional image information with the three-dimensional point cloud captured by the depth camera in real time; According to the preoperative three-dimensional image information of the surgical site, C-arm imaging simulation is performed to obtain simulated imaging information B; the method for performing C-arm imaging simulation is: calculating the position of the surgical site in the coordinate system of the C-arm in the C-arm machine to obtain position information A, combining the position information A, the parameters of the C-arm in the C-arm machine and the imaging principle of the C-arm, and performing C-arm imaging simulation on the preoperative three-dimensional reconstructed image of the surgical site; S6, determining whether the simulated imaging information B meets the requirements for performing clinical surgery on the patient's surgical site; If it is satisfied, the C-arm movement direction is appropriate and meets the needs of clinical surgery; If not satisfied, the orientation of the C-arm movement is inappropriate, and S5 is continued.
2. The RTVIT technology-assisted surgical robot intraoperative registration method according to claim 1, characterized in that: In S1, the thickness of the scanning layer when performing CT scanning on the patient is no more than 2 mm.
3. The RTVIT technology-assisted surgical robot intraoperative registration method according to claim 1, characterized in that: In S2, the obtained three-dimensional image information is stored in STL format.