Orthopedic surgery navigation control system and method

Abstract

The present application discloses an orthopedic surgical navigation control system and method. The system may include: a parallel robot; a passive arm; an optical tracking system; a display screen; and a control device for performing the following steps: determining a target position and setting a working range; manually operating the passive arm based on the real-time position of the implant and the object being operated to determine whether the implant has moved into the working range. If so, a first prompt signal is sent and the passive arm is locked; controlling the movement of the parallel robot based on the current position and target position of the implant to drive the implant to the target position and sending a second prompt signal; during surgery, updating the target position in real time and calculating the deviation between the implant and the target position. When the deviation is greater than a predetermined threshold, a third prompt signal is sent and the parallel robot is driven to move, driving the implant to the target position. The present invention makes control more flexible by manually adjusting the passive arm; and by providing prompts, the position of the implant is made more accurate.

Description

Technical Field

[0001] The present invention relates to the field of medical device control, and more particularly, to an orthopedic surgery navigation control system and method. Background Art

[0002] With the development of medical device technology, more and more advanced medical devices are using robots for assistance, which greatly facilitates doctors' operations.

[0003] The emergence of robots in the field of orthopedics can assist doctors in accurately implanting screws and other implants in the patient's diseased area, effectively improving the accuracy and convenience of implant implantation. During specific use, the robot, the host computer, and the optical positioning and tracking system work together to locate the implant position. A guide is installed at the front end of the robot's robotic arm. The guide is hollow and cylindrical. When the guide moves to the implantation position of the implant, the straight line between the front and end of the guide coincides with the straight line of the preset implantation position of the implant, and the front end of the guide is close to the nail insertion position on the patient. However, the target is too small during alignment, and the alignment is not accurate.

[0004] Furthermore, the doctor uses a guide to insert the implant from the end of the guide. With the help of the guide's positioning, the implant can be driven from the front end of the guide to the preset implantation position. During the specific operation, the display screen on the host computer side can display information about the patient's affected area. The doctor clicks the motion button on the host computer side, and the host computer sends a movement instruction carrying the movement information to the robot, which can control the movement of the robot's robotic arm so that the guide can move to the nail insertion position. However, triggering the movement of the robot only by using the motion button on the host computer side far away from the surgical area is not convenient for controlling the surgical process, and the motorized control robot cannot quickly change instructions in emergency situations.

[0005] Therefore, it is necessary to develop an orthopedic surgery navigation control system and method.

[0006] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0007] The present invention proposes an orthopedic surgical navigation control system and method, which can manually adjust the passive arm, making the control more flexible and allowing rapid changes in emergency situations; after alignment, the operator is prompted to make the position of the passive arm more accurate; the relative position of the implant and the target is monitored in real time, and if it is out of range, the operator is prompted, and the position of the implant can be quickly adjusted.

[0008] In a first aspect, an embodiment of the present disclosure provides an orthopedic surgery navigation control system, comprising:

[0009] A parallel robot, wherein the front end of the parallel robot is used for clamping the implant;

[0010] a passive arm capable of being manually operated, the parallel robot being connected to one end of the passive arm;

[0011] an optical tracking system for tracking the position of the implant and the object being operated on;

[0012] A display screen, configured to display the positions of the implant and the operation object in real time;

[0013] A control device is electrically connected to the parallel robot, the passive arm, the optical tracking system, and the display screen, and is used to perform the following steps:

[0014] determining a target location for the implant;

[0015] obtaining a real-time position of the implant, calculating a current working range of the parallel robot according to the real-time position of the implant, determining whether the target position is within the working range, and if so, sending a first prompt signal, the first prompt signal prompting locking of the passive arm;

[0016] According to the current position of the implant and the target position, the parallel robot is controlled to move, so as to drive the implant to reach the target position, and a second prompt signal is sent after the implant reaches the target position.

[0017] Preferably, it also includes:

[0018] When the implant reaches the target position, the control device sets the state identification information to a dynamic adjustment state;

[0019] When the state identification information is in a dynamic adjustment state, the optical tracking system calculates the deviation between the current position of the implant and the target position in real time. When the deviation is greater than a predetermined threshold, the control device drives the parallel robot to move to drive the implant to the target position.

[0020] Preferably, when the passive arm is unlocked, the parallel robot is locked.

[0021] Preferably, the optical tracking system comprises:

[0022] a tracer, connected to the front end of the parallel robot and the operation object respectively;

[0023] An optical positioning tracking device is used to track the position of the tracer in real time and send the position data of the tracer to the control device.

[0024] Preferably, the target position is determined by the following steps:

[0025] Loading a CT scanned bone image of the operation object, wherein the bone image includes the positions of landmark points;

[0026] Determining the relative position between the marker point and a tracer attached to the operation object;

[0027] Select slices of the bone image in three directions, select an initial starting point and an initial end point in the first slice, and display the positions of the initial starting point and the initial end point in the second slice;

[0028] Adjusting the positions of the initial starting point and the initial end point in the second slice to obtain a target starting point and a target end point;

[0029] A line segment with a target start point and a target end point as endpoints is established, and the coordinates of the line segment are converted from a display coordinate system to a physical coordinate system to obtain the target position.

[0030] Preferably, the target position is determined by the following steps:

[0031] Select two intraoperatively acquired two-dimensional views of the bone image and identify landmark points;

[0032] Determine an initial starting point and an initial end point in one two-dimensional view, and generate two straight lines passing through the initial starting point and the initial end point respectively in another two-dimensional view;

[0033] Adjusting the positions of the initial starting point and the initial end point on two straight lines to obtain a target starting point and a target end point;

[0034] A line segment with a target start point and a target end point as endpoints is established, and the coordinates of the line segment are converted from a display coordinate system to a physical coordinate system to obtain the target position.

[0035] Preferably, the deviation of the implant from the target position is the greater distance between the target start point and the target end point and the centerline of the implant.

[0036] In a second aspect, an embodiment of the present disclosure provides an orthopedic surgery navigation control method, comprising:

[0037] Determine the target location for the implant;

[0038] manually operating the passive arm to obtain the real-time position of the implant;

[0039] Calculating the current working range of the parallel robot according to the real-time position of the implant, determining whether the target position is within the working range, and if so, sending a first prompt signal, wherein the first prompt signal prompts locking the passive arm;

[0040] According to the current position of the implant and the target position, the parallel robot is controlled to move, so as to drive the implant to reach the target position, and a second prompt signal is sent after the implant reaches the target position.

[0041] Preferably, it also includes:

[0042] When the implant reaches the target position, setting the state identification information to a dynamic adjustment state;

[0043] When the state identification information is in a dynamic adjustment state, the deviation between the current position of the implant and the target position is calculated in real time. When the deviation is greater than a predetermined threshold, the parallel robot is driven to move to drive the implant to the target position.

[0044] Preferably, when the passive arm is unlocked, the parallel robot is locked.

[0045] Preferably, the target position is determined by the following steps:

[0046] Loading a CT scanned bone image of the operation object, wherein the bone image includes the positions of landmark points;

[0047] Determining the relative position between the marker point and a tracer attached to the operation object;

[0048] Select slices of the bone image in three directions, select an initial starting point and an initial end point in the first slice, and display the positions of the initial starting point and the initial end point in the second slice;

[0049] Adjusting the positions of the initial starting point and the initial end point in the second slice to obtain a target starting point and a target end point;

[0050] A line segment with a target start point and a target end point as endpoints is established, and the coordinates of the line segment are converted from a display coordinate system to a physical coordinate system to obtain the target position.

[0051] Preferably, the target position is determined by the following steps:

[0052] Select two intraoperatively acquired two-dimensional views of the bone image and identify landmark points;

[0053] Determine an initial starting point and an initial end point in one two-dimensional view, and generate two straight lines passing through the initial starting point and the initial end point respectively in another two-dimensional view;

[0054] Adjusting the positions of the initial starting point and the initial end point on two straight lines to obtain a target starting point and a target end point;

[0055] A line segment with a target start point and a target end point as endpoints is established, and the coordinates of the line segment are converted from a display coordinate system to a physical coordinate system to obtain the target position.

[0056] Preferably, the deviation of the implant from the target position is the greater distance between the target start point and the target end point and the centerline of the implant.

[0057] The system of the present invention has other features and advantages that will be apparent from or will be described in detail in the accompanying drawings and subsequent detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0059] Figure 1 A schematic diagram of an orthopedic surgery navigation control system according to an embodiment of the present invention is shown.

[0060] Figure 2 A flowchart showing the steps of an orthopedic surgery navigation control method according to an embodiment of the present invention is shown.

[0061] Description of reference numerals:

[0062] 1. Parallel robot; 2. Passive arm; 3. Optical tracking system; 31. Tracer; 32. Optical positioning tracking device; 4. Display screen; 5. Control device. DETAILED DESCRIPTION

[0063] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0064] To facilitate understanding of the solutions and effects of the embodiments of the present invention, two specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0065] Example 1

[0066] The orthopedic surgical navigation control system includes:

[0067] Parallel robot, the front end of the parallel robot is used to clamp the implant;

[0068] The passive arm can be manually operated, and the parallel robot is connected to one end of the passive arm;

[0069] Optical tracking systems to track the position of implants and manipulated objects;

[0070] A display screen for displaying the position of the implant and the object being operated on in real time;

[0071] The control device is electrically connected to the parallel robot, the passive arm, the optical tracking system, and the display screen, and is used to perform the following steps:

[0072] Determine the target location for the implant;

[0073] Obtaining the real-time position of the implant, calculating the current working range of the parallel robot according to the real-time position of the implant, determining whether the target position is within the working range, and if so, sending a first prompt signal, the first prompt signal prompting locking of the passive arm;

[0074] According to the current position and target position of the implant, the parallel robot is controlled to move, the implant is driven to reach the target position, and a second prompt signal is sent after the implant reaches the target position.

[0075] In one example, it also includes:

[0076] When the implant reaches the target position, the control device sets the state identification information to a dynamic adjustment state;

[0077] When the status identification information is in the dynamic adjustment state, the optical tracking system calculates the deviation between the current position of the implant and the target position in real time. When the deviation is greater than the predetermined threshold, the control device drives the parallel robot to move to drive the implant to the target position.

[0078] In one example, the parallel robot is locked when the passive arm is unlocked.

[0079] In one example, an optical tracking system includes:

[0080] The tracer is connected to the front end of the parallel robot and the operation object respectively;

[0081] The optical positioning tracking device is used to track the position of the tracer in real time and send the position data of the tracer to the control device.

[0082] In one example, the target location is determined by the following steps:

[0083] Loading a CT scanned bone image of an operation object, the bone image including the locations of landmarks;

[0084] Determine the relative position between the marker point and the tracer attached to the operation object;

[0085] Select slices of the bone image in three directions, select an initial starting point and an initial end point in the first slice, and display the positions of the initial starting point and the initial end point in the second slice;

[0086] Adjusting the positions of the initial starting point and the initial end point in the second slice to obtain the target starting point and the target end point;

[0087] A line segment with the target start point and the target end point as endpoints is established, and the coordinates of the line segment are converted from the display coordinate system to the physical coordinate system to obtain the target position.

[0088] In one example, the target location is determined by the following steps:

[0089] Select two intraoperatively acquired two-dimensional views of the bone image and identify landmark points;

[0090] Determine an initial starting point and an initial end point in one two-dimensional view, and generate two straight lines passing through the initial starting point and the initial end point respectively in another two-dimensional view;

[0091] Adjust the positions of the initial starting point and the initial end point on the two straight lines to obtain the target starting point and the target end point;

[0092] A line segment with the target start point and the target end point as endpoints is established, and the coordinates of the line segment are converted from the display coordinate system to the physical coordinate system to obtain the target position.

[0093] In one example, the implant's deviation from the target position is the greater distance between the target start point and the target end point and the centerline of the implant.

[0094] Figure 1 A schematic diagram of an orthopedic surgery navigation control system according to an embodiment of the present invention is shown.

[0095] Specifically, the orthopedic surgery navigation control system includes:

[0096] The parallel robot 1 has a front end for gripping the implant.

[0097] The parallel robot 1 is connected to one end of the passive arm 2. The passive arm 2 includes an upper arm and a forearm; a first joint structure, the upper arm and forearm being articulated together via the first joint structure; a second joint structure disposed at the end of the upper arm and / or forearm; a first drive mechanism disposed within the upper arm; and a second drive mechanism disposed within the forearm. The parallel robot is connected to the forearm end of the passive arm. The first joint structure includes a first force amplification device and a first locking member, the second joint structure includes a second force amplification device and a second locking member, and the first drive mechanism and the second drive mechanism apply force to the first locking member and / or the second locking member via the first force amplification device and / or the second force amplification device.

[0098] The optical tracking system 3 is used to track the position of the implant and the operation object; the optical tracking system 3 includes:

[0099] The tracer 31 includes a bracket and a plurality of optical indicator points, and the optical indicator points are arranged on the bracket. The tracer 31 respectively arranges the optical indicator points on the front end of the parallel robot 1 and the operation object through the bracket.

[0100] The optical positioning tracking device 32 is used to track the spatial position of the optical indication point in real time and send the spatial position data to the control device 5.

[0101] Display screen 4 displays the positions of the implant and the operation object in real time.

[0102] The control device 5 is electrically connected to the parallel robot 1, the passive arm 2, the optical tracking system 3, and the display screen 4, and is used to perform the following steps:

[0103] The target position of the implant can be planned in two ways:

[0104] The first method includes: loading a CT scanned bone image of an object, the bone image including the locations of landmarks; determining the relative positions between the landmarks and a tracer attached to the bone; selecting slices of the bone image in three directions, selecting an initial start point and an initial end point in the first slice, and displaying the positions of the initial start point and the initial end point in the second slice; adjusting the positions of the initial start point and the initial end point in the second slice to obtain the target start point and the target end point; establishing a line segment with the target start point and the target end point as endpoints, and converting the coordinates of the line segment from the display coordinate system to the physical coordinate system to obtain the target position;

[0105] The second method is to select two 2D views of the bone image acquired during surgery and identify the landmark points; determine the initial starting point and initial end point in one 2D view, and generate two straight lines passing through the initial starting point and initial end point respectively in the other 2D view; adjust the positions of the initial starting point and initial end point on the two straight lines to obtain the target starting point and target end point; establish a line segment with the target starting point and target end point as endpoints, and convert the coordinates of the line segment from the display coordinate system to the physical coordinate system to obtain the target position.

[0106] The passive arm 2 is manually operated to obtain the real-time position of the implant. During this operation, the control device 5 updates the implant and target positions in real time and displays them on the display screen 4, allowing the operator to understand the progress of the operation. The current working range of the parallel robot 1 is calculated based on the real-time position of the implant. A determination is made as to whether the target position is within the working range. If so, a first prompt signal is sent, prompting the locking of the passive arm 2. If the passive arm 2 is not locked, the parallel robot 1 is locked.

[0107] After the passive arm 2 is locked, the position of the implant is fine-tuned. According to the current position of the implant and the target position, the parallel robot 1 is controlled to move, driving the implant to the target position, and a second prompt signal is sent after the implant reaches the target position, and the fine-tuning is completed.

[0108] When the implant reaches the target position, the control device 5 sets the state identification information to the dynamic adjustment state; when the state identification information is the dynamic adjustment state, the deviation between the implant and the target position is taken as the larger distance between the target starting point and the target end point and the center line of the implant is taken as the deviation between the implant and the target position, and the deviation is calculated in real time. When the deviation is greater than the predetermined threshold, the parallel robot 1 is driven to move to drive the implant to the target position.

[0109] Example 2

[0110] Figure 2 A flowchart showing the steps of an orthopedic surgery navigation control method according to an embodiment of the present invention is shown.

[0111] like Figure 2 As shown, the orthopedic surgery navigation control method includes:

[0112] Step 101, determining the target position of the implant;

[0113] Step 102, manually operate the passive arm to obtain the real-time position of the implant;

[0114] Step 103, calculating the current working range of the parallel robot according to the real-time position of the implant, and determining whether the target position is within the working range. If so, sending a first prompt signal, which prompts locking the passive arm;

[0115] Step 104 , based on the current position and the target position of the implant, the parallel robot is controlled to move, the implant is driven to reach the target position, and a second prompt signal is sent after the implant reaches the target position.

[0116] In one example, it also includes:

[0117] When the implant reaches the target position, the state identification information is set to a dynamic adjustment state;

[0118] When the status identification information is a dynamic adjustment state, the deviation between the current position of the implant and the target position is calculated in real time. When the deviation is greater than a predetermined threshold, the parallel robot is driven to move to drive the implant to the target position.

[0119] In one example, the parallel robot is locked when the passive arm is unlocked.

[0120] In one example, the target location is determined by the following steps:

[0121] Loading a CT scanned bone image of an operation object, the bone image including the locations of landmarks;

[0122] Determine the relative position between the marker point and the tracer attached to the operation object;

[0123] Select slices of the bone image in three directions, select an initial starting point and an initial end point in the first slice, and display the positions of the initial starting point and the initial end point in the second slice;

[0124] Adjusting the positions of the initial starting point and the initial end point in the second slice to obtain the target starting point and the target end point;

[0125] A line segment with the target start point and the target end point as endpoints is established, and the coordinates of the line segment are converted from the display coordinate system to the physical coordinate system to obtain the target position.

[0126] In one example, the target location is determined by the following steps:

[0127] Select two intraoperatively acquired two-dimensional views of the bone image and identify landmark points;

[0128] Determine an initial starting point and an initial end point in one two-dimensional view, and generate two straight lines passing through the initial starting point and the initial end point respectively in another two-dimensional view;

[0129] Adjust the positions of the initial starting point and the initial end point on the two straight lines to obtain the target starting point and the target end point;

[0130] A line segment with the target start point and the target end point as endpoints is established, and the coordinates of the line segment are converted from the display coordinate system to the physical coordinate system to obtain the target position.

[0131] In one example, the implant's deviation from the target position is the greater distance between the target start point and the target end point and the centerline of the implant.

[0132] Specifically, the target position of the implant is planned in the following two ways:

[0133] The first method includes: loading a CT scanned bone image of an object, the bone image including the locations of landmarks; determining the relative positions between the landmarks and a tracer attached to the bone; selecting slices of the bone image in three directions, selecting an initial start point and an initial end point in the first slice, and displaying the positions of the initial start point and the initial end point in the second slice; adjusting the positions of the initial start point and the initial end point in the second slice to obtain the target start point and the target end point; establishing a line segment with the target start point and the target end point as endpoints, and converting the coordinates of the line segment from the display coordinate system to the physical coordinate system to obtain the target position;

[0134] The second method is to select two 2D views of the bone image acquired during surgery and identify the landmark points; determine the initial starting point and initial end point in one 2D view, and generate two straight lines passing through the initial starting point and initial end point respectively in the other 2D view; adjust the positions of the initial starting point and initial end point on the two straight lines to obtain the target starting point and target end point; establish a line segment with the target starting point and target end point as endpoints, and convert the coordinates of the line segment from the display coordinate system to the physical coordinate system to obtain the target position.

[0135] Manually operate the passive arm to obtain the real-time position of the implant. During operation, the implant and target positions are updated in real time and displayed on the display screen, allowing the operator to understand the progress of the operation. The parallel robot's current working range is calculated based on the real-time position of the implant. It is determined whether the target position is within the working range. If so, a first prompt signal is sent, prompting the passive arm to be locked. If the passive arm is not locked, the parallel robot is locked.

[0136] After the passive arm is locked, the position of the implant is fine-tuned. Based on the current position of the implant and the target position, the parallel robot is controlled to move and drive the implant to the target position. After the implant reaches the target position, a second prompt signal is sent, and the fine-tuning is completed.

[0137] When the implant reaches the target position, the state identification information is set to the dynamic adjustment state; when the state identification information is the dynamic adjustment state, the deviation between the implant and the target position is taken as the larger distance between the target starting point and the target end point and the center line of the implant is taken as the deviation between the implant and the target position, and the deviation is calculated in real time. When the deviation is greater than the predetermined threshold, the parallel robot is driven to move to drive the implant to the target position.

[0138] The present invention allows for more flexible control by manually adjusting the passive arm, which can be quickly changed in emergencies. The present invention prompts the operator after alignment to make the position of the passive arm more accurate. The present invention monitors the relative position of the implant and the target in real time, and prompts the operator if it is out of range, allowing the position of the implant to be quickly adjusted.

[0139] Those skilled in the art should understand that the above description of the embodiments of the present invention is only for the purpose of illustrative purposes only to illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0140] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An orthopedic surgery navigation control system, characterized in that: include: A parallel robot, wherein the front end of the parallel robot is used for clamping the implant; a passive arm capable of being manually operated, the parallel robot being connected to one end of the passive arm; an optical tracking system for tracking the position of the implant and the object being operated on; A display screen, configured to display the positions of the implant and the operation object in real time; A control device is electrically connected to the parallel robot, the passive arm, the optical tracking system, and the display screen, and is used to perform the following steps: determining a target location for the implant; obtaining a real-time position of the implant, calculating a current working range of the parallel robot according to the real-time position of the implant, determining whether the target position is within the working range, and if so, sending a first prompt signal, the first prompt signal prompting locking of the passive arm; Controlling the parallel robot to move according to the current position of the implant and the target position to drive the implant to the target position, and sending a second prompt signal after the implant reaches the target position; The optical tracking system comprises: a tracer, connected to the front end of the parallel robot and the operation object respectively; an optical positioning tracking device, configured to track the position of the tracer in real time and send the position data of the tracer to the control device; The target position is determined by the following steps: Loading a CT scanned bone image of the operation object, wherein the bone image includes the positions of landmark points; Determining the relative position between the marker point and a tracer attached to the operation object; Select slices of the bone image in three directions, select an initial starting point and an initial end point in the first slice, and display the positions of the initial starting point and the initial end point in the second slice; Adjusting the positions of the initial starting point and the initial end point in the second slice to obtain a target starting point and a target end point; A line segment with a target start point and a target end point as endpoints is established, and the coordinates of the line segment are converted from a display coordinate system to a physical coordinate system to obtain the target position.

2. The orthopedic surgery navigation control system according to claim 1, wherein: Also includes: When the implant reaches the target position, the control device sets the state identification information to a dynamic adjustment state; When the state identification information is in a dynamic adjustment state, the optical tracking system calculates the deviation between the current position of the implant and the target position in real time. When the deviation is greater than a predetermined threshold, the control device drives the parallel robot to move to drive the implant to the target position.

3. The orthopedic surgery navigation control system according to claim 1, wherein: When the passive arm is unlocked, the parallel robot is locked.

4. The orthopedic surgery navigation control system according to claim 1, wherein: The implant's deviation from the target position is the greater distance between the target start point and the target end point and the implant centerline.

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