Integrated surgical robotic intraoperative registration system and method based on custom scale

Abstract

The application discloses a self-defined scale-based integrated surgical robot intraoperative registration system and method, and the system comprises an image scanning device, a surgical instrument guiding device, a registration updating module and a self-defined scale; the image scanning device is used for acquiring a two-dimensional perspective image of a patient, and the self-defined scale is used for providing a reference coordinate for image registration; the registration updating module is used for coordinate position registration and updating of surgical planning data; and the surgical instrument guiding device is used for implementing a surgical operation according to the surgical planning data. The method comprises the following steps: acquiring a two-dimensional perspective image with scale information; performing a registration operation on a preset preoperative planning three-dimensional image according to the two-dimensional perspective image; and updating surgical planning data according to a result of the registration operation. The application can automatically correct the surgical planning data, adjust the spatial position and posture of a medical instrument, and enable the surgical instrument guiding device to always maintain high positioning execution precision.

Description

Technical Field

[0001] This application belongs to the field of surgical robot calibration technology, specifically relating to an integrated surgical robot intraoperative registration system and method based on a custom scale. Background Technology

[0002] The global incidence of orthopedic diseases has been gradually increasing in recent years, making precision treatment the future direction of orthopedic surgery. With advancements in medical imaging and instrument technology, surgical robots based on robotic arms are increasingly being integrated with medical imaging data to assist surgeons in the surgical process, greatly facilitating operations and improving surgical precision. Traditionally, surgical robot-assisted systems and medical imaging equipment are separate systems, requiring the placement of a ruler near the affected area for intraoperative 3D scanning to facilitate coordinate alignment and achieve the planned surgical navigation. This approach effectively integrates medical imaging and surgical robots, assisting surgeons in performing orthopedic surgeries, such as internal screw fixation, more safely and precisely, while reducing physical exertion and achieving safer, simpler, and less invasive procedures for complex surgeries.

[0003] In current system solutions, surgical robots require surgeons to control their operations during surgery. Any displacement of the surgical site, or discrepancies between the actual angle and position of the surgical instruments and the actual situation, can significantly impact surgical precision, placing higher demands on surgeons' operation of the surgical robot. Furthermore, traditional surgical navigation systems require the installation of infrared tracking devices on the patient. To ensure relative stability, these devices are typically invasively fixed to the patient's skeletal structures (such as vertebrae), causing additional harm to the patient.

[0004] How to correct the angle and position of surgical instruments in real time during surgery to ensure the precision of the operation is a key research focus in the field of medical devices. Summary of the Invention

[0005] This application proposes an integrated surgical robot intraoperative registration system and method based on a custom scale. It does not require the installation of an additional tracer device. Instead, it performs multi-angle two-dimensional fluoroscopic scans of the patient during the operation and combines them with preoperative three-dimensional medical images to formulate a surgical operation compensation scheme for the medical devices during the operation. The surgical operation data is corrected in real time, thereby improving the execution accuracy of the medical devices during the operation.

[0006] To achieve the above objectives, this application provides the following solution:

[0007] An integrated surgical robot intraoperative registration system based on a custom scale includes an image scanning device, a surgical instrument guiding device, a registration update module, and a custom scale.

[0008] The registration update module is connected to both the image scanning device and the surgical instrument guiding device.

[0009] The custom ruler is fixedly connected to the surgical instrument guiding device;

[0010] Both the surgical instrument guiding device and the custom ruler are located within the scanning field of view of the image scanning device;

[0011] The image scanning device is used to acquire a two-dimensional fluoroscopic image of the patient, the two-dimensional fluoroscopic image including the image information of the custom scale;

[0012] The custom scale is used to provide reference coordinates for image registration;

[0013] The registration and update module performs coordinate registration on the preset preoperative planning three-dimensional image based on the two-dimensional perspective image, and updates the preset surgical planning data.

[0014] The surgical instrument guiding device is used to perform surgical operations based on the surgical planning data.

[0015] Preferably, the image scanning device is a C-arm scanning device;

[0016] The C-arm scanning device includes a C-arm support arm (12), a detector (11), and an X-ray tube (13);

[0017] One end of the C-shaped support arm (12) is fixedly connected to the detector (11), and the other end of the C-shaped support arm (12) is fixedly connected to the X-ray tube (13).

[0018] The X-ray tube (13) is used to generate scanning rays;

[0019] The detector (11) is used to receive the scanning rays and generate the two-dimensional perspective image.

[0020] Preferably, the surgical instrument guiding device includes a base portion, a rigid connecting arm (31), and a surgical instrument (32);

[0021] One end of the rigid connecting arm (31) is fixedly connected to the base part, and the other end of the rigid connecting arm (31) is movably connected to the surgical instrument (32);

[0022] The base portion is used to adjust the angle of the surgical instrument guiding device, and the surgical instrument (32) is used to perform the surgical operation.

[0023] Preferably, the custom scale is fixedly connected to the rigid connecting arm (31).

[0024] Preferably, the custom scale has a tetrahedral structure;

[0025] Each vertex of the custom ruler is marked with a marker.

[0026] Preferably, the marking object is made of rigid metal.

[0027] The markers are connected by non-metallic edges, and the lengths of these edges are all unequal.

[0028] Preferably, the custom scale is fixedly connected to the rigid connecting arm (31) via a connecting non-metallic connecting bracket (22).

[0029] Preferably, the registration update module includes a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit, and a surgical planning unit connected in sequence;

[0030] The two-dimensional perspective view unit is also connected to the registration calculation unit;

[0031] The two-dimensional perspective view unit is also connected to the image scanning device;

[0032] The surgical planning module is also connected to the surgical instrument (32) guiding device;

[0033] The two-dimensional perspective unit is used to receive the two-dimensional perspective image acquired by the image scanning device;

[0034] The simulated projection unit is used to perform simulated projection on the preoperative planning three-dimensional image based on the image information attached to the two-dimensional perspective image, and generate the two-dimensional projection image.

[0035] The registration calculation unit is used to perform similarity comparison processing between the two-dimensional perspective image and the two-dimensional projection image. When the result of the similarity comparison processing meets the standard, the registration is successful.

[0036] The transformation matrix unit is used to obtain the transformation matrix from the rigid connecting arm (31) to the image scanning device according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after successful registration;

[0037] The surgical planning unit is used to update the preset surgical planning data according to the transformation matrix.

[0038] This application also discloses an intraoperative registration method for an integrated surgical robot based on a custom scale, including the following steps:

[0039] S1. Acquire two-dimensional perspective images of the patient from multiple angles, wherein the two-dimensional perspective images include custom scale image information;

[0040] S2. Based on the two-dimensional perspective image, a registration operation is performed on the preset preoperative planning three-dimensional image. Based on the result of the registration operation, the surgical planning data is updated. The surgical planning data is used to control the surgical operation and complete the intraoperative registration.

[0041] Preferably, the registration operation is performed as follows:

[0042] S2.1. Based on the image information attached to the two-dimensional perspective image, perform a simulated projection on the preoperative planning three-dimensional image to generate a two-dimensional projection image;

[0043] S2.2. Perform a similarity comparison process between the two-dimensional perspective image and the two-dimensional projection image. When the result of the similarity comparison process meets the standard, the registration is successful. If the registration is unsuccessful, adjust the simulated projection angle and repeat S2.1-S2.2.

[0044] The beneficial effects of this application are as follows:

[0045] 1. This application discloses an integrated surgical robot intraoperative registration system and method based on a custom ruler. It integrates a C-arm scanning device with a surgical instrument guiding device. Using a custom ruler for coordinate positioning, it registers a two-dimensional perspective image with a simulated two-dimensional projection image to correct surgical planning data. This adjusts the spatial position and orientation of the medical instruments, ensuring the surgical instrument guiding device maintains high positioning accuracy. This technical solution eliminates the need for an additional infrared tracer on the patient, causing no additional harm. It achieves error correction during surgery in a non-invasive manner, improving surgical precision. Furthermore, it eliminates the need for infrared cameras, further saving space and providing a better environment for surgeons. This technical solution can correct errors not only at individual surgical planning points but also for the entire system, achieving a one-time correction for multiple uses and saving the step of correcting the surgical robot's position during surgery. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of this application, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is an embodiment of the present application: an integrated surgical robot intraoperative registration system based on a custom scale.

[0048] Figure 2This is a schematic diagram of the C-arm scanning device used in Embodiment 1 of this application;

[0049] Figure 3 This is a schematic diagram of the surgical instrument guiding device according to Embodiment 1 of this application;

[0050] Figure 4 This is a schematic diagram of a custom scale structure for a tetrahedral structure in Embodiment 1 of this application;

[0051] Figure 5 This is a schematic diagram of the registration update module structure in Embodiment 1 of this application.

[0052] 11. Detector; 12. C-shaped support arm; 13. X-ray tube; 21. Tetrahedral scale; 22. Non-metallic connecting bracket; 31. Rigid connecting arm; 32. Surgical instrument. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] Human bones and surgical instruments (such as Kirschner wires and bone screws) are rigid structures, and their shape does not change when scanned in different states using CT tomography. However, considering factors such as displacement of the surgical site and operational errors during surgery, the surgical plan needs to be updated and compensated for during the operation.

[0056] Example 1

[0057] like Figure 1 As shown, this is an embodiment of the integrated surgical robot intraoperative registration system based on a custom scale, which includes an image scanning device, a surgical instrument guiding device, a registration update module, and a custom scale.

[0058] Specifically, the registration update module is connected to both the image scanning device and the surgical instrument guiding device; the custom ruler is fixedly connected to the surgical instrument guiding device; both the surgical instrument guiding device and the custom ruler are located within the scanning field of view of the image scanning device.

[0059] In this first embodiment, the image scanning device is used to acquire a two-dimensional fluoroscopic image of the patient, which includes image information with a custom ruler. The custom ruler is used to provide reference coordinates for image registration. The registration update module performs coordinate registration on a preset preoperative planning three-dimensional image based on the two-dimensional fluoroscopic image and updates the preset surgical planning data. The surgical instrument guiding device is used to perform surgical operations based on the surgical planning data.

[0060] In this first embodiment, a C-arm scanning device is used as the image scanning device to perform CT tomographic image scanning on the patient's bones and metal surgical instruments (such as Kirschner wires, bone nails, etc.). These bones and metal surgical instruments are all rigid structures and will not deform during CT tomographic image scanning.

[0061] like Figure 2 The diagram shows the structure of the C-arm scanning device used in this embodiment, which includes a C-shaped support arm 12, a detector 11, and an X-ray tube. The detector 11 is located at the upper end of the C-shaped support arm 12, and the X-ray tube is located at the lower end of the C-shaped support arm 12. The C-shaped support arm 12 is used to fix the positions of the detector 11 and the X-ray tube. The X-ray tube is used to generate scanning rays. The detector 11 is used to receive scanning rays and generate a two-dimensional perspective image.

[0062] In this first embodiment, as Figure 3 As shown, the surgical instrument guiding device includes a base portion, a rigid connecting arm 31, and a surgical instrument 32; the rigid connecting arm 31 is fixedly connected to the base portion and movably connected to the surgical instrument 32. The base portion is used to adjust the angle of the surgical instrument guiding device, and the surgical instrument 32 is used to perform surgical operations.

[0063] In this first embodiment, a custom scale is fixedly mounted on the rigid connecting arm 31 to provide reference coordinates for image registration. Specifically, as shown... Figure 4As shown, in this embodiment, the custom ruler is a tetrahedral structure, labeled as tetrahedral ruler 21. Each of its four vertices A, B, C, and D is marked with a rigid metal object. In this embodiment, metal spheres are used as the marks, and the edges connecting the four vertices are used as the tetrahedral edges, made of non-metallic material. Furthermore, a non-metallic connecting bracket is added to one face of the tetrahedral ruler 21 for fixing the tetrahedral ruler 21 to the rigid connecting arm 31. This provides stable installation without affecting the rigid structural information in the image. Thus, during CT tomographic scanning, the positions of the four metal sphere vertices A, B, C, and D are not affected by deformation, thus providing reference coordinate points. In addition, to ensure the validity of the reference coordinate points provided by the tetrahedral scale 21, none of the four faces of the scale are equilateral triangles, that is, the six edges of the scale are of unequal length. In this way, the four vertices will not generate balanced coordinate points when scanning CT tomographic images. Instead, the position of the surgical instrument 32 will be verified from multiple angles through the asymmetrical coordinate point positions.

[0064] In this first embodiment, as Figure 5 As shown, the registration update module includes a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit, and a surgical planning unit connected in sequence. Furthermore, the two-dimensional perspective view unit is also connected to the registration calculation unit and the image scanning device; the surgical planning module is also connected to the surgical instrument guiding device.

[0065] In this embodiment, the two-dimensional perspective view unit is used to receive the two-dimensional perspective image acquired by the image scanning device; the simulated projection unit is used to simulate projection onto the preoperative planning three-dimensional image based on the image information attached to the two-dimensional perspective image to generate a two-dimensional projection image; the registration calculation unit is used to perform similarity comparison processing between the two-dimensional perspective image and the two-dimensional projection image. When the structure of the similarity comparison processing meets the standard, for example, the similarity reaches 95%, the registration can be considered successful; the transformation matrix unit is used to obtain the transformation matrix from the rigid connecting arm 31 to the image scanning device based on the coordinate position of each vertex of the custom scale in the two-dimensional projection image after successful registration; the surgical planning unit is used to update the preset surgical planning data based on the transformation matrix. The surgical planning data is used to control the surgical operation.

[0066] The intraoperative registration system of the integrated surgical robot based on a custom ruler, as described in Embodiment 1, generates a two-dimensional perspective view with ruler information by scanning during the operation. This view is then registered with the three-dimensional image planned before the operation to update the surgical planning data and improve surgical accuracy.

[0067] Example 2

[0068] The intraoperative registration method for an integrated surgical robot based on a custom scale includes the following steps:

[0069] S1. Acquire two-dimensional perspective images of the patient from multiple angles, including custom ruler image information.

[0070] In this second embodiment, a custom scale with a tetrahedral structure is installed on the surgical instrument guiding device, such as... Figure 4 As shown, the four triangular faces of the tetrahedral scale 21 are not equilateral triangles, and the six edges are of unequal length. The four vertices of the tetrahedral scale 21 are labeled A, B, C, and D, and each is equipped with a metal ball, while the six edges are made of non-metallic material. The tetrahedral scale 21 is fixedly connected to the surgical instrument guiding device via a non-metallic bracket 22, serving as the reference coordinate position for key points during the operation. A scanning device with a C-arm is used as the image acquisition device to perform CT tomographic image scanning.

[0071] When the surgical instrument guidance device of the surgical robot is in place, it scans two-dimensional perspective images from multiple angles, and needs to scan the tetrahedral ruler 21 on the guidance device into the two-dimensional image and identify the vertex steel ball of the tetrahedral ruler 21.

[0072] S2. Based on the two-dimensional perspective image, perform a registration operation on the pre-set three-dimensional preoperative planning image. Based on the result of the registration operation, update the surgical planning data. The surgical planning data is used to control the surgical operation and complete the intraoperative registration.

[0073] Before the surgery began, a three-dimensional scan of the area where the patient needed to be operated on was performed using medical imaging equipment. Based on the imaging data, a three-dimensional model of the preoperative planning and the coordinates of key target points were reconstructed.

[0074] In this embodiment, the registration operation specifically includes the following steps:

[0075] S2.1. Mark rigid structures such as bones, rulers, and steel balls on the two-dimensional perspective image, and then, based on the information that can be obtained from the two-dimensional perspective image (such as projection angles α1, α2, ... α...), n Information such as system magnification and distance from the X-ray source to detector 11 (SOD) is simulated and projected onto the preoperative planning three-dimensional image to generate a two-dimensional projection image.

[0076] S2.2. Register the two-dimensional perspective image with the two-dimensional projection graphic, that is, extract key structures (such as skeletons), evaluate the similarity between the two images, and if the requirements are met, for example, the similarity reaches 95%, the registration is considered successful. If the similarity of the registration result does not meet the standard, the simulated projection angle is fine-tuned, the two-dimensional perspective image is reacquired and re-registered, and the accurate imaging angle, position and other information of the perspective two-dimensional image are obtained.

[0077] Furthermore, after registering multiple two-dimensional perspective images onto a three-dimensional image, the actual coordinates of each vertex steel ball of the tetrahedral ruler 21 in the three-dimensional image coordinate system can be calculated. Combined with the coordinates of each steel ball in the surgical instrument coordinate system, a new transformation matrix from the surgical instrument (i.e., the ruler) to the C-arm can be obtained. Where R is the Euler angle rotation matrix obtained by rotating around each coordinate axis, and t is the translation parameter from the starting coordinate system to the target coordinate system. The transformation relationship matrix is ​​existing technology and will not be elaborated here.

[0078] Furthermore, based on the key points marked on the preoperative planning 3D image, including the point of interest P... Interest , entry point P Entry and the determined insertion direction V Entry Among them, the direction of insertion V Entry From point of interest P Interest , entry point P Entry The connection is determined as shown in formula (1):

[0079] V Entry =P Interest -P Entry (1)

[0080] Using the new transformation relation matrix T Base Recalculate the point of interest P Interest , entry point P Entry Position P in the coordinate system of the surgical instrument 23 guiding device Interest机械 P Entry机械 Compare P Interest机械 P Entry机械 Is there a discrepancy between the actual location and the current location? If so, follow the latest P... Interest机械 P Entry机械 To update and execute surgical planning data, and to transform the relation matrix T. Base Save this information for use as a basis for executing other planned points during this surgery.

[0081] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made to the technical solutions of this application by those skilled in the art without departing from the spirit of this application shall fall within the protection scope defined by the claims of this application.

Claims

1. An integrated surgical robot intraoperative registration system based on a custom scale, characterized in that, This includes image scanning equipment, surgical instrument guiding equipment, registration update module, and custom scale; The registration update module is connected to both the image scanning device and the surgical instrument guiding device. The custom ruler is fixedly connected to the surgical instrument guiding device; the surgical instrument guiding device includes a base part, a rigid connecting arm (31) and a surgical instrument (32); the custom ruler is fixedly connected to the rigid connecting arm (31), the custom ruler is a tetrahedral structure, each vertex of the custom ruler is provided with a marker, the marker is a steel ball, and the six edges of the custom ruler are of unequal length; Both the surgical instrument guiding device and the custom ruler are located within the scanning field of view of the image scanning device; The image scanning device is used to acquire a two-dimensional fluoroscopic image of the patient, the two-dimensional fluoroscopic image including the image information of the custom scale; the image scanning device is a C-arm scanning device; The custom scale is used to provide reference coordinates for image registration; The registration and update module performs coordinate registration on the preset preoperative planning three-dimensional image based on the two-dimensional perspective image, and updates the preset surgical planning data. The surgical instrument guiding device is used to perform surgical operations based on the surgical planning data; The method for registration using the registration system includes the following steps: S1. Acquire two-dimensional perspective images of the patient from multiple angles, wherein the two-dimensional perspective images include custom scale image information; S2. Based on the two-dimensional perspective image, perform a registration operation on the preset preoperative planning three-dimensional image, and update the surgical planning data based on the result of the registration operation. The surgical planning data is used to control the surgical operation and complete the intraoperative registration. S2.

1. Based on the image information attached to the two-dimensional fluoroscopic image, perform a simulated projection on the preoperative planning three-dimensional image to generate a two-dimensional projection image; mark the rigid structure of the bone, ruler, and steel ball on the two-dimensional fluoroscopic image, and then perform a simulated projection on the preoperative planning three-dimensional image based on the information attached to the two-dimensional fluoroscopic image to generate a two-dimensional projection image. S2.

2. Perform a similarity comparison process between the two-dimensional perspective image and the two-dimensional projection image. When the result of the similarity comparison process meets the standard, the registration is successful. If the registration is unsuccessful, adjust the simulated projection angle and repeat S2.1-S2.

2. After registering multiple 2D perspective images onto a 3D image, the actual coordinates of the steel ball at each vertex of the scale in the 3D image coordinate system are calculated. Combined with the coordinates of each steel ball in the surgical instrument coordinate system, a new transformation matrix from surgical instruments to the C-arm is obtained. , where R is the Euler angle rotation matrix obtained by rotating around each coordinate axis, and t is the translation parameter from the starting coordinate system to the target coordinate system; Based on the key points marked on the preoperative 3D planning image, including points of interest... P Interest , nail insertion point P Entry and the determined direction of insertion. V Entry Among them, the direction of nail insertion V Entry From points of interest P Interest , nail insertion point P Entry The connection determines: V Entry = P Interest - P Entry ; Using the new transformation relation matrix T Base Recalculate the points of interest P Interest , nail insertion point P Entry Position in the coordinate system of the surgical instrument guiding device P Interest机械 , P Entry机械 ,Compare P Interest机械 , P Entry机械 Is there a discrepancy between the current location and the actual location? If so, then the latest location shall prevail. P Interest机械 , P Entry机械 To update surgical planning data and execute it.

2. The integrated surgical robot intraoperative registration system based on a custom scale according to claim 1, characterized in that, The image scanning device is a C-arm scanning device; The C-arm scanning device includes a C-arm support arm (12), a detector (11), and an X-ray tube (13). One end of the C-shaped support arm (12) is fixedly connected to the detector (11), and the other end of the C-shaped support arm (12) is fixedly connected to the X-ray tube (13); The X-ray tube (13) is used to generate scanning rays; The detector (11) is used to receive the scanning rays and generate the two-dimensional perspective image.

3. The integrated surgical robot intraoperative registration system based on a custom scale according to claim 1, characterized in that, One end of the rigid connecting arm (31) is fixedly connected to the base part, and the other end of the rigid connecting arm (31) is movably connected to the surgical instrument (32); The base portion is used to adjust the angle of the surgical instrument guiding device, and the surgical instrument (32) is used to perform the surgical operation.

4. The integrated surgical robot intraoperative registration system based on a custom scale according to claim 1, characterized in that, The markers are connected by non-metallic edges, and the lengths of these edges are all unequal.

5. The integrated surgical robot intraoperative registration system based on a custom scale according to claim 4, characterized in that, The custom ruler is fixedly connected to the rigid connecting arm (31) via a non-metallic connecting bracket (22).

6. The integrated surgical robot intraoperative registration system based on a custom scale according to claim 5, characterized in that, The registration update module includes a two-dimensional perspective view unit, a simulation projection unit, a registration calculation unit, a transformation matrix unit, and a surgical planning unit connected in sequence. The two-dimensional perspective view unit is also connected to the registration calculation unit; The two-dimensional perspective view unit is also connected to the image scanning device; The surgical planning module is also connected to the surgical instrument (32) guiding device; The two-dimensional perspective unit is used to receive the two-dimensional perspective image acquired by the image scanning device; The simulated projection unit is used to perform simulated projection on the preoperative planning three-dimensional image based on the image information attached to the two-dimensional perspective image, and generate the two-dimensional projection image. The registration calculation unit is used to perform similarity comparison processing between the two-dimensional perspective image and the two-dimensional projection image. When the result of the similarity comparison processing meets the standard, the registration is successful. The transformation matrix unit is used to obtain the transformation matrix from the rigid connecting arm (31) to the image scanning device according to the coordinate position of each vertex of the custom scale in the two-dimensional projection image after successful registration. The surgical planning unit is used to update the preset surgical planning data according to the transformation matrix.

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