OCT imaging based positioning navigation method for orthopedic surgical robot

Abstract

The application relates to an OCT imaging-based positioning navigation method for an orthopedic surgery robot, which comprises the following steps: S1: scanning a to-be-operated region by an OCT imaging probe to collect an OCT image of the to-be-operated region; S2: performing first registration on the OCT image of the to-be-operated region and preoperative medical images to obtain preoperative planning information; S3: scanning a surgical tool mechanical arm or a surgical tool by the OCT imaging probe to obtain a fine registration matrix for registration between an imaging equipment mechanical arm and the surgical tool mechanical arm; S4: real-time scanning of the to-be-operated region by the OCT imaging probe to update the positional relationship between the to-be-operated region and the imaging equipment mechanical arm; S5: real-time updating of real-time coordinates of the surgical tool mechanical arm in an OCT coordinate system and real-time pose of the surgical tool in the OCT coordinate system by means of the fine registration matrix; and S6: controlling the surgical tool mechanical arm and / or the surgical tool to perform a surgical operation based on the real-time coordinates and the real-time pose and in accordance with the registered surgical planning information.

Description

Technical Field

[0001] This invention relates to an OCT imaging-based positioning and navigation method for an orthopedic surgical robot, the orthopedic surgical robot having an OCT imaging device, a surgical tool robotic arm for mounting surgical tools, and an imaging device robotic arm for mounting the OCT imaging device. Background Technology

[0002] Infrared navigation is a positioning and navigation technology that uses a small reflective ball to locate various surgical instruments and surgical areas. To achieve precise intraoperative navigation, infrared positioning and navigation systems typically need to be registered with intraoperative 3D images, intraoperative CT scans, and preoperative CT scans before navigating the surgical robot. This can easily expose both the surgeon and patient to significant amounts of radiation during surgery. Furthermore, the intraoperative 3D CT scans involving the advancement and retreat of the surgical machine complicate the procedure, and the patient's movements, breathing, or other intraoperative movements cannot be detected in a timely manner, reducing navigation accuracy and affecting the final surgical outcome. Optical coherence tomography (OCT) is a type of optical tomography that provides real-time 2D or 3D images with micrometer resolution and millimeter penetration depth. Due to its advantages such as providing depth information, non-invasiveness, fast imaging, and high resolution, it is widely used for intraoperative navigation in ophthalmic surgery. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a positioning and navigation method based on OCT imaging for orthopedic surgical robots, which can significantly reduce the radiation dose received by patients during surgery.

[0004] This technical problem is solved by an OCT imaging-based positioning and navigation method for orthopedic surgical robots. The orthopedic surgical robot includes an OCT imaging device with an OCT imaging probe, a surgical tool robotic arm for mounting surgical tools, and an imaging device robotic arm for mounting the OCT imaging device. According to the present invention, the positioning and navigation method includes the following steps:

[0005] S1: The surgical area is scanned using an OCT imaging probe to acquire OCT images of the surgical area;

[0006] S2: Perform a first registration between the OCT image and the preoperative medical image to obtain preoperative planning information;

[0007] S3: Scan the surgical tool robotic arm or surgical tool using an OCT imaging probe to obtain a fine registration matrix for registration between the imaging device robotic arm and the surgical tool robotic arm;

[0008] S4: The surgical area is scanned in real time using an OCT imaging probe to update the positional relationship between the surgical area and the robotic arm of the imaging device;

[0009] S5: Real-time updates of the surgical tool robotic arm's real-time coordinates and the surgical tool's real-time pose in the OCT coordinate system are achieved using a precise registration matrix;

[0010] S6: Based on the real-time coordinates and the real-time pose, and in accordance with the registered surgical planning information, control the surgical tool robotic arm and / or surgical tools to perform surgical operations. Since the method according to the present invention eliminates the need for medical imaging equipment to scan the patient during surgery, the radiation dose received by the patient is greatly reduced, which is more beneficial to the patient's health.

[0011] In an extended embodiment of the present invention, in step S2, surgical planning information in the preoperative medical image is converted into surgical planning information in the OCT coordinate system using the first registration matrix, wherein the first registration matrix is ​​calculated based on the three-dimensional coordinate point cloud of the OCT image and the three-dimensional coordinate point cloud of the medical image.

[0012] In a further extended embodiment of the invention, prior to step S3, a second registration matrix between the imaging device robotic arm and the surgical tool robotic arm is obtained based on the positional relationship between them. The second registration matrix is ​​calculated from the coordinates of the imaging device robotic arm in the robot coordinate system and the coordinates of the surgical tool robotic arm in the robot coordinate system.

[0013] In a further extension of the invention, the coordinates of the OCT imaging probe's line of sight in the imaging device's robotic arm coordinate system are converted into coordinates in the surgical tool's robotic arm coordinate system using the second registration matrix, so as to move the surgical tool's robotic arm into the line of sight, wherein the line of sight is preferably located in an area near the area to be operated on that can be scanned by the OCT imaging device.

[0014] In a further extended embodiment of the invention, the fine registration matrix is ​​obtained by scanning a first marker identifiable by an OCT imaging probe mounted on a surgical tool robotic arm or surgical tool.

[0015] In a further extended embodiment of the invention, in step S4, a second marker identifiable by the OCT imaging probe is scanned on the area to be operated on by the OCT imaging probe to obtain the real-time coordinates of the area to be operated on in the OCT coordinate system. This avoids surgical planning errors caused by unavoidable slight movements of the patient or operating table.

[0016] In a further extended embodiment of the invention, in step S5, the real-time coordinates of the surgical tool robotic arm in its surgical tool robotic arm coordinate system are obtained by the surgical tool robotic arm system itself, and the real-time pose of the surgical tool in the surgical tool robotic arm coordinate system is obtained based on the size and shape of the surgical tool. Then, the real-time coordinates and real-time pose are converted into the real-time coordinates of the surgical tool robotic arm in the OCT coordinate system and the real-time pose of the surgical tool in the OCT coordinate system by means of a fine registration matrix.

[0017] In a further extension of the invention, an imaging device with the same field of view as the OCT imaging probe is provided. This imaging device identifies recognizable markers used to mark the surgical area, thereby obtaining the original position coordinates of the surgical area in the OCT imaging device's coordinate system. Based on this, an imaging position directly above the surgical area is calculated, and then the imaging device's robotic arm is moved to this imaging position. This allows for automatic movement of the imaging device's robotic arm to the imaging position, improving the automation level of the orthopedic surgical robot.

[0018] In a further extended embodiment of the invention, the preoperative medical images are acquired by a medical imaging device, and surgical planning information is recorded on a three-dimensional model of the preoperative medical images. Attached Figure Description

[0019] The features and advantages of the present invention will be further illustrated below with reference to the accompanying drawings, in which:

[0020] Figure 1 This is a non-limiting embodiment of an orthopedic surgical robot capable of implementing a positioning and navigation method based on OCT imaging;

[0021] Figure 2 This is a flowchart of an OCT imaging-based positioning and navigation method for orthopedic surgical robots according to the present invention.

[0022] Referring to the accompanying drawings, the same reference numerals refer to the same parts in multiple views. The drawings primarily illustrate the positional, connection, fitting, and size relationships between elements and components, and are not intended to limit the dimensions or specific implementations of these elements. Detailed Implementation

[0023] The term "registration matrix" according to this invention should be understood as a matrix that transforms coordinates in two separate coordinate systems, such as A and B. The term "pose" according to this invention should be understood as two positions and orientations in the same coordinate system.

[0024] It should be understood that various alternative variations and sequences of steps may be employed in this disclosure unless otherwise expressly specified. It should also be understood that the specific devices and processes shown in the accompanying drawings and described in the following specification are merely exemplary and not limiting embodiments or aspects.

[0025] The technical term "orthopedic surgery" in this disclosure includes, but is not limited to, laminectomy, discectomy, vertebroplasty, lumbar fusion, etc. The ordinal numbers "first" and "second" merely indicate different components and do not imply any order.

[0026] Figure 1 A non-limiting embodiment of an orthopedic surgical robot 1 for performing an OCT imaging-based positioning and navigation method according to the present disclosure is shown. Only the main mechanical components related to performing the OCT imaging-based positioning and navigation method are shown in this figure. The orthopedic surgical robot 1 according to the present disclosure mainly includes a robotic arm device 2, an OCT imaging-based positioning and navigation device (only the execution component of its imaging device, i.e., the OCT imaging probe 3, is shown in this figure), and a control device (not shown) for controlling the movement of the robotic arm device 2 and the positioning and navigation device. The orthopedic surgical robot 1 typically also has a trolley device (not shown) for carrying the robotic arm device 2.

[0027] In one non-limiting embodiment of this disclosure, the robotic arm device 2 includes an imaging device robotic arm 21 for mounting an imaging device and at least one surgical tool robotic arm 22 for mounting a surgical tool 23, wherein each robotic arm is preferably configured as follows: Figure 1 The multi-axis robotic arm shown includes an imaging device comprising an OCT imaging probe 3 for positioning and navigation based on OCT imaging and an imaging device 4 for providing visualization of the surgical area to surgeons and nurses. In this embodiment, the OCT imaging probe 3 and the imaging device 4 are arranged at the free end of the imaging device robotic arm 21 such that they have the same field of view and are communicatively connected to a control device (not shown) to keep the imaging device in a working position and orientation throughout the surgery. Surgical tools 23 for orthopedic surgery can be detachably mounted at the free end of the surgical tool robotic arm 22 near the surgical area, and the OCT imaging probe 3 and the imaging device 4 can be fixedly mounted on the free end of the imaging device robotic arm 21. The robotic arm device 2 can also be used as a mechanical actuator for the corresponding surgical tools 23 and the OCT imaging probe 3 and the imaging device 4, respectively. To avoid medical personnel having to change surgical tools 23 back and forth during the surgery and thus improve the automation level of the surgical robot 1, in this embodiment, the robotic arm device 2 preferably has one imaging device robotic arm and two surgical tool robotic arms 22.

[0028] The surgical tools 23, each mounted on the surgical tool robotic arm 22, can be implemented as surgical tools for surgical operations, such as bone scalpels, screwdrivers, drills, retractors, bone forceps, bone mallets, or other types of surgical tools, or as implanters for placing implants, such as screwdrivers. In a non-limiting embodiment of this disclosure, one of the surgical tools 23 can be designed as a first implanter, such as a first screw, for placing a first implant, such as a first screw, into the body, for example, a first screwdriver, and the other surgical tool 23 can optionally be designed as a surgical tool in the form of a drilling tool for drilling or a second implanter, such as a second screw, for placing a second implant, such as a second screw, into the body, for example, a second screwdriver.

[0029] like Figure 1 As shown in the dashed circle, a first mark 5 that can be recognized by the OCT imaging probe 3 for fine registration can be set on one of the surgical tools 23.

[0030] Of course, depending on the complexity of the surgery, the surgical tool robotic arm 22 can also be designed as more than two working together to complete the surgery more efficiently. Conversely, to reduce the load on the control equipment for data analysis and processing, the surgical tool robotic arm 22 can also be designed as a single multifunctional surgical tool robotic arm. For example, in spinal surgery, it can install both a drill for drilling and a screwdriver for screwing. The free end of this multifunctional surgical tool robotic arm is equipped with an interface for connecting different surgical tools 23. Unlike the surgical robot 1 with two surgical tool robotic arms, this orthopedic surgical robot 1 with only one surgical tool robotic arm requires medical personnel to intervene during the operation to change the surgical tools 23. Therefore, in the case of only one surgical tool robotic arm, the degree of automation of the surgical robot 1 is not as high as that in the case of two surgical tool robotic arms.

[0031] The surgical tool robotic arm 22 positions and orients the corresponding surgical tool 23 of the orthopedic surgical robot 1 according to commands issued by the surgical planning module and tracking device of the orthopedic surgical robot 1, so as to automatically complete at least two types of operation functions in orthopedic surgery, such as automatic drilling and automatic screw placement. The surgical operation functions can also be osteotomy, joint replacement, bone traction, debridement, insertion and removal of Kirschner wires or other surgical operation functions. For example, in order to achieve, for example, drilling and screw placement, the surgical tool robotic arm 22 first monitors and guides the operation of the surgical tool robotic arm 22 in real time through an OCT positioning and navigation system according to the trajectory obtained by preoperative planning, such as for drilling and / or screw placement, thereby ensuring precise control of the surgical tool robotic arm 22 to complete the drilling and / or screw placement work, especially in the non-limiting embodiments of this disclosure, ensuring precise control of screw placement by one of the surgical tool robotic arms 22 and drilling followed by screw placement by the other surgical tool robotic arm 22.

[0032] The control device is communicatively coupled to the robotic arm device 2 and the OCT imaging-based positioning and navigation device, and mainly includes a data analysis and processing module, a surgical planning module and a robotic arm control module. The control device can be implemented as a computer device with a computer-readable storage medium.

[0033] Figure 2 An OCT imaging-based positioning and navigation method for an orthopedic surgical robot 1 according to the present invention is shown, the positioning and navigation method comprising the following steps:

[0034] S1: The surgical area is scanned using OCT imaging probe 3 to acquire OCT images of the surgical area;

[0035] S2: Perform a first registration between the OCT image and the preoperative medical image to obtain preoperative planning information;

[0036] S3: Scan the surgical tool robotic arm 22 or surgical tool 23 using the OCT imaging probe 3 to obtain a fine registration matrix for registration between the imaging device robotic arm 21 and the surgical tool robotic arm 22;

[0037] S4: The surgical area is scanned in real time by the OCT imaging probe 3 to update the positional relationship between the surgical area and the robotic arm 21 of the imaging device;

[0038] S5: Real-time updates of the real-time coordinates of the surgical tool robotic arm 22 in the OCT coordinate system and the real-time pose of the surgical tool 23 in the OCT coordinate system are achieved using a precise registration matrix;

[0039] S6: Based on the real-time coordinates and the real-time pose, and in accordance with the registered surgical planning information, control the surgical tool robotic arm 22 and / or surgical tool 23 to perform surgical operations. Thus, the method of the present invention can achieve a high navigation accuracy of approximately 0.15 mm, while eliminating the need for medical imaging equipment to scan the patient during surgery, reducing the radiation dose received by the patient, and thus being more beneficial to the patient's health.

[0040] In step S2, the surgical planning information in the preoperative medical image can be converted into surgical planning information in the OCT coordinate system with the help of the first registration matrix. The first registration matrix can preferably be calculated based on the three-dimensional coordinate point cloud of the OCT image and the three-dimensional coordinate point cloud of the medical image. The preoperative medical image is acquired by a medical imaging device, and the attending physician in charge of the patient before the operation can establish surgical planning information on the three-dimensional model of the preoperative medical image.

[0041] Before step S3, a second registration matrix is ​​obtained between the imaging device robotic arm 21 and the surgical tool robotic arm 22 based on the positional relationship between them. The second registration matrix is ​​calculated from the coordinates of the imaging device robotic arm 21 in the robot coordinate system and the coordinates of the surgical tool robotic arm 22 in the robot coordinate system. Using this second registration matrix, the coordinates of the field of view of the OCT imaging probe 3 in the coordinate system of the imaging device robotic arm 21 are converted into coordinates in the coordinate system of the surgical tool robotic arm, so that the surgical tool robotic arm 22 can be moved to the field of view, which is located in an area near the area to be operated on that can be scanned by the OCT imaging device.

[0042] In step S3, the fine registration matrix is ​​obtained by scanning the first marker 5 that can be identified by the OCT imaging probe 3 set on the surgical tool robotic arm 22 or surgical tool 23.

[0043] In step S4, the second marker that can be identified by the OCT imaging probe 3 is set on the area to be operated on by scanning the area to be operated on, so as to obtain the real-time coordinates of the area to be operated on in the OCT coordinate system.

[0044] In step S5, the real-time coordinates of the surgical tool robotic arm 22 in its surgical tool robotic arm coordinate system are obtained through the surgical tool robotic arm system itself, and the real-time pose of the surgical tool 23 in the surgical tool robotic arm coordinate system is obtained based on the size and shape of the surgical tool 23. Then, the real-time coordinates and real-time pose are converted into the real-time coordinates of the surgical tool robotic arm 22 in the OCT coordinate system and the real-time pose of the surgical tool 23 in the OCT coordinate system by means of a fine registration matrix.

[0045] To reduce the degree of medical staff involvement in orthopedic robotic surgery and thus increase the automation level of the orthopedic robotic robot 1 used to implement the methods of this disclosure, particularly to enable the orthopedic robotic robot to automatically, without requiring medical staff to move the imaging device robotic arm 21 to the imaging position, an imaging device 4 with the same field of view as the OCT imaging probe 3 can also be provided. This device can preferably be implemented as a remote microscopic device, such as a camera, which can identify markings on the surgical film used to mark the surgical area, such as ArUco markings, in order to obtain the original position coordinates of the area to be operated on in the OCT imaging device coordinate system. Based on this, the orthopedic robotic robot automatically moves the imaging device robotic arm 21 to the imaging position directly above the area to be operated on.

[0046] Since the surgical area is tracked by the OCT imaging device, the pose relationship between the surgical tool 23 and the surgical area can be updated in real time. According to the positioning and navigation method of this disclosure, the registration only requires the surgical tool robotic arm / surgical tool coordinate system and the OCT imaging device robotic arm 21 coordinate system to be registered, thereby eliminating the need for registration from the medical imaging device coordinate system to the surgical tool robotic arm coordinate system during the operation. This makes the registration method simpler and reduces the radiation of the surgical object to the surgical object when using medical imaging devices during the operation.

[0047] While examples of this disclosure have been provided in the foregoing description, those skilled in the art can make modifications and alterations to these examples without departing from the scope and spirit of this disclosure. For example, it should be understood that features of the embodiments herein can be applied to other embodiments described herein. Therefore, the description is intended to be illustrative rather than limiting. The disclosure is defined by the appended claims, and all changes to the disclosure falling within the meaning and equivalents of the claims are to be included within their scope.

Claims

1. An orthopedic surgical robot, comprising: The device includes a robotic arm, an OCT-based positioning and navigation device, a medical imaging device, and a control device for controlling the movement of the robotic arm and the positioning and navigation device. The positioning and navigation device includes an OCT imaging device, and the robotic arm includes a surgical tool robotic arm for mounting surgical tools and an imaging device robotic arm for mounting the OCT imaging device. The OCT imaging device includes an OCT imaging probe, wherein the OCT imaging probe is configured to scan the area to be operated on in order to acquire an OCT image of the area to be operated on. The OCT imaging probe is also configured to scan the surgical area in real time to update the positional relationship between the surgical area and the robotic arm of the imaging device. The surgical tool is provided with a first mark, which is used for fine registration to obtain a fine registration matrix and is identified by the OCT imaging probe. The fine registration matrix is ​​used for registration between the imaging device robotic arm and the surgical tool robotic arm, and for real-time updating of the real-time coordinates of the surgical tool robotic arm in the OCT coordinate system and the real-time pose of the surgical tool in the OCT coordinate system. The medical imaging device is used to acquire preoperative medical images, wherein the three-dimensional model of the preoperative medical image records surgical planning information, and the surgical planning information of the preoperative medical image is configured to be converted into surgical planning information in the OCT coordinate system through a first registration matrix. The surgical tool robotic arm is configured to mechanically drive the surgical tool based on the real-time coordinates and the real-time pose and in accordance with the registered surgical planning information.

2. The orthopedic surgical robot as described in claim 1, wherein, The first registration matrix is ​​configured to be calculated based on the three-dimensional coordinate point cloud of the OCT image and the three-dimensional coordinate point cloud of the preoperative medical image.

3. The orthopedic surgical robot as described in claim 1, wherein, The positional relationship between the imaging device robotic arm and the surgical tool robotic arm is configured to obtain a second registration matrix between the imaging device robotic arm and the surgical tool robotic arm.

4. The orthopedic surgical robot as described in claim 3, wherein, The second registration matrix is ​​calculated from the coordinates of the imaging device robotic arm in the robot coordinate system and the coordinates of the surgical tool robotic arm in the robot coordinate system.

5. The orthopedic surgical robot as described in claim 3, wherein, The second registration matrix is ​​configured to convert the coordinates of the line-of-sight region of the OCT imaging probe in the imaging device robotic arm coordinate system into coordinates in the surgical tool robotic arm coordinate system.

6. The orthopedic surgical robot as described in claim 5, wherein, The field of vision is located in the area near the area to be operated on and can be scanned by the OCT imaging device.

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