A cutting path confirmation method and system for spinal surgical instruments

Abstract

The present invention relates to the field of medical technology, and in particular to a cutting path confirmation method and system for spinal surgical instruments. The scheme includes: acquiring CT image data of a patient, establishing a three-dimensional model of the spine; positioning the target spinal segment on the three-dimensional model of the spine; planning the cutting path according to the anatomical key points on the target spinal segment; aligning the cutting path with the patient's spine; and mapping the aligned cutting path into a posture matrix. Through the scheme of the present invention, for laminectomy decompression surgery, CT image data is displayed and processed, and image processing algorithms are used to achieve three-dimensional reconstruction of the spine, and key points on the spinal segments can be positioned. By selecting and confirming the position of each key point on the spinal segment in a visual interface, accurate preoperative surgical path planning is achieved through section planning, and real-time data collection during surgery can adjust the preoperatively planned surgical path.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a cutting path confirmation method and system for a spinal surgical instrument. Background Art

[0002] Spinal surgery robot technology has gone through many years of development. Since the SpineAssist robot was certified by the US FDA in 2004, a variety of innovative products have been born, showing excellent surgical positioning accuracy and clinical stability, indicating that robots have significant advantages and huge development potential in complex and difficult spine surgery. Further analysis found that the existing spinal robot products are mainly used for precise surgical positioning under image guidance, and there are no spinal robot products for precise surgical operations (such as laminectomy).

[0003] Although several spinal robot prototypes for laminectomy have appeared at home and abroad, in order to achieve true clinical application, the following three clinical problems must be solved: "risky" (high risk of spinal cord / nerve damage and high complications), "difficult" (complex lamina morphology and difficult to control the resection operation), and "blind" (insufficient perception means, limited information on the surgical area, and blind spots in the field of vision of related tissues).

[0004] In addition, existing spinal robots use channel planning for surgical path planning, which has low accuracy and cannot be adjusted in actual operation after planning, which is inconvenient. Summary of the invention

[0005] The purpose of the present invention is to solve at least one of the problems in the above-mentioned background technology and to provide a cutting path confirmation method and system for a spinal surgical instrument.

[0006] To achieve the above object, a cutting path confirmation method of a spinal surgical instrument of the present invention comprises:

[0007] Obtain the patient's CT imaging data and build a three-dimensional model of the spine;

[0008] Positioning a target spinal segment on the three-dimensional spinal model;

[0009] Planning a cutting path according to anatomical key points on the target spinal segment;

[0010] registering the cutting path with the patient's spine;

[0011] Mapping the registered cutting path into a posture matrix;

[0012] The posture matrix Calculated by the following formula:

[0013] ;

[0014] in, Represents the relative transformation matrix before and after the robot moves;

[0015] The posture matrix representing the tool tip position in the robot end coordinate system;

[0016] The posture transformation matrix representing the tool tip position and key point position;

[0017] The inverse matrix of the pose matrix representing the coordinates of the key points at the end of the robot arm.

[0018] Preferably, the steps of generating the anatomical key points are:

[0019] Segmenting the target spinal segment from each spinal segment in the three-dimensional spinal model by a 3D image segmentation algorithm;

[0020] The anatomical key points of the target spinal segment are located using a 3D spatial key point positioning algorithm.

[0021] Preferably, the posture matrix of the tool tip position in the robot end coordinate system is And the attitude transformation matrix of the tool tip position and key point position Calculated by the following formula:

[0022] ;

[0023] ;

[0024] ;

[0025] in, Represents the posture matrix of the end-of-arm marker in the end-of-arm coordinate system;

[0026] The pose matrix representing the position of the tool tip under the end mark of the robot arm;

[0027] express The inverse matrix of

[0028] Represents the inverse matrix of the pose matrix of the end marker of the robotic arm under the binocular camera;

[0029] Represents the pose matrix of the spine marker under the stereo camera;

[0030] The pose matrix representing the key points under the spine marker;

[0031] Represents the pose matrix of the calibration plate marker under the end marker of the robot arm;

[0032] Represents the inverse matrix of the pose matrix of the end marker of the robotic arm under the binocular camera;

[0033] Represents the pose matrix of the calibration plate marker under the stereo camera.

[0034] Preferably, the inverse matrix of the posture matrix of the key point coordinates at the end of the robotic arm is It can be calculated by the following formula:

[0035] ;

[0036] in, The inverse matrix of the posture matrix representing the coordinates of the key points in the end coordinate system of the robot;

[0037] The inverse matrix of the attitude matrix representing the tool tip position in the robot end coordinate system. Since the key point position is the landing point of the tool tip, the relative positions of the two and the robot end remain unchanged, so .

[0038] Preferably, when mapping the cutting path, the coordinates of the key points of the cutting path under the spine registration guide plate mark need to be Transform to the coordinates under the spine marker , the coordinates Calculated by the following formula:

[0039] ;

[0040] in, represents the pose matrix of the spine registration guide marker under the spine marker;

[0041] Take the coordinates The coordinate system is established by three non-collinear points. Taking point BCD as an example, take the vector is the X-axis, and the Z-axis is perpendicular to the BCD plane, then:

[0042] ;

[0043] So the Y axis is:

[0044] ;

[0045] Then the posture matrix of the key points under the spine marker is Calculated by the following formula:

[0046] ;

[0047] in, Represents the coordinates of point C under the spine registration guide mark, express The unit vector of express The unit vector of express The unit vector of .

[0048] Preferably, the posture matrix of the spine registration guide marker under the spine marker Calculated by the following formula:

[0049] ;

[0050] in, Represents the inverse matrix of the pose matrix of the spine marker under the stereo camera;

[0051] Represents the pose matrix of the spine registration guide marker under the stereo camera.

[0052] Preferably, the spine registration guide is used to register the cutting path with the patient's spine, and the steps of generating the spine registration guide are:

[0053] Adjusting the posture of the initial model of the spine registration guide so that it is in a suitable relative posture relationship with the three-dimensional spine model;

[0054] Performing Boolean operations on the three-dimensional spine model and the initial spine registration guide model to obtain a final spine registration guide model;

[0055] Combining the spine registration guide final model with the visual navigation assembly model to generate a spine registration guide model;

[0056] The spinal registration guide model is 3D printed to generate the spinal registration guide.

[0057] To achieve the above object, the present invention further provides a cutting path confirmation system for a spinal surgical instrument, comprising:

[0058] Human-computer interaction module: used to obtain the patient's CT image data and establish a three-dimensional model of the spine;

[0059] The first surgical path generation module is used to locate the target spinal stage on the three-dimensional spinal model;

[0060] A second surgical path generation module: used for planning a cutting path according to the anatomical key points on the target spine stage;

[0061] Guide plate registration module: used to align the cutting path with the patient's spine:

[0062] Control module: used to map the aligned cutting path into a posture matrix.

[0063] To achieve the above objectives, the present invention also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, a cutting path confirmation method for a spinal surgical instrument as described in any one of the above is implemented.

[0064] To achieve the above objectives, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a cutting path confirmation method for a spinal surgical instrument as described in any one of the above is implemented.

[0065] Based on this, the beneficial effects of the present invention are:

[0066] Through the solution of the present invention, CT image data is displayed and processed for laminectomy, and image processing algorithms are used to achieve three-dimensional reconstruction of the spine, and key points on the spinal segments can be located. By selecting and confirming the position of each key point on the spinal segment on a visual interface, accurate preoperative surgical path planning is achieved through section planning, and real-time data collection during the operation can adjust the preoperatively planned surgical path. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A flowchart schematically showing a method for confirming a cutting path of a spinal surgical instrument according to an embodiment of the present invention;

[0068] Figure 2 A schematic diagram showing a coordinate diagram of a spine marker according to an embodiment of the present invention;

[0069] Figure 3 A flowchart schematically shows a cutting path confirmation system of a spinal surgical instrument according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The content of the present application will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are only to enable those skilled in the art to better understand and thus implement the content of the present application, rather than implying any limitation on the scope of the present application.

[0071] As used herein, the term “including” and variations thereof are to be interpreted as open-ended terms meaning “including, but not limited to.” The term “based on” is to be interpreted as “based, at least in part, on.” The terms “one embodiment” and “an embodiment” are to be interpreted as “at least one embodiment.”

[0072] Figure 1 A flowchart schematically shows a method for cooperatively controlling a spinal ultrasonic surgical instrument according to an embodiment of the present invention, as shown in FIG. Figure 1 As shown, a cutting path confirmation method of a spinal surgical instrument of the present invention comprises:

[0073] S01: Obtain the patient's CT image data and establish a three-dimensional model of the spine;

[0074] S02: Positioning the target spinal segment on the three-dimensional spinal model;

[0075] S03: Plan the cutting path according to the anatomical key points on the target spinal segment;

[0076] S04: aligning the cutting path with the patient's spine;

[0077] S05: Map the registered cutting path into a posture matrix.

[0078] Furthermore, in step S01, after the doctor imports the patient's CT image data on the human-computer interaction interface, the image voxel diameter is scaled to (1×1×1) by the cubic spline interpolation method. On this basis, based on the grayscale histogram, the window width and window position that can significantly display the spinal structure are automatically calculated. After image scaling and window width and window position adjustment, the CT image views in the coronal plane, sagittal plane, and transverse plane can be displayed on the human-computer interaction interface.

[0079] Furthermore, in steps S02-S03, after importing the image, the software can accurately locate each spinal segment by calling the 3D target detection algorithm (3D Swin-YoloX) algorithm, and the operator selects the spinal segment that requires surgery, i.e., the target spinal segment. On this basis, the software can segment the target spinal segment from each spinal segment and locate the anatomical key points on the target spinal segment by calling the 3D image segmentation algorithm (3D Swin-UNet) and the 3D spatial key point positioning algorithm (3D SPU-Net). In addition, when an error occurs in the above algorithm, the operator can also make manual adjustments.

[0080] At this time, by accurately positioning the seven anatomical key points on the target spinal segment, the software can generate a personalized spatial coordinate system for the segment. On this basis, combined with the coordinates of the anatomical key points and the doctor's experience, the lamina cutting plane can be independently generated. Based on the automatically generated cutting plane, the operator can manually adjust the position and posture of each plane. When the cutting plane adjustment is completed, the operator can generate the surgical path and cutting path of the entire lamina, upper half laminectomy or lower half laminectomy according to needs.

[0081] Furthermore, in step S04: in order to realize the registration of the virtual space of the preoperative CT image and the real space during the operation, the software also integrates a personalized spine registration guide design module, which can perform Boolean operations on the spine registration guide model and the spine model, thereby generating a spine registration guide with a personalized characteristic surface that can fit closely with the spine surface. The specific generation steps are:

[0082] S401: adjusting the posture of the initial model of the spine registration guide so that it is in a suitable relative posture relationship with the three-dimensional spine model;

[0083] S402: performing Boolean operation on the three-dimensional spine model and the initial spine registration guide model to obtain a final spine registration guide model;

[0084] S403: combining the spine registration guide final model with the visual navigation assembly model to generate a spine registration guide model;

[0085] S404: 3D printing the spine registration guide model to generate the spine registration guide.

[0086] In this way, the posture of the spine registration guide marker in the spine marker coordinate system can be collected and registered with the patient's spine. The position of the patient's vertebrae can be monitored in real time through the spine marker to prevent the patient from breathing during surgery, irresistible movement, etc., which may cause positioning information errors and ensure the correct cutting path. The posture matrix can be used to represent it, that is:

[0087] ;

[0088] in, represents the posture matrix of the spine registration guide marker in the spine marker coordinate system;

[0089] The inverse matrix of the posture matrix of the spine marker in the binocular camera coordinate system can be collected in real time;

[0090] The pose matrix representing the spine registration guide markers in the binocular camera coordinate system can be acquired in real time.

[0091] Further, Figure 2 A schematic diagram showing a coordinate diagram of a spine marker according to an embodiment of the present invention is shown in FIG. Figure 2 As shown:

[0092] In step S05, the key points of the cutting path need to be mapped to the coordinates of the spine registration guide marker coordinate system. Transform the coordinates to the spine marker coordinate system , the coordinates Calculated by the following formula:

[0093] ;

[0094] Get coordinates The coordinate system is established by three non-collinear points, such as Figure 2 As shown, taking point BCD as an example, take the vector is the X-axis, and the Z-axis is perpendicular to the BCD plane, then:

[0095] ;

[0096] So the Y axis is:

[0097] ;

[0098] Then the posture matrix of the key points in the spine marker coordinate system is Calculated by the following formula:

[0099] ;

[0100] in, Represents the coordinates of point C in the spine registration guide marker coordinate system, express The unit vector of express The unit vector of express The unit vector of .

[0101] Furthermore, the posture matrix of the end marker of the robot arm in the binocular camera coordinate system is , then the posture matrix of the ultrasonic bone knife tip position in the binocular camera coordinate system is Calculated by the following formula:

[0102] ;

[0103] in, The posture matrix representing the tool tip position in the end-marker coordinate system of the robot arm;

[0104] Then the attitude transformation matrix of the tool tip position and key point position is It can be calculated by the following formula:

[0105] ;

[0106] in, The inverse matrix of the posture matrix representing the tool tip position in the end-of-arm marker coordinate system;

[0107] The inverse matrix of the posture matrix of the end marker of the manipulator in the binocular camera coordinate system can be collected in real time;

[0108] The pose matrix representing the spinal marker in the binocular camera coordinate system can be collected in real time;

[0109] The pose matrix representing the key points of the cutting path in the spine marker coordinate system.

[0110] At this time, the posture matrix of the robot end marker in the robot end coordinate system is Will Switch to the robot end coordinate system and assume that the relative transformation matrix before and after the robot end moves is ,but Calculated by the following formula:

[0111] ;

[0112] ;

[0113] ;

[0114] ;

[0115] in, Indicates the position of the tool tip in the robot end coordinate system;

[0116] The attitude transformation matrix representing the current tool tip position and key point position;

[0117] express The inverse matrix is ​​the coordinates of the key points in the robot end coordinate system. Since the relative position between the tool tip and the robot end remains unchanged, ;

[0118] The pose matrix representing the end-of-arm marker in the end-of-arm coordinate system can be obtained through hand-eye calibration;

[0119] Hand-eye calibration means keeping the camera position and the robot base position fixed, collecting multiple sets of robot end position relative to the base and the position of the robot end marker in the binocular camera coordinate system after the robot moves to multiple positions, and solving equations to obtain .

[0120] The posture matrix representing the tool tip position in the end-marker coordinate system of the robot arm;

[0121] Represents the posture matrix of the calibration plate marker in the end-marker coordinate system of the robot arm;

[0122] The inverse matrix of the posture matrix of the end marker of the manipulator in the binocular camera coordinate system can be collected in real time;

[0123] Represents the pose matrix of the calibration plate markers in the binocular camera coordinate system, which can be collected in real time.

[0124] Finally, after the cutting path is mapped in the form of a posture matrix through the above steps, the robot arm can recognize and move according to it to complete the cutting operation.

[0125] Through the solution of the present invention, CT image data is displayed and processed for laminectomy, and image processing algorithms are used to achieve three-dimensional reconstruction of the spine, and key points on the spinal segments can be located. By selecting and confirming the position of each key point on the spinal segment on a visual interface, accurate preoperative surgical path planning is achieved through section planning, and real-time data collection during the operation can adjust the preoperatively planned surgical path.

[0126] Further, Figure 3 A flowchart schematically shows a cutting path confirmation system of a spinal surgical instrument according to an embodiment of the present invention, as shown in FIG. Figure 3 As shown, a cutting path confirmation system of a spinal surgical instrument of the present invention comprises:

[0127] Human-computer interaction module 10: used to obtain CT image data of the patient and establish a three-dimensional model of the spine;

[0128] The first surgical path generation module 20 is used to locate the target spinal stage on the three-dimensional spinal model;

[0129] The second surgical path generation module 30 is used to plan the cutting path according to the anatomical key points on the target spine stage;

[0130] Guide plate registration module 40: used to align the cutting path with the patient's spine:

[0131] Control module 50: used to map the registered cutting path into a posture matrix.

[0132] Specifically, the modules are connected to each other through communication, so as to transmit and receive signals and perform corresponding control according to the signals to complete the operation.

[0133] Among them, the human-computer interaction module 10 can be set in the human-computer interaction trolley, on which a display screen is provided for human-computer interaction and image display. The first surgical path generation module 20, the second surgical path generation module 30, and the guide plate alignment module 40 can be set in the image recognition trolley, which can be used for data acquisition, spinal alignment, tool calibration and other operations. The control module 50 can be set in the robotic arm trolley, which can be used to control the robotic arm to perform related actions.

[0134] To achieve the above objectives, the present invention also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, a cutting path confirmation method for a spinal surgical instrument as described in any one of the above is implemented.

[0135] To achieve the above objectives, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a cutting path confirmation method for a spinal surgical instrument as described in any one of the above is implemented.

[0136] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0137] It should be understood that the size of the serial numbers of the steps in the invention content and embodiments of the present application does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A cutting path confirmation system for spinal surgical instruments, It is characterized in that include: Human-computer interaction module: used to obtain the patient's CT image data and establish a three-dimensional model of the spine; The first surgical path generation module is used to locate the target spinal segment on the three-dimensional spinal model; A second surgical path generation module: used for planning a cutting path according to anatomical key points on the target spinal segment; A guide plate registration module: used for registering the cutting path with the patient's spine; Control module: used to map the registered cutting path into a posture matrix; The posture matrix Calculated by the following formula: ； in, Represents the relative transformation matrix before and after the robot moves; The posture matrix representing the tool tip position in the robot end coordinate system; The posture transformation matrix representing the tool tip position and key point position; The inverse matrix of the posture matrix representing the coordinates of the key points in the end coordinate system of the robot; The steps for generating the anatomical key points are: Segmenting the target spinal segment from each spinal segment in the three-dimensional spinal model by a 3D image segmentation algorithm; Positioning anatomical key points of the target spinal segment using a 3D spatial key point positioning algorithm; The posture matrix of the tool tip position in the robot end coordinate system And the attitude transformation matrix of the tool tip position and key point position Calculated by the following formula: ； ； ； in, Represents the posture matrix of the end-of-arm marker in the end-of-arm coordinate system; The posture matrix representing the tool tip position in the end-marker coordinate system of the robot arm; express The inverse matrix of Represents the inverse matrix of the posture matrix of the end marker of the manipulator in the binocular camera coordinate system; Represents the posture matrix of the spine marker in the binocular camera coordinate system; The pose matrix representing the key points in the spine marker coordinate system; Represents the posture matrix of the calibration plate marker in the end-marker coordinate system of the robot arm; Represents the pose matrix of the calibration plate marker in the binocular camera coordinate system; The inverse matrix of the posture matrix of the key point coordinates in the end coordinate system of the manipulator It can be calculated by the following formula: ； in, The inverse matrix of the posture matrix representing the coordinates of the key points in the end coordinate system of the robot; The inverse matrix of the attitude matrix representing the tool tip position in the robot end coordinate system. Since the key point position is the landing point of the tool tip, the relative positions of the two and the robot end remain unchanged, so ; When mapping the cutting path, it is necessary to map the coordinates of the key points of the cutting path in the spine registration guide marker coordinate system. Transform the coordinates to the spine marker coordinate system , the coordinates Calculated by the following formula: ； in, represents the posture matrix of the spine registration guide marker in the spine marker coordinate system; Take the coordinates The coordinate system is established by three non-collinear points in the figure. Let the three points be BCD and take the vector is the X-axis, and the Z-axis is perpendicular to the BCD plane, then: ； So the Y axis is: ； Then the posture matrix of the key points in the spine marker coordinate system is Calculated by the following formula: ； in, Represents the coordinates of point C in the spine registration guide marker coordinate system, express The unit vector of express The unit vector of express The unit vector of The posture matrix of the spine registration guide marker in the spine marker coordinate system Calculated by the following formula: ； in, Represents the inverse matrix of the posture matrix of the spine marker in the binocular camera coordinate system; Represents the pose matrix of the spine registration guide marker in the binocular camera coordinate system; The spine registration guide is used to register the cutting path with the patient's spine. The steps of generating the spine registration guide are: Adjusting the posture of the initial model of the spine registration guide so that it is in a suitable relative posture relationship with the three-dimensional spine model; Performing Boolean operations on the three-dimensional spine model and the initial spine registration guide model to obtain a final spine registration guide model; Combining the spine registration guide final model with the visual navigation assembly model to generate a spine registration guide model; The spinal registration guide model is 3D printed to generate the spinal registration guide.

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