Device, method and surgical robot for planning spinal lamina cutting path

Abstract

The present invention discloses a device, method and surgical robot for planning a spinal lamina cutting path, and relates to the field of medical technology. The planning device includes: a determination module for determining the initial section of a target three-dimensional model of a target spinal lamina; an adjustment module for adjusting the initial section according to the cutting requirements of the target spinal lamina to obtain a target cutting surface; and a planning module for planning the cutting path of the target spinal lamina according to the target cutting surface. The planning device can realize automatic planning of the spinal lamina cutting path, making it easier for the subsequent surgical robot to autonomously and accurately cut the spinal lamina, thereby contributing to the smooth completion of the spinal lamina cutting surgery and reducing the surgical pressure on the doctor.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a device and method for planning a spinal lamina cutting path and a surgical robot. Background Art

[0002] With the development and innovation of medical device technology, auxiliary tools such as surgical robots have gradually been applied to surgical operations (such as navigation positioning of pedicle screws and bone joint cutting) to assist doctors in completing surgical operations.

[0003] However, currently, when decompressing the lamina is required for spinal conditions such as thoracolumbar spinal stenosis and lumbar disc herniation, the surgeon relies primarily on experience and feel to control the depth and force of the incision, making the procedure difficult. In particular, incisions of spinal lamina, such as the cervical and lumbar lamina, require the surgeon to make a large incision to reach the lamina. This involves stripping away the muscles and ligaments attached to the back-facing side of the lamina. Relying on the surgeon's experience and feel to control the incision can easily cause the lamina to move away from the soft tissue on the back side, posing a significant safety risk. Summary of the Invention

[0004] The present invention aims to at least partially address one of the technical problems in the related art. To this end, one object of the present invention is to provide a device, method, and surgical robot for planning a spinal lamina cutting path, thereby enabling automatic planning of the spinal lamina cutting path, facilitating subsequent autonomous and accurate cutting of the spinal lamina by the surgical robot, and facilitating the successful completion of the spinal lamina cutting surgery, thereby reducing the surgeon's surgical stress and improving surgical safety.

[0005] In order to solve the above technical problems, the first embodiment of the present invention proposes a device for planning the cutting path of the spinal lamina, including: a determination module for determining the initial section of the target three-dimensional model of the target spinal lamina; an adjustment module for adjusting the initial section according to the cutting requirements of the target spinal lamina to obtain the target cutting section; and a planning module for planning the cutting path of the target spinal lamina according to the target cutting section.

[0006] In addition, the spinal lamina cutting path planning device of the embodiment of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, the planning module includes: an extraction unit for extracting the lamina cutting contour of the target cutting surface; and a planning unit for planning the cutting path of the target spinal lamina according to the lamina cutting contour and the cutting direction corresponding to the target cutting surface.

[0008] According to one embodiment of the present invention, the determination module includes: an acquisition unit for acquiring a CT image of the target spinal lamina; a reconstruction unit for performing three-dimensional reconstruction on the CT image of the target spinal lamina to obtain a target three-dimensional model; and a determination unit for using three mutually perpendicular sections to be adjusted of the pre-created target three-dimensional model as the initial sections of the target spinal lamina.

[0009] According to one embodiment of the present invention, three pre-created mutually perpendicular sections to be adjusted are displayed in three display windows respectively. In the display window of any section to be adjusted, the other two sections to be adjusted are represented by cross lines, and the three cross lines share a center point; the adjustment module is specifically used to: move the center point according to the cutting requirements and rotate the cross lines around the corresponding center point to obtain a target section that makes any section to be adjusted consistent with the actual cutting section, and use the section to be adjusted in the target section as the target cutting section.

[0010] According to one embodiment of the present invention, three pre-created mutually perpendicular sections to be adjusted are displayed in three display windows respectively. In the display window of any section to be adjusted, the other two sections to be adjusted are represented by cross lines, and the three cross lines share a center point; the adjustment module is also specifically used to: within the section where the target cutting surface is located, rotate the cross lines so that one line is consistent with the extension direction of the open side contour line of the target vertebral lamina section or with a preset direction, the corresponding direction of the line is the first direction, and the direction from outside to inside corresponding to the other line is the second direction; the first direction and the second direction are used as the cutting direction.

[0011] According to an embodiment of the present invention, the adjustment module is further specifically used to: determine that the blade surface of the cutting tool coincides with the target cutting surface; and determine that the direction of the cutting end of the cutting tool along the length direction is consistent with the second direction.

[0012] According to an embodiment of the present invention, the extraction unit is specifically configured to: obtain a plurality of contour points input by a user for the spinal lamina on the target cutting plane; and generate the lamina cutting contour according to the plurality of contour points.

[0013] According to an embodiment of the present invention, the extraction unit is specifically configured to generate the lamina cutting contour according to the plurality of contour points using a B-spline function.

[0014] According to one embodiment of the present invention, the extraction unit is specifically used to: extract pixel points on the CT image corresponding to the target cutting surface whose grayscale values ​​are greater than a preset grayscale value threshold; and obtain the lamina cutting contour based on the extracted pixel points using a preset algorithm, wherein the preset algorithm includes at least one of a Gaussian filtering algorithm, a Canny edge detection algorithm, and a spline curve fitting algorithm.

[0015] According to one embodiment of the present invention, the planning unit is specifically configured to plan the cutting path within the target cutting surface contour according to the lamina cutting contour in one of the following ways:

[0016] Mode 1: a motion mode that reciprocates along the first direction and advances in the second direction; Mode 2: a motion mode that reciprocates along the second direction and advances in the first direction; Mode 3: a motion mode that advances in both the first direction and the second direction. To solve the above technical problems, the second aspect of the present invention provides a surgical robot comprising: a device for planning a spinal lamina cutting path as described in the above embodiments.

[0017] In order to solve the above technical problems, the third aspect of the present invention proposes a method for planning a spinal lamina cutting path, including: determining the initial section of the target three-dimensional model of the target spinal lamina; adjusting the initial section according to the cutting requirements of the target spinal lamina to obtain the target cutting section; and planning the cutting path of the target spinal lamina according to the target cutting section.

[0018] The apparatus, method, and surgical robot for planning a vertebral lamina cutting path according to embodiments of the present invention first determine an initial section plane of a target three-dimensional model of a target vertebral lamina when planning a vertebral lamina cutting path. The initial section plane is then adjusted based on the cutting requirements of the target vertebral lamina to obtain a target cutting plane. The cutting path for the target vertebral lamina is then planned based on the target cutting plane. This enables automated planning of the vertebral lamina cutting path, facilitating subsequent autonomous and accurate lamina cutting by the surgical robot, thereby facilitating the successful completion of the vertebral lamina cutting procedure and reducing the surgeon's burden. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural block diagram of a device for planning a spinal lamina cutting path according to an embodiment of the present invention;

[0020] Figure 2 is a top view of an example cervical vertebra;

[0021] Figure 3 is a schematic diagram of a target three-dimensional model of the cervical spine according to an example of the present invention;

[0022] Figure 4(a) is Figure 3 a schematic diagram of a coronal plane of the three-dimensional model of the target shown;

[0023] Figure 4(b) is Figure 3 a schematic diagram of a cross section of the target three-dimensional model;

[0024] Figure 4(c) is Figure 3a schematic diagram of a sagittal plane of the three-dimensional model of the target shown;

[0025] Figure 5 1 is a structural block diagram of a spinal lamina cutting device according to an embodiment of the present invention;

[0026] Figure 6 is a structural block diagram of a surgical robot according to an embodiment of the present invention;

[0027] Figure 7 is a flow chart of a method for planning a spinal lamina cutting path according to an embodiment of the present invention;

[0028] Figure 8 It is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0030] The following describes a spinal lamina cutting path planning device, method, and surgical robot according to embodiments of the present invention with reference to the accompanying drawings.

[0031] Figure 1 It is a structural block diagram of a spinal lamina cutting path planning device according to an embodiment of the present invention.

[0032] like Figure 1 As shown, the apparatus 100 for planning a spinal lamina cutting path includes a determination module 110 , an adjustment module 120 and a planning module 130 .

[0033] Among them, the determination module 110 is used to determine the target three-dimensional model initial section of the target vertebral lamina; the adjustment module 120 is used to adjust the initial section according to the cutting requirements of the target vertebral lamina to obtain the target cutting section; and the planning module 130 is used to plan the cutting path of the target vertebral lamina according to the target cutting section.

[0034] Specifically, if Figure 2 As shown, the cervical vertebra 200 includes a cervical vertebral lamina 210, a lateral mass 220, a spinous process 230, and a spinal canal 240. If, during cervical spinal surgery, the cervical vertebral lamina 210 of the cervical vertebra 200 needs to be cut, the cervical vertebral lamina 210 is used as the target vertebral lamina, and the initial cutting plane of the target vertebral lamina is determined by the determination module 110. The initial cutting plane is then adjusted by the adjustment module 120 according to the cutting requirements of the target vertebral lamina to obtain the target cutting plane. Thereafter, the cutting path of the target vertebral lamina is planned according to the target cutting plane by the planning module 130.

[0035] Therefore, the planning device can realize the automatic planning of the spinal lamina cutting path, making it easier for the subsequent surgical robot to autonomously and accurately cut the spinal lamina, thereby contributing to the smooth completion of the spinal lamina cutting surgery and reducing the surgical pressure on the doctor.

[0036] In some embodiments of the present invention, Figure 2 As shown, the determination module 110 includes: an acquisition unit 111 , a reconstruction unit 112 and a determination unit 113 .

[0037] Among them, the acquisition unit 111 is used to obtain a CT image of the target spinal lamina; the reconstruction unit 112 is used to perform three-dimensional reconstruction based on the CT image of the target spinal lamina to obtain a target three-dimensional model; the determination unit 113 is used to use three mutually perpendicular sections to be adjusted (which can be a transverse section, a coronal section, and a sagittal section) of the pre-created target three-dimensional model as the initial sections of the target spinal lamina.

[0038] Specifically, before performing surgery on a patient, a CT (Computed Tomography) image of the patient's cervical vertebral lamina to be cut (i.e., the target vertebral lamina) can be photographed, so that the acquisition module 111 can obtain the CT image of the target vertebral lamina. Then, the reconstruction unit 112 can use the volume rendering method to perform three-dimensional reconstruction on the CT image of the target vertebral lamina to obtain a target three-dimensional model, such as Figure 3 As shown ( Figure 3 A portion of the cervical vertebrae of a patient's cervical spine is shown, and the target vertebral lamina is the vertebral lamina of one of the cervical vertebrae, as shown by the arrow in the figure.

[0039] After obtaining the target 3D model, the determination unit 113 can create three mutually perpendicular sections to be adjusted (such as the transverse, coronal and sagittal sections, i.e., the transverse, coronal and sagittal sections) of the target 3D model: and can use VTK (visualization toolkit) or other related libraries to visualize the transverse, coronal and sagittal sections of the target 3D model, as shown in Figures 4(a), 4(b) and 4(c). Figure 3 FIG4( b ) shows a coronal plane of the middle cervical vertebra, FIG4( b ) shows a partial axial plane (ie, a transverse plane) of the cervical vertebra including the target vertebral lamina, and FIG4( c ) shows a sagittal plane of the target vertebral lamina.

[0040] Before cutting the vertebral plate, the soft tissue needs to be cut to expose the vertebral plate. The exposed outer side facing the back is the open side, and the side opposite to it is the inner side. CT can be taken before or after cutting the soft tissue. In some embodiments of the present invention, three mutually perpendicular sections to be adjusted are respectively displayed in three display windows. In the display window of any section to be adjusted, the other two sections to be adjusted are represented by crosshairs, and the three crosshairs share a center point; the adjustment module 120 is specifically used to: move the center point according to the cutting requirements and rotate the crosshairs with the corresponding center point as the center, so as to obtain a target section that makes any section to be adjusted consistent with the actual cutting surface, and use the section to be adjusted in the target section as the target cutting surface.

[0041] Specifically, when the re-determination unit 113 creates the transverse coronal and sagittal sections of the target three-dimensional model, it can create a cross line in each section image, wherein the two lines of the cross line of a certain section represent the positions of the other two sections on the section, and the center position of the cross line represents the intersection position of the three sections, and the positions of the three sections always remain vertical.

[0042] Afterwards, the adjustment module 120 can move the center point and rotate the crosshairs around the corresponding center point according to the cutting requirements (such as the position of the target spinal lamina that can achieve decompression and facilitate the operation of the surgical robot). Optionally, the adjustment operation of the adjustment module 120 can be performed by the doctor based on his experience on a visual display interface (such as a computer or other electronic device with a display screen). Figure 3 、 Figure 4(a)-Figure 4(c) can be displayed on the display screen) and can include selecting the cervical vertebra containing the target spinal lamina, such as selecting the 7th cervical vertebra C07L (such as Figure 3 ), and adjust the center point and rotate the crosshairs around the center point to obtain a target section that makes any section to be adjusted (such as the sagittal plane) consistent with the actual cutting plane.

[0043] When adjusting, you can combine Figure 4(a)-Figure 4(c) The structure shown in Figure 4(c) can be adjusted. The center of the crosshairs in Figure 4(c) can be moved to the position of the target vertebral lamina, and then the crosshairs can be rotated to obtain the transverse section (as shown in Figure 4(b)) and sagittal section (as shown in Figure 4(c)) images corresponding to the target vertebral lamina. The sagittal section of the target vertebral lamina is the cutting surface of the target vertebral lamina, that is, the target cutting surface.

[0044] It should be noted that in the process of adjusting the transverse coronal sagittal section to obtain the lamina section, the three sections are named according to their orientation relative to the human body, rather than locking the section name unchanged. The three planes are always called transverse coronal sagittal sections, but the corresponding relationship will change as the adjustment is made. Their names are determined based on the transverse coronal sagittal section closest to the initial one. For example, when the initial transverse section is adjusted to a position close to the initial coronal plane during the adjustment process, the former becomes the coronal plane, and the latter may become the transverse plane or the sagittal plane. In some embodiments of the present invention, the adjustment module 120 is further specifically used to: on the target cutting plane, move the center point to the central area of ​​the target spinal lamina section, and rotate the crosshairs so that one line is consistent with the length direction of the target spinal lamina section and the other line is consistent with the width direction of the target spinal lamina section; and determine the cutting direction according to the direction of the two lines of the crosshairs.

[0045] In some embodiments of the present invention, the adjustment module 120 is further configured to: within the plane of the target cutting surface, rotate the crosshairs so that one line aligns with the extension direction of the open side contour line of the target vertebral lamina cross section or a preset direction, with the direction corresponding to the line being a first direction and the direction from outside to inside corresponding to the other line being a second direction; and use the first and second directions as cutting directions. The preset direction is a planned cutting direction by the doctor, which is related to the planned incision position of the soft tissue and is also substantially the same as the extension direction of the open side contour line, and can be predetermined by the operator.

[0046] The extension direction of the open side contour line of the target spinal lamina section can be a direction predetermined by the operator, or it can be automatically identified, such as first identifying the open side contour line segment of the target spinal lamina section, and then determining the direction along the line connecting the two end points of the curve segment, or along the line connecting two points close to the two end points.

[0047] The extending direction of the open side contour line of the target vertebral lamina cross section, ie, the first direction, in the above embodiment can be determined by the following methods for determining the first direction in the embodiments.

[0048] Taking the sagittal plane as the target cutting plane as an example, the center of the crosshairs of the sagittal plane image can be moved to the central area of ​​the target spinal lamina, or the visible area, or the area close to the contour line. The cutting angle can be adjusted by adjusting the lines in the crosshairs representing the transverse or coronal planes. Specifically, one line of the crosshairs is aligned with the length direction of the target spinal lamina cross section, which can be used as the first direction, and the other line of the crosshairs is aligned with the width direction of the target spinal lamina cross section, which can be used as the second direction. The first and second directions are used as the cutting direction. At this time, the direction of either or both of the two lines of the crosshairs can be used as the cutting direction, which facilitates the subsequent determination of the blade surface and length direction of the cutting tool.

[0049] In some embodiments of the present invention, the minimum circumscribed rectangle can be determined based on the target spinal lamina cross section or the outline of the cross section, so that the length direction and width direction of the target spinal lamina cross section can be determined, and the direction extending along the long side of the minimum circumscribed rectangle is the length direction, and the direction extending along the short side of the minimum circumscribed rectangle is the width direction. Based on this, the user can drag the crosshairs to move the center point to the center area of ​​the target spinal lamina cross section, and rotate the crosshairs so that one line is consistent with the length direction of the target spinal lamina cross section, and the other line is consistent with the width direction of the target spinal lamina cross section. The planning device can also identify the position of the center point and the crosshairs, and identify the center area of ​​the minimum circumscribed rectangle, automatically move the center point to the center area of ​​the target spinal lamina cross section, and rotate the crosshairs so that one line is consistent with the length direction of the target spinal lamina cross section.

[0050] The central area of ​​the target vertebral lamina section may be the central area in the length direction and / or the central area in the width direction. This arrangement facilitates observation of the consistency between the cross line and the target vertebral lamina section in the length direction or the width direction.

[0051] In some embodiments of the present invention, the length direction and width direction of the target spinal lamina cross section can be determined by determining the minimum circumscribed rectangle based on the target spinal lamina cross section or the outline of the cross section. The direction extending along the long side of the minimum circumscribed rectangle is the length direction, i.e., the first direction. The direction extending along the short side of the minimum circumscribed rectangle is the width direction, i.e., the second direction. The first direction and the second direction are the cutting direction.

[0052] In some examples, the adjustment module 120 is further specifically used to: determine whether the blade surface of the cutting tool coincides with the target cutting surface; and determine whether the direction of the cutting end of the cutting tool along the length direction is consistent with the second direction, so as to facilitate subsequent planning of the cutting path of the cutting tool.

[0053] In some embodiments of the present invention, the planning module 130 includes: an extraction unit 131 and a planning unit 132 .

[0054] The extraction unit 131 is used to extract the lamina cutting contour of the target cutting surface; the planning unit 132 is used to plan the cutting path of the target spinal lamina according to the lamina cutting contour and the cutting direction corresponding to the target cutting surface.

[0055] In some embodiments of the present invention, the extraction unit 131 is specifically configured to: obtain a plurality of contour points input by a user for a spinal lamina on a target cutting plane; and generate a lamina cutting contour according to the plurality of contour points.

[0056] The extraction unit 131 may generate a lamina cutting contour according to a plurality of contour points using a B-spline function.

[0057] In other embodiments of the present invention, the extraction unit 131 is specifically used to: extract pixel points on the CT image corresponding to the target cutting surface whose grayscale values ​​are greater than a preset grayscale value threshold; use a preset algorithm to obtain the lamina cutting contour based on the extracted pixel points, wherein the preset algorithm includes at least one of a Gaussian filtering algorithm, a Canny edge detection algorithm, and a spline curve fitting algorithm.

[0058] As shown in FIG4( c ), the sagittal plane contains not only the cut surface image of the target spinal lamina but also the plane images of other tissues. Therefore, the plane contour of the target spinal lamina needs to be extracted in the sagittal plane.

[0059] In some examples, manual extraction can be used. For example, a user can use a mouse to sequentially click along the contour of the target vertebral lamina plane. The number of clicks depends on the size of the contour (which may be positively correlated with the contour size). Using the B-spline function and the click positions, a curve is generated, as shown in Figure 4(c). If the generated curve does not fit the contour of the target vertebral lamina section at a certain point, the position of the mouse click on the contour can be adjusted to achieve a better fit.

[0060] In other examples, automatic extraction can be employed. For example, image processing methods can be used to determine the bony structure of the target vertebral lamina. Its outline is primarily composed of cortical bone, while its interior is primarily composed of cancellous bone. These two components have different grayscale values ​​in CT images, with the cortical bone having a larger grayscale value than the cancellous bone. Based on this characteristic, combined with preset algorithms such as Gaussian filtering, Canny edge detection operators, and spline curve fitting, automatic extraction of the lamina's outer edge contour information can be achieved.

[0061] In some embodiments of the present invention, the planning unit 132 is specifically configured to plan a cutting path within the target cutting plane according to the lamina cutting contour in one of the following ways:

[0062] Mode 1: reciprocating in the first direction and progressive in the second direction.

[0063] Mode 2: reciprocating in the second direction and progressive in the first direction.

[0064] Mode 3: a movement mode that progresses in both the first direction and the second direction.

[0065] Specifically, the execution component installed at the end of the surgical robot's mechanical arm, such as an ultrasonic bone knife, a high-speed drill, etc., can be used to plan the cutting path (i.e., the movement path of the mechanical arm), and determine the cutting path with a limited cutting direction, wherein the cutting direction is determined according to the first direction and the second direction. Taking the ultrasonic bone knife as an example, according to the planned plane and direction, the mechanical arm controls the ultrasonic bone knife to keep the blade surface consistent with the planned cutting plane during the execution of the entire path, and the length direction of the ultrasonic bone knife keeps consistent with the planned second direction. For ease of description, after obtaining the lamina cutting contour of the target vertebral lamina, the first direction is the horizontal direction and the second direction is the longitudinal direction, as shown in Figure 4(c).

[0066] After setting the blade direction and tool orientation of the ultrasonic osteotome according to the target, plan the motion path of the robotic arm. You can use any of the following three methods to plan the motion path:

[0067] The first is a horizontal reciprocating and vertical progressive movement mode. Under this path planning, the longitudinal depth is kept unchanged during each horizontal movement of the robotic arm. The starting point of the horizontal movement is the leftmost or rightmost endpoint of the lamina cutting contour at the longitudinal depth, and the corresponding rightmost or leftmost endpoint is the end point of the horizontal movement. When the robotic arm completes a horizontal movement, the robotic arm will go deeper into the longitudinal depth direction for a first preset distance, such as 0.3mm to 1mm, and then continue the next horizontal movement. The entire movement process of the robotic arm gradually descends from the highest point in the longitudinal direction, and performs a horizontal movement at each longitudinal depth. It should be noted that in order to ensure the safety of the operation, the movement speed of the robotic arm should not be too fast when executing the movement path. The specific value can be adjusted according to actual conditions.

[0068] The second type is a longitudinal reciprocating and transverse progressive movement mode. In contrast to the first path planning, the robotic arm performs multiple longitudinal movements, and during each longitudinal movement, the transverse position remains unchanged. The starting point of each longitudinal movement is the highest vertex or the lowest vertex of the lamina cutting contour in the transverse direction, and the corresponding lowest vertex or the highest vertex is the end point of the longitudinal movement. After the robotic arm completes a longitudinal movement, the robotic arm will advance along the transverse direction for a second preset distance, such as 0.3mm to 1mm, and then continue with the next longitudinal movement. During the entire movement process, the robotic arm progresses from the leftmost transverse end to the rightmost transverse end, and a longitudinal movement will be performed every time it progresses a certain distance. Similarly, to ensure the safety of the operation, the movement speed of the robotic arm should not be too fast when executing the movement path. The specific value can be adjusted according to actual conditions.

[0069] The third type is a path of movement that is both horizontal and vertical and moves forward without stopping. Under this path, the robot arm's movement path does not need to perform reciprocating horizontal or vertical movement. The starting point of the robot arm's movement is the leftmost or rightmost horizontal end of the planned contour, and the other corresponding horizontal end point is the end point of the robot arm's movement. At each horizontal position, the lamina cutting contour has a corresponding longitudinal lowest point. When the robot arm starts to move, while it continues to move forward in the horizontal direction, the longitudinal position is also constantly changing, and the changing longitudinal position is the longitudinal lowest point corresponding to the lamina cutting contour at that horizontal position. It should be noted that, compared with the first and second movement paths mentioned above, when the robot arm executes the third movement path, the movement speed of the robot arm should be slowed down as much as possible to ensure the stability of the robot arm's movement; compared with the third movement path, the first and second movement paths are easier to implement.

[0070] The vertebral lamina cutting path planning device of an embodiment of the present invention first determines the initial cutting plane of the target vertebral lamina when performing vertebral lamina cutting path planning. Then, the initial cutting plane is adjusted according to the cutting requirements of the target vertebral lamina to obtain the target cutting plane. Then, the cutting path of the target vertebral lamina is planned based on the lamina cutting contour and cutting direction corresponding to the target cutting plane. This enables automatic planning of the vertebral lamina cutting path, facilitates the subsequent autonomous and accurate cutting of the vertebral lamina by the surgical robot, and further contributes to the smooth completion of the vertebral lamina cutting surgery, reducing the surgical pressure on the surgeon.

[0071] Figure 5 It is a structural block diagram of a spinal lamina cutting device according to an embodiment of the present invention.

[0072] like Figure 5 As shown, the spinal lamina cutting device 500 includes a robotic arm 510 and a controller 520 .

[0073] The robot arm 510 is equipped with a cutting tool. The controller 520 is connected to the robot arm 510 and is used to control the robot arm to drive the cutting tool to cut the target spinal lamina according to the target cutting path, wherein the target cutting path is obtained according to the spinal lamina cutting path planning device of the above embodiment.

[0074] In some embodiments of the present invention, the cutting tool includes an ultrasonic osteotome, and the target cutting path is obtained according to the lamina cutting contour of the target cutting surface and the cutting direction corresponding to the target cutting surface.

[0075] In this embodiment, during the process of the ultrasonic bone knife cutting the target vertebral lamina, the blade surface of the ultrasonic bone knife is consistent with the plane where the target cutting surface is located, and the cutting direction of the ultrasonic bone knife is consistent with the cutting direction corresponding to the target cutting surface.

[0076] The spinal lamina cutting device of the embodiment of the present invention controls the robotic arm to drive the cutting tool to cut the target spinal lamina according to the target cutting path obtained by the planning device of the above embodiment through the controller, and can realize autonomous and accurate cutting of the spinal lamina, thereby facilitating the smooth completion of the spinal lamina cutting surgery and reducing the surgical pressure on the doctor.

[0077] Figure 6 4 is a structural block diagram of a surgical robot according to an embodiment of the present invention.

[0078] like Figure 6 As shown, the surgical robot 600 includes: the spinal lamina cutting device 500 of the above embodiment.

[0079] The surgical robot of the embodiment of the present invention can realize the accurate cutting of the spinal lamina autonomously through the spinal lamina cutting device of the above embodiment, thereby facilitating the smooth completion of the spinal lamina cutting surgery and reducing the surgical pressure on the doctor.

[0080] Figure 7 4 is a flow chart of a method for planning a spinal lamina cutting path according to an embodiment of the present invention.

[0081] like Figure 7 As shown in FIG, the planning method of the spinal laminectomy path includes:

[0082] S71, determining an initial section plane of a target three-dimensional model of a target vertebral lamina.

[0083] In some embodiments of the present invention, determining the initial section of the target three-dimensional model of the target vertebral lamina includes: obtaining a CT image of the target vertebral lamina; performing three-dimensional reconstruction on the CT image of the target vertebral lamina to obtain a target three-dimensional model; and using three mutually perpendicular sections to be adjusted of the pre-created target three-dimensional model as the initial section of the target vertebral lamina.

[0084] S72, adjusting the initial cutting plane according to the cutting requirements of the target vertebral lamina to obtain the target cutting plane.

[0085] In some embodiments of the present invention, three mutually perpendicular sections to be adjusted are displayed in three display windows respectively. In the display window of any section to be adjusted, the other two sections to be adjusted are represented by cross lines, and the three cross lines share a center point; the initial section is adjusted according to the cutting requirements of the target vertebral lamina to obtain the target section, including: moving the center point according to the cutting requirements and rotating the cross lines around the corresponding center point to obtain a target section that makes any section to be adjusted consistent with the actual cutting section, and the section to be adjusted in the target section is used as the target cutting section.

[0086] S73, planning a cutting path of the target spinal lamina according to the target cutting plane.

[0087] In some embodiments of the present invention, the crosshairs are rotated within the section where the target cutting surface is located so that one line is consistent with the extension direction of the open side contour line of the target vertebral lamina section or with a preset direction. The direction corresponding to the line is the first direction, and the direction from outside to inside corresponding to the other line is the second direction; the first direction and the second direction are used as cutting directions.

[0088] In some embodiments of the present invention, it is further determined that the blade surface of the cutting tool coincides with the target cutting surface; and it is determined that the length direction of the cutting tool is consistent with the width direction of the target spinal lamina cross section.

[0089] In some embodiments of the present invention, planning a cutting path of a target spinal lamina according to a target section includes: extracting a lamina cutting contour of the target cutting surface; and planning a cutting path of the target spinal lamina according to the lamina cutting contour and a cutting direction corresponding to the target cutting surface.

[0090] Specifically, in some examples, extracting the lamina cutting contour of the target cutting surface includes: acquiring a plurality of contour points input by a user for the spinal lamina on the target cutting surface; and generating the lamina cutting contour according to the plurality of contour points.

[0091] The B-spline function can be used to generate the lamina cutting contour according to multiple contour points.

[0092] In other examples, extracting the lamina cutting contour of the target cutting surface includes: extracting pixel points on the CT image corresponding to the target cutting surface whose grayscale values ​​are greater than a preset grayscale value threshold; using a preset algorithm to obtain the lamina cutting contour based on the extracted pixel points, wherein the preset algorithm includes at least one of a Gaussian filtering algorithm, a Canny edge detection algorithm, and a spline curve fitting algorithm.

[0093] In some embodiments of the present invention, planning a cutting path of a target spinal lamina according to the lamina cutting contour and the cutting direction corresponding to the target cutting surface includes: planning a cutting path within the target cutting surface contour according to the lamina cutting contour in one of the following ways:

[0094] Mode 1: reciprocating in the first direction and progressive in the second direction.

[0095] Mode 2: reciprocating in the second direction and progressive in the first direction.

[0096] Mode 3: a movement mode that progresses in both the first direction and the second direction.

[0097] It should be noted that, for other specific implementations of the method for planning a spinal lamina cutting path according to an embodiment of the present invention, reference may be made to the specific implementations of the device for planning a spinal lamina cutting path according to the above-mentioned embodiment of the present invention.

[0098] The vertebral lamina cutting path planning method of an embodiment of the present invention first determines the initial cutting plane of the target vertebral lamina. Then, the initial cutting plane is adjusted according to the cutting requirements of the target vertebral lamina to obtain the target cutting plane. Then, the cutting path of the target vertebral lamina is planned based on the lamina cutting contour and cutting direction corresponding to the target cutting plane. This enables automatic planning of the vertebral lamina cutting path, facilitates the subsequent autonomous and accurate cutting of the vertebral lamina by the surgical robot, and further contributes to the smooth completion of the vertebral lamina cutting surgery, reducing the surgical pressure on the surgeon.

[0099] Figure 8 It is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0100] like Figure 8 As shown, electronic device 800 includes: a processor 801 and a memory 803. Processor 801 and memory 803 are connected, for example, via a bus 802. Optionally, electronic device 800 may further include a transceiver 804. It should be noted that in actual applications, the number of transceivers 804 is not limited to one, and the structure of electronic device 800 does not constitute a limitation on the embodiments of the present invention.

[0101] The processor 801 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor 801 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0102] The bus 802 may include a path for transmitting information between the above components. The bus 802 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 802 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0103] The memory 803 is used to store a computer program corresponding to the spinal lamina cutting path planning method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 801. The processor 801 is used to execute the computer program stored in the memory 803 to implement the content of the above method embodiment.

[0104] The electronic device 800 includes, but is not limited to, mobile terminals such as laptop computers, PDAs (personal digital assistants), and PADs (tablet computers), and fixed terminals such as digital TVs and desktop computers. Figure 8 The electronic device 800 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0105] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0106] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0107] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0108] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0110] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0111] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0112] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A device for planning a spinal lamina cutting path, characterized in that: include: A determination module is configured to determine an initial section of a target three-dimensional model of a target spinal lamina. The determination module includes: a determination unit configured to use three mutually perpendicular sections to be adjusted of the pre-created target three-dimensional model as the initial section of the target spinal lamina: An adjustment module, configured to adjust the initial cutting plane according to the cutting requirements of the target spinal lamina to obtain a target cutting plane; a planning module for planning a cutting path of the target spinal lamina according to the target cutting plane; the planning module comprising: an extraction unit for extracting a lamina cutting contour of the target cutting plane; a planning unit for planning a cutting path of the target spinal lamina according to the lamina cutting contour and a cutting direction corresponding to the target cutting plane; The three pre-created mutually perpendicular sections to be adjusted are displayed in three display windows respectively. In the display window of any section to be adjusted, the other two sections to be adjusted are represented by crosshairs, and the three crosshairs share a common center point. The adjustment module is specifically used for: In the section where the target cutting surface is located, the crosshairs are rotated so that one line is consistent with the extension direction of the open side contour line of the target vertebral lamina section or with a preset direction. The direction corresponding to the line is the first direction, and the direction from outside to inside corresponding to the other line is the second direction; the first direction and the second direction are used as the cutting directions.

2. The device for planning a spinal lamina cutting path according to claim 1, characterized in that: The determining module further includes: an acquisition unit, configured to acquire a CT image of the target spinal lamina; The reconstruction unit is used to perform three-dimensional reconstruction on the CT image of the target spinal lamina to obtain the target three-dimensional model.

3. The device for planning a spinal lamina cutting path according to claim 1, characterized in that: The adjustment module is further specifically configured to: The center point is moved according to the cutting requirement and the crosshairs are rotated around the corresponding center point to obtain a target section that makes any section to be adjusted consistent with the actual section, and the section to be adjusted in the target section is used as the target cutting section.

4. The device for planning a spinal lamina cutting path according to claim 1, characterized in that: The adjustment module is further specifically configured to: Determining that the blade surface of the cutting tool coincides with the target cutting surface; The cutting end of the cutting tool is determined to be directed in the longitudinal direction in accordance with the second direction.

5. The device for planning a spinal lamina cutting path according to claim 1, characterized in that: The extraction unit is specifically used for: Acquiring a plurality of contour points input by a user for a spinal lamina on the target cutting plane; The lamina cutting contour is generated according to the plurality of contour points.

6. The device for planning a spinal lamina cutting path according to claim 5, characterized in that: The extraction unit is specifically used for: The lamina cutting contour is generated according to the plurality of contour points using a B-spline function.

7. The device for planning a spinal lamina cutting path according to claim 4, characterized in that: The extraction unit is specifically used for: Extracting pixel points on the CT image corresponding to the target cutting surface whose grayscale values ​​are greater than a preset grayscale value threshold; The lamina cutting contour is obtained according to the extracted pixel points using a preset algorithm, wherein the preset algorithm includes at least one of a Gaussian filtering algorithm, a Canny edge detection algorithm, and a spline curve fitting algorithm.

8. The device for planning a spinal lamina cutting path according to claim 1, characterized in that: The planning unit is specifically used for: The cutting path within the target cutting surface contour is planned according to the lamina cutting contour in one of the following ways: Mode 1: reciprocating along the first direction and progressively along the second direction. Mode 2: reciprocating along the second direction and progressive along the first direction, Mode three: a progressive movement along both the first direction and the second direction.

9. A surgical robot, characterized in that: include: A robotic arm equipped with a cutting tool; A controller is connected to the robotic arm and is used to control the robotic arm to drive the cutting tool to cut the target spinal lamina according to a target cutting path, wherein the target cutting path is obtained according to the spinal lamina cutting path planning device according to any one of claims 1-8.

10. A method for planning a spinal lamina cutting path, characterized in that: The device for planning a vertebral lamina cutting path according to any one of claims 1 to 8, wherein the method comprises: Determine the initial section of the target 3D model of the target vertebral lamina: Adjusting the initial cutting plane according to the cutting requirements of the target spinal lamina to obtain a target cutting plane; A cutting path of the target spinal lamina is planned according to the target cutting plane.

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