An X-ray image-based surgical space locator and surgical path planning method

Abstract

The present invention relates to the technical field of surgical navigation, and particularly to a surgical space locator and a surgical path planning method based on X-ray images, including: a first imaging component and a second imaging component; the second imaging component is arranged at both ends of the first imaging component, and the second imaging component is rotationally connected to the first imaging component so that the two second imaging components approach or move away from each other; the first imaging component includes a first feature plate, and the second imaging component includes a second feature plate. When the two second imaging components move away from each other to the maximum position, the first feature plate and the second feature plate are perpendicular to each other; a first feature is arranged on the first feature plate, and a second feature is arranged on the second feature plate. The first feature and the second feature can be imaged, and the first feature and the second feature are used to locate the three-dimensional surgical space. In this way, the device saves the cumbersome process of the movement of the robot end when taking anteroposterior and lateral X-ray images and reduces the surgical positioning time.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation, and in particular, to a surgical space locator and a surgical path planning method based on X-ray images. Background Art

[0002] With the development of medical technologies such as CT, MRI, and C-arm, the application of fluoroscopic images in orthopedic surgeries has become increasingly widespread. Combining technologies such as robots and computers, surgical navigation based on fluoroscopic images has become one of the key technologies in robot-assisted surgeries. CT image navigation is divided into two methods: preoperative CT and intraoperative CT navigation. Preoperative CT navigation requires registering the surgical area with the CT image during the operation. However, due to the different positions of the patient before and during the operation, it is difficult to ensure the registration accuracy. Intraoperative CT navigation can avoid this problem, but the O-arm is expensive, and the radiation dose received by the patient and the doctor during the operation is relatively large. MRI is performed before the operation and is also greatly affected by the patient's position before and during the operation. Due to its convenient use and low cost, the C-arm is widely used in orthopedic surgeries.

[0003] However, currently, the navigation methods based on C-arm X-ray images are mostly planar navigation, that is, moving the robot to place the locator in the surgical area and taking an X-ray image for positioning. When performing three-dimensional space navigation, two X-ray images need to be taken. And when taking the images, the robot needs to be moved multiple times to place the locator in different positions and directions respectively, which is rather cumbersome during the operation and requires repositioning. At the same time, there will be situations where the robot is difficult to move to the designated position, affecting its use during the operation. Summary of the Invention

[0004] The purpose of the present invention is to solve at least one of the problems in the above background art, and to provide a surgical space locator and a surgical path planning method based on X-ray images.

[0005] To achieve the above purpose, a surgical space locator based on X-ray images of the present invention includes:

[0006] A first imaging component and a second imaging component;

[0007] The second imaging component is arranged at both ends of the first imaging component. The first imaging component is used for fixedly connecting with the end of the robotic arm, and the second imaging component is rotationally connected with the first imaging component so that the two second imaging components can approach or move away from each other;

[0008] The first imaging component includes a first feature plate, and the second imaging component includes a second feature plate. When the two second imaging components move away from each other to the maximum position, the first feature plate and the second feature plate are arranged perpendicular to each other;

[0009] A first feature object is provided on the first feature plate, and a second feature object is provided on the second feature plate. The first feature object and the second feature object can be imaged in a three-dimensional scan;

[0010] The first feature object and the second feature object are used for positioning a three-dimensional surgical space.

[0011] Preferably, the first developing component includes two first connecting plates, and the two first connecting plates are respectively fixedly connected to two ends of the first feature plate;

[0012] The first connecting plate is angularly connected to the first feature plate, and the included angle between the first connecting plate and the first feature plate is an obtuse angle.

[0013] Preferably, the second developing component includes a second connecting plate, and the second connecting plate is rotatably connected to the first connecting plate;

[0014] The second connecting plate is angularly connected to the second feature plate, and the included angle between the second connecting plate and the first connecting plate is an obtuse angle;

[0015] When the two second connecting plates are separated from each other to the maximum position, the second connecting plate and the first connecting plate are parallel and coaxial with each other, and the first feature plate and the second feature plate are perpendicular to each other.

[0016] Preferably, a locking component is further provided at the rotational connection of the first developing component and the second developing component, and the locking component is used to lock the rotation of the second developing component relative to the first developing component.

[0017] Preferably, the first feature object includes a first circular ring portion, and the first circular ring portion is located at the center of the first feature plate.

[0018] Preferably, the second feature object includes a second circular ring portion and a straight portion. The second circular ring portion is provided at the center of the second feature plate;

[0019] The straight portion is provided on at least one of the second feature plates, and the straight portion passes through the center of the second circular ring portion.

[0020] Preferably, a first positioning hole is provided on the first feature plate. The first positioning hole is used for a positioning pin to pass through, and the positioning pin is used to ensure the accurate installation position of the surgical space locator and the end of the robotic arm.

[0021] To achieve the above object, the present invention further provides a surgical path planning method for a surgical space locator based on an X-ray image according to any one of the above, including:

[0022] Move the end of the mobile robotic arm to the surgical area so that the first imaging component and the second imaging component of the surgical space locator at the end of the robotic arm semi-surround the surgical space;

[0023] Use a C-arm X-ray machine to scan the surgical space locator and take frontal and lateral X-ray images of the surgical space;

[0024] Utilize the conversion equations between the three-dimensional space and the two-dimensional space of the frontal and lateral X-ray images to plan the surgical path on the X-ray images and display the surgical path in the three-dimensional space.

[0025] Preferably, the conversion equations are:

[0026] ;

[0027] ;

[0028] ;

[0029] where M represents the matrix of the three-dimensional coordinates corresponding to the feature points in the coordinate system of the surgical space locator;

[0030] E represents the projection matrix of the projection parameters between the three-dimensional space and the two-dimensional space of an X-ray image;

[0031] G represents the matrix of the feature point coordinates of the first feature object or the second feature object on the X-ray image;

[0032] T represents the transpose operation of the matrix;

[0033] (u P , v P ) represents the two-dimensional coordinates of the needle insertion point of the surgical path in the coordinate system of the frontal X-ray image;

[0034] (u L , v L ) represents the two-dimensional coordinates of the needle insertion point of the surgical path in the coordinate system of the lateral X-ray image;

[0035] (X P , Y P , Z P ) represents the three-dimensional coordinates of the needle insertion point of the surgical path in the coordinate system of the frontal X-ray image;

[0036] (X L , Y L , Z L ) represents the three-dimensional coordinates of the needle insertion point of the surgical path in the coordinate system of the lateral X-ray image;

[0037] A1 - A 11 represents the projection matrix of the frontal X-ray image, B1 - B 11The projection matrix representing the lateral X-ray image;

[0038] T End1toBase The pose matrix of the robot end in the robot coordinate system when taking the anterior-posterior X-ray image;

[0039] T End2toBase The pose matrix of the robot end in the robot coordinate system when taking the lateral X-ray image;

[0040] T LoctoEnd The pose matrix of the surgical space locator in the robot end coordinate system.

[0041] Preferably, the steps of planning the surgical path include:

[0042] Select a first target point in the X-ray image of one of the anterior-posterior or lateral views;

[0043] Select a second target point in the X-ray image of the other view, and the second projection line passing through the second target point and perpendicular to the lateral view can intersect with the first projection line passing through the first target point and perpendicular to the anterior-posterior view;

[0044] Convert the coordinates of the first target point and the second target point into first three-dimensional coordinates according to the conversion equation, and the first three-dimensional coordinates are the needle insertion starting point of the surgical path;

[0045] Repeat the above steps to select the first target point and the second target point again to obtain second three-dimensional coordinates, and the second three-dimensional coordinates are the needle insertion ending point of the surgical path;

[0046] The connecting line between the needle insertion starting point and the needle insertion ending point is the surgical path.

[0047] Based on this, the beneficial effects of the present invention are:

[0048] 1. Through the solution of the present invention, a first imaging component and a second imaging component are provided. The second imaging component is located at both ends of the first imaging component, and when in use, the second imaging component is perpendicular to the first imaging component. By using a C-arm X-ray machine to take pictures of the first imaging component, an anterior-posterior X-ray image of the surgical space can be obtained, and by taking pictures of the second imaging component, a lateral X-ray image of the surgical space can be obtained. It is possible to achieve anterior-posterior and lateral photographing without moving the robot that fixes the surgical space locator, reducing the complex and cumbersome operations during the operation and saving the surgical positioning time;

[0049] 2. With the solution of the present invention, the second developing component is rotatably connected to the first developing component. When in the use state, the second developing component can be rotated to be perpendicular to the first developing component, enabling the taking of frontal and lateral photos without moving the robot. When in the storage state, the two second developing components are rotated to approach each other, thereby reducing the overall volume and facilitating storage. At the same time, a surgical space locator with a smaller volume can also reduce the size requirements for disinfection equipment before the operation;

[0050] 3. With the solution of the present invention, the first developing component includes a first feature plate and a first connecting plate, and the first connecting plate is angularly connected to the first feature plate. The second developing component includes a second feature plate and a second connecting plate, and the second connecting plate is angularly connected to the second feature plate. And when in use, the second feature plate is arranged perpendicular to the first feature plate, making the overall structure of the surgical space locator arc-shaped, which better matches the structure of the C-arm X-ray machine. It can avoid the collision probability between the C-arm X-ray machine and the surgical space locator when the C-arm X-ray machine moves from the frontal position to the lateral position or from the lateral position to the frontal position, protecting the surgical equipment, and at the same time can also avoid the problem of inaccurate positioning after being impacted and moved;

[0051] 4. With the solution of the present invention, through a planning method, the surgical space locator is used to take X-ray images of the frontal and lateral positions of the surgical space. The needle insertion starting point and the needle insertion ending point of the surgical path are selected on the frontal and lateral X-ray images, and the needle insertion starting point and the needle insertion ending point are converted into three-dimensional coordinates through a conversion equation. The navigation system of the surgical robot can achieve precise positioning based on the three-dimensional coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Schematically showing an exploded view of a surgical space locator according to an embodiment of the present invention;

[0053] Figure 2 Schematically showing a use state diagram of a surgical space locator according to an embodiment of the present invention;

[0054] Figure 3 Schematically showing a storage state diagram of a surgical space locator according to an embodiment of the present invention;

[0055] Figure 4 Schematically showing a side view of a surgical space locator according to an embodiment of the present invention;

[0056] Figure 5 Schematically showing a flowchart of a surgical path planning method according to an embodiment of the present invention;

[0057] Description of reference numerals: The first developing assembly 10, the first feature plate 101, the first positioning hole 1011, the positioning pin 1012, the first feature 102, the first connecting plate 103, the second developing assembly 20, the second feature plate 201, the second feature 202, the second circular portion 2021, the straight portion 2022, the second connecting plate 203, the locking assembly 30, and the end of the robotic arm 40. Detailed implementation manners

[0058] Now, the content of the present application will be described with reference to exemplary embodiments. It should be understood that the described embodiments are only for enabling those of ordinary skill in the art to better understand and thus implement the content of the present application, rather than implying any limitation to the scope of the present application.

[0059] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment".

[0060] Figure 1 An exploded view schematically showing one embodiment of the surgical space locator of the present invention, Figure 2 A usage state diagram schematically showing one embodiment of the surgical space locator of the present invention, Figure 3 A storage state diagram schematically showing one embodiment of the surgical space locator of the present invention, Figure 4 A side view schematically showing one embodiment of the surgical space locator of the present invention, as Figures 1-4 shown, a surgical space locator based on X-ray images of the present invention includes:

[0061] A first developing assembly 10 and a second developing assembly 20;

[0062] The second developing assembly 20 is disposed at both ends of the first developing assembly 10. The first developing assembly 10 is used for fixedly connecting with the end of the robotic arm 40. The second developing assembly 20 is rotatably connected to the first developing assembly 10 so that the two second developing assemblies 20 approach or move away from each other;

[0063] The first developing assembly 10 includes a first feature plate 101, and the second developing assembly 20 includes a second feature plate 201. When the two second developing assemblies 20 move away from each other to the maximum position, the first feature plate 101 and the second feature plate 201 are perpendicularly disposed;

[0064] A first feature 102 is disposed on the first feature plate 101, and a second feature 202 is disposed on the second feature plate 201. The first feature 102 and the second feature 202 can be imaged in a three-dimensional scan;

[0065] The first feature 102 and the second feature 202 are used to locate the three-dimensional surgical space.

[0066] Specifically, the surgical space locator of the present invention has two states, namely the use state and the storage state. When it is in the use state, the two second imaging components 20 are separated from each other to the maximum position. At this time, the second feature plate 201 and the first feature plate 101 are arranged perpendicular to each other, and three-dimensional scanning of the surgical space can be achieved. When it is in the storage state, the two second imaging components 20 are bent towards each other and are almost in contact with each other. At this time, the overall volume of the surgical space locator is reduced, which is more convenient and space-saving during storage.

[0067] The first feature 102 is provided on the first feature plate 101, and the second feature 202 is provided on the second feature plate 201. The first feature 102 and the second feature 202 are made of materials that can be imaged in three-dimensional scanning. When in use, since the first feature plate 101 and the second feature plate 201 are arranged perpendicular to each other, the frontal and lateral positions of the surgical space can be directly scanned without the need for the robot to move, which is more convenient during the operation.

[0068] At the same time, the first feature 102 includes a first circular ring portion, and the first circular ring portion is located at the center of the first feature plate 101.

[0069] The second feature 202 includes a second circular ring portion 2021 and a straight portion 2022. The second circular ring portion 2021 is provided at the center of the second feature plate 201;

[0070] The straight portion 2022 is provided on at least one second feature plate 201, and the straight portion 2022 passes through the center of the second circular ring portion 2021.

[0071] When the surgical space locator is in use, it is fixedly connected to the double circular ring device at the end 40 of the robotic arm. When taking a frontal view of the surgical space, the spatial parameters of the frontal view are calculated through the multi-circular ring setting of the first circular ring portion and the two circular rings on the double circular ring device;

[0072] When taking a lateral view of the surgical space, the spatial parameters of the lateral view are calculated through the straight portion 2022 and the two second circular ring portions 2021.

[0073] The straight portion 2022 can indicate the center position of the second circular ring portion 2021, which is convenient for spatial calculation. The straight portion 2022 can be provided on the two second feature plates 201 respectively. Compared with the case where the straight portion 2022 is only provided on one second feature plate 201, it can make the calculation of spatial parameters more accurate, but it will increase the complexity. This solution preferably sets the straight portion 2022 on one of the second feature plates 201.

[0074] Further, the first developing assembly 10 includes two first connecting plates 103, and the two first connecting plates 103 are respectively fixedly connected to both ends of the first feature plate 101;

[0075] The first connecting plate 103 is angularly connected to the first feature plate 101, and the included angle between the first connecting plate 103 and the first feature plate 101 is an obtuse angle.

[0076] The second developing assembly 20 includes a second connecting plate 203, and the second connecting plate 203 is rotatably connected to the first connecting plate 103;

[0077] The second connecting plate 203 is angularly connected to the second feature plate 201, and the included angle between the second connecting plate 203 and the first connecting plate 103 is an obtuse angle;

[0078] When the two second connecting plates 203 are moved away from each other to the maximum position, the second connecting plate 203 and the first connecting plate 103 are parallel and coaxial with each other, and the first feature plate 101 and the second feature plate 201 are perpendicular to each other.

[0079] Specifically, the first feature plate 101 is angularly connected to the first connecting plate 103, the first connecting plate 103 is rotatably connected to the second connecting plate 203, and the second feature plate 201 is angularly connected to the second connecting plate 203, so that when the overall device is unfolded for use, the overall shape is an arc shape and can semi-surround the surgical space. When the C-arm X-ray machine moves between the frontal and lateral positions of the surgical space, the arc-shaped surgical space locator matches the contour of the C-arm X-ray machine, so that it will not collide with the surgical space locator during movement, will not cause equipment damage, and at the same time can reduce the cumbersome and repeated operations of repositioning due to inaccurate positioning after collision, which is convenient to use.

[0080] At the same time, to enhance the structural rigidity and stability, the first feature plate 101 can be set as a first flat plate (not marked in the figure) and a second flat plate (not marked in the figure) that are spaced apart from each other. When the first feature plate 101 is connected to the first connecting plate 103, the first connecting plate 103 is located between the first flat plate and the second flat plate, and the upper and lower surfaces of the first connecting plate 103 are fixedly connected to the first flat plate and the second flat plate respectively.

[0081] The rotational connection between the first connecting plate 103 and the second connecting plate 203 can be realized by radially penetrating a rotating shaft through the two.

[0082] Further, a locking assembly 30 is also provided at the rotational connection of the first developing assembly 10 and the second developing assembly 20, and the locking assembly 30 is used to lock the rotation of the second developing assembly 20 relative to the first developing assembly 10.

[0083] Specifically, the locking assembly 30 is not specifically limited in structure and can be set to a structure that can achieve locking and unlocking existing in the prior art. For example, the locking assembly 30 can include a through hole (not marked in the figure) provided on the side wall of the first connecting plate 103, a groove (not marked in the figure) on the side wall of the second connecting plate 203, and a locking member (not marked in the figure). For the through hole, the groove and the locking member, the locking member is detachably connected to the through hole and the groove. The locking member can pass through the through hole from the outside and be inserted into the groove. The outer contours of the through hole, the groove, and the insertion end of the locking member are set to the same polygonal shape. After the first connecting plate 103 and the second connecting plate 203 are rotated to the use state or the storage state, the rotation between the first connecting plate 103 and the second connecting plate 203 can be limited by inserting the locking member and the cooperation between the locking member and the groove and the through hole, so that the first connecting plate 103 and the second connecting plate 203 can be locked in this state, which is convenient for use.

[0084] Furthermore, a first positioning hole 1011 is provided on the first feature plate 101 for the positioning pin 1012 to pass through. The positioning pin 1012 is used to ensure the accurate installation position of the surgical space locator and the end of the robotic arm 40. When the surgical space locator is placed on the double ring at the end of the robotic arm 40, by aligning the first positioning hole 1011 with the corresponding second positioning hole (not shown in the figure) on the double ring and inserting the positioning pin 1012, the first ring portion can completely overlap with the ring on the double ring to complete the installation and ensure the accuracy of calculating the spatial parameters in the frontal position.

[0085] Figure 5 Schematically showing the flowchart of a surgical path planning method according to an embodiment of the present invention, as Figure 5 shown:

[0086] To achieve the above object, the present invention also provides a surgical path planning method for a surgical space locator based on X-ray images, including:

[0087] S01: Move the end 40 of the robotic arm to the surgical area so that the first imaging component 10 and the second imaging component 20 of the surgical space locator at the end 40 of the robotic arm semi-surround the surgical space;

[0088] S02: Use a C-arm X-ray machine to scan the surgical space locator and take X-ray images of the frontal and lateral positions of the surgical space;

[0089] S03: Utilize the conversion equation between the three-dimensional space and the two-dimensional space of the frontal and lateral X-ray images to plan the surgical path on the X-ray images and display the surgical path in the three-dimensional space.

[0090] Further, in step S01, by rotating the second connecting plate 203, the two second connecting plates 203 are moved away from each other until the second feature plate 201 is perpendicular to the first feature plate 101. At this time, it is the usage state of the surgical space locator. The state is locked by the locking assembly 30, and after being connected to the end of the robotic arm 40, subsequent operations can be carried out.

[0091] Since the first connecting plate 103 is connected to the first feature plate 101 at an obtuse angle, the second connecting plate 203 is connected to the second feature plate 201 at an obtuse angle, and when the surgical space locator is in the usage state, the first feature plate 101 is perpendicular to the second feature plate 201, the shape of the surgical space locator is similar to a semi - circle. After it is placed in the surgical space, the first feature plate 101 is horizontally located above the surgical space, and the two second feature plates 201 are respectively vertically located on both sides of the surgical space, so that the surgical space locator semi - surrounds the surgical space.

[0092] Further, in step S02, when using the C - arm X - ray machine to scan the surgical space locator, since the outer contour of the scanning end of the C - arm X - ray machine is "C" - shaped and matches the outer contour of the surgical space locator, when the scanning end moves from the frontal position to the lateral position or from the lateral position to the frontal position, the scanning end is not likely to collide with the surgical space locator, which can fully protect the device and avoid the cumbersome operation of re - positioning due to inaccurate positioning after collision.

[0093] Further, in step S03, the present invention also provides a conversion equation based on the X - ray image obtained by photographing with the surgical space locator. This conversion equation can realize the conversion between two - dimensional coordinates and three - dimensional coordinates in surgical path planning. The doctor can select the needle - entry point of the surgical path on the X - ray image. This needle - entry point is a two - dimensional coordinate. Substituting it into the conversion equation can obtain the corresponding three - dimensional coordinate. The surgical robot can locate through this three - dimensional coordinate and control the end of the robotic arm 40 to move accordingly.

[0094] Among them, the conversion equations for the frontal position and the lateral position are similar. Taking the frontal position as an example, the establishment of its conversion equation is as follows:

[0095] After taking a frontal X - ray image using the surgical space locator of the present invention, extract the feature points of the first feature object 102 on the frontal X - ray image , assuming that the three - dimensional coordinates corresponding to the feature points in the coordinate system of the surgical space locator are , the projection parameters of the three - dimensional space and the two - dimensional space of an X - ray image are a projection matrix A with 11 parameters. Then a set of corresponding and the conversion equation between the three - dimensional space and the two - dimensional space is:

[0096] ;

[0097] ;

[0098] Among them, is an unknown coefficient. Eliminating the unknown coefficient in the above equation gives:

[0099] ;

[0100] Writing the n groups of corresponding transformation equations as a matrix, we have:

[0101] ;

[0102] Let M, E, and G respectively replace the three matrices in the above formula, then the above formula can be abbreviated as:

[0103] ;

[0104] ;

[0105] Among them, M represents the matrix of the three-dimensional coordinates corresponding to the feature points in the coordinate system of the surgical space locator;

[0106] E represents the projection matrix of the three-dimensional space and two-dimensional space projection parameters of an X-ray image;

[0107] G represents the matrix of the feature point coordinates of the first feature or the second feature on the X-ray image;

[0108] T represents the transpose operation of the matrix;

[0109] On this basis, let the projection matrix in the anteroposterior X-ray image be represented by A, the projection matrix in the lateral X-ray image be represented by B, the pose matrix of the robot end in the robot coordinate system when taking the anteroposterior X-ray image be T End1toBase , and the pose matrix of the robot end in the robot coordinate system when taking the lateral X-ray image be T End2toBase , and the pose matrix of the surgical space locator in the robot end coordinate system be T LoctoEnd ;

[0110] When performing surgical path planning, the first target point selected in the anteroposterior X-ray image and the second target point selected in the lateral X-ray image. The second projection line passing through the second target point and perpendicular to the lateral view can intersect with the first projection line passing through the first target point and perpendicular to the anteroposterior view. The three-dimensional coordinates of the intersection point are the needle insertion point of the surgical path. By obtaining the three-dimensional coordinates of the needle insertion starting point and the needle insertion ending point of the surgical path, the surgical robot can control the movement of the end of the robotic arm 40 to the accurate position according to the positioning information to achieve cutting.

[0111] The coordinates of the first target point are expressed as (u P , v P), the coordinates of the second target are expressed as (u L , v L ), the first target and the second target correspond to the same three-dimensional coordinates, and the spatial transformation relationship between the orthostatic transformation equation and the first target, the lateral transformation equation and the second target, and the three-dimensional coordinates of the first target and the second target are listed as the following equations:

[0112] ;

[0113] ;

[0114] Where A represents the parameters in the projection matrix E in the positive transformation equation, and B represents the parameters in the projection matrix E in the side transformation equation.

[0115] By combining the transformation equation with the above two equations, the first three-dimensional coordinate corresponding to the first target point and the second target point can be solved, and this point is the starting point of the needle insertion of the surgical path. The first target point and the second target point are reselected again to solve the second three-dimensional coordinate, and this point is the end point of the needle insertion of the surgical path.

[0116] After the three-dimensional coordinates of the needle insertion starting point and the needle insertion end point of the surgical path are obtained through the conversion equation, the surgical space locator is removed from the end 40 of the robotic arm, and the bone knife can be installed for subsequent surgical operations; as for the surgical space locator, the locking assembly 30 on the surgical space locator is loosened, and the two second developing assemblies 20 are rotated so that the two second developing assemblies 20 are close to each other until they are almost parallel. At this time, the surgical space locator can be stored in the instrument box.

[0117] To sum up, through the surgical space locator of the present invention, when it is in use, the first feature plate 101 and the second feature plate 201 are perpendicular to each other, so that when taking the frontal X-ray image and the lateral X-ray image, the C-arm X-ray machine can be directly controlled to achieve shooting, avoiding the tedious process of controlling the robot end to move to the specified position when taking the frontal and lateral X-ray images, reducing the surgical positioning time and improving the surgical efficiency; the surgical space locator is overall arc-shaped when in use, which can better match the shape of the C-arm X-ray machine and avoid collision between the two during scanning; at the same time, the surgical space locator has a use state and a storage state. In the storage state, the overall volume of the surgical space locator is reduced, occupying a smaller storage space, and at the same time it can also reduce the size requirement for the disinfection equipment during preoperative disinfection.

[0118] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the 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 technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present application.

[0119] It should be understood that the magnitudes of the sequence numbers of the steps in the inventive content and embodiments of the present application do 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 to the implementation process of the embodiments of the present application.

Claims

1. A surgical space locator based on X-ray images, characterized in that, Comprising: A first developing component and a second developing component; The second developing component is arranged at both ends of the first developing component. The first developing component is used for fixedly connecting with the end of a robotic arm, and the second developing component is rotationally connected with the first developing component so that the two second developing components approach or move away from each other; The first developing component includes a first feature plate, and the second developing component includes a second feature plate. When the two second developing components move away from each other to the maximum position, the first feature plate and the second feature plate are arranged perpendicular to each other; A first feature is arranged on the first feature plate, and a second feature is arranged on the second feature plate. The first feature and the second feature can be imaged in three-dimensional scanning; The first feature and the second feature are used for positioning a three-dimensional surgical space; The first developing component includes two first connecting plates, and the two first connecting plates are respectively fixedly connected to both ends of the first feature plate; The first connecting plate is angularly connected with the first feature plate, and the included angle between the first connecting plate and the first feature plate is an obtuse angle.

2. The surgical space locator based on X-ray images according to claim 1, characterized in that, The second developing component includes a second connecting plate, and the second connecting plate is rotationally connected with the first connecting plate; The second connecting plate is angularly connected with the second feature plate, and the included angle between the second connecting plate and the first connecting plate is an obtuse angle; When the two second connecting plates move away from each other to the maximum position, the second connecting plate and the first connecting plate are parallel and coaxial with each other, and the first feature plate and the second feature plate are perpendicular to each other.

3. The surgical space locator based on X-ray images according to claim 1, characterized in that A locking component is further arranged at the rotational connection of the first developing component and the second developing component. The locking component is used for locking the rotation of the second developing component relative to the first developing component.

4. A surgical space locator based on X-ray images according to claim 1, characterized in that, The first feature includes a first circular ring portion, and the first circular ring portion is located at the center of the first feature plate.

5. The surgical space locator based on X-ray images according to claim 2, wherein, The second feature includes a second circular ring portion and a straight portion. The second circular ring portion is arranged at the center of the second feature plate; The straight portion is arranged on at least one of the second feature plates, and the straight portion passes through the center of the second circular ring portion.

6. The surgical space locator based on X-ray images according to claim 4, characterized in that, A first positioning hole is arranged on the first feature plate. The first positioning hole is used for a positioning pin to pass through, and the positioning pin is used for ensuring the accurate installation position of the surgical space locator and the end of the robotic arm.

7. A surgical path planning method for a surgical space locator based on an X-ray image according to any one of claims 1-6, characterized in that, Comprising: Move the end of the robotic arm to the surgical area so that the first developing component and the second developing component of the surgical space locator at the end of the robotic arm semi-surround the surgical space; Use a C-arm X-ray machine to scan the surgical space locator, and take the frontal and lateral X-ray images of the surgical space; Utilize the conversion equation between the three-dimensional space and the two-dimensional space of the frontal and lateral X-ray images, plan the surgical path on the X-ray image, and display the surgical path in the three-dimensional space.

8. The surgical path planning method according to claim 7, wherein, The conversion equation is: ； ； ； Wherein, M represents the matrix of the three-dimensional coordinates corresponding to the feature points in the coordinate system of the surgical space locator; E represents the projection matrix of the projection parameters between the three-dimensional space and the two-dimensional space of an X-ray image; G represents the matrix of the feature point coordinates of the first feature or the second feature on the X-ray image; T represents the transpose operation of the matrix; ( u P , v P ) represents the two-dimensional coordinates of the needle insertion point of the surgical path in the positive X-ray image coordinate system; ( u L , v L ) represents the two-dimensional coordinates of the needle insertion point of the surgical path in the lateral X-ray image coordinate system; ( X P ,Y P ,Z P ) represents the three-dimensional coordinates of the needle insertion point of the surgical path in the coordinate system of the anteroposterior X-ray image; ( X L , Y L , Z L ) represents the three-dimensional coordinates of the needle insertion point of the surgical path in the lateral X-ray image coordinate system; A 1 -A 11 The projection matrix representing the frontal X-ray image B 1 -B 11 The projection matrix representing the lateral X-ray image; T End1toBase It represents the pose matrix of the robot end in the robot coordinate system when taking a frontal X-ray image; T End2toBase It represents the pose matrix of the robot end in the robot coordinate system when taking a lateral X-ray image; T LoctoEnd It represents the pose matrix of the surgical space locator in the coordinate system at the end of the robot.

9. The surgical path planning method according to claim 7, wherein The steps of planning the surgical path include: Select a first target point in the X-ray image of either the anteroposterior or the lateral view; Select a second target point in the X-ray image of the other view, and the second projection line passing through the second target point and perpendicular to the lateral view can intersect with the first projection line passing through the first target point and perpendicular to the anteroposterior view; Convert the coordinates of the first target point and the second target point into first three-dimensional coordinates according to the conversion equation, and the first three-dimensional coordinates are the needle insertion starting point of the surgical path; Repeat the above steps to select the first target point and the second target point again to obtain second three-dimensional coordinates, and the second three-dimensional coordinates are the needle insertion ending point of the surgical path; The connecting line between the needle insertion starting point and the needle insertion ending point is the surgical path.

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