Automatic operation method and system

Abstract

The embodiment of the invention provides an automatic operation method and system, and the method comprises the steps: obtaining a case of a current patient through a navigation trolley; receiving a selection instruction which is sent by the operation trolley and aims at the operation mode; determining a current operation mode according to the selection instruction; receiving a first X-ray image acquisition instruction sent by the operation trolley according to the current operation mode; sending a first X-ray image acquisition instruction to an X-ray machine; the X-ray machine receives and responds to the first X-ray image acquisition instruction, a first X-ray image of the surgical site is shot, and the first X-ray image comprises at least two X-ray images; the first X-ray image of the surgical site is sent to a navigation trolley; receiving a first X-ray image of the surgical site through the navigation trolley; receiving intraoperative planning information which is sent by the operation trolley and is determined according to at least two X-ray images in the first X-ray images of the surgical site; the execution trolley is controlled to perform the operation according to the intra-operation planning information, and the automatic operation can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an automated surgery method and system. Background Art

[0002] At present, the application of surgical robots in surgery has become more and more widespread. Especially in the field of orthopedics, robotic surgery can be used to perform total knee replacement, hip surgery, and spinal surgery. Surgical robots can improve the accuracy of surgical operations, help surgeons draw detailed spinal maps before surgery, and develop precise surgical paths for instruments or implants. However, current surgical robots are often directly operated by users, and there is still a lack of collaboration through multiple terminals to perform surgery. Summary of the invention

[0003] The purpose of the embodiment of the present invention is to provide an automated surgery method and system to achieve automated surgery with multiple terminals. The specific technical solution is as follows:

[0004] In a first aspect of an embodiment of the present invention, an automated surgery method is first provided, which is applied to an automated surgery system, wherein the automated surgery system comprises: a navigation trolley, an execution trolley, an operation trolley and an X-ray machine;

[0005] The method comprises:

[0006] Obtain the case of the current patient through the navigation trolley; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine;

[0007] By means of the X-ray machine, receiving and responding to the first X-ray image acquisition instruction, taking a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and sending the first X-ray image of the surgical site to the navigation trolley;

[0008] The navigation trolley is used to receive a first X-ray image of the surgical site; intraoperative planning information determined based on at least two X-ray images of the first X-ray image of the surgical site and sent by an operating trolley is received; and the execution trolley is controlled to perform surgery based on the intraoperative planning information.

[0009] In a possible implementation, after performing surgery according to the surgery planning information, the method further includes:

[0010] Receiving, by the navigation trolley, a second X-ray image acquisition instruction sent by the operating trolley; sending the second X-ray image acquisition instruction to the X-ray machine;

[0011] By means of the X-ray machine, receiving and responding to the second X-ray image acquisition instruction, taking a second X-ray image of the surgical site; and sending the second X-ray image of the surgical site to the navigation trolley;

[0012] The second X-ray image is received by the navigation trolley; and the surgical effect is evaluated based on the first X-ray image and the second X-ray image.

[0013] In a possible implementation, before receiving the first X-ray image of the surgical site by the navigation trolley, the method further includes:

[0014] When the current surgical mode is a 2D combined with 3D-trauma mode or a 2D combined with 3D-spine mode, receiving preoperative planning information, wherein the preoperative planning information includes a CT image and a surgical position planned based on the CT image;

[0015] The receiving of intraoperative planning information sent by the operation trolley and determined based on at least two X-ray images in the first X-ray image of the surgical site includes:

[0016] Registering at least two of the first X-ray images with the CT image and displaying the registration result;

[0017] Receiving, by means of the operating trolley, adjustments to the preoperative planning information to obtain the intraoperative planning information, wherein the adjustments to the preoperative planning information are adjustments made by the user to the preoperative planning information according to the displayed registration results; and sending the intraoperative planning information to the navigation trolley;

[0018] The intraoperative planning information sent by the operating trolley is received through the navigation trolley.

[0019] In a possible implementation, when the current surgical mode is a 2D with 3D-trauma mode or a 2D with 3D-spine mode, receiving preoperative planning information includes:

[0020] When the current surgical mode is a 2D-3D-spinal mode, receiving preoperative planning information, wherein the preoperative planning information includes CT vertebral partitions in the CT image;

[0021] The registering at least two X-ray images in the first X-ray images with the CT image and displaying the registration result includes:

[0022] Performing X-ray vertebral partitioning on at least two of the first X-ray images;

[0023] The partitioned CT image and at least two of the partitioned first X-ray images are registered and the registration result is displayed.

[0024] In a possible implementation, controlling the execution trolley to perform surgery according to the intraoperative planning information includes:

[0025] The position of the tracer is tracked in real time by the navigation trolley; the patient's posture and the position of the locator are determined according to the position of the tracer, and the execution trolley is controlled to perform the operation.

[0026] A second aspect of an embodiment of the present invention provides an automated surgery system, the automated surgery system comprising: a navigation trolley, an execution trolley, an operation trolley and an X-ray machine;

[0027] The navigation trolley is used to obtain the case of the current patient; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine;

[0028] The X-ray machine is used to receive and respond to the first X-ray image acquisition instruction, take a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and send the first X-ray image of the surgical site to the navigation trolley;

[0029] The navigation trolley is also used to receive the first X-ray image of the surgical site; receive intraoperative planning information sent by the operating trolley, which is determined based on at least two X-ray images in the first X-ray image of the surgical site; and control the execution trolley to perform surgery based on the intraoperative planning information.

[0030] In a possible implementation, the navigation trolley is further used to receive a second X-ray image acquisition instruction sent by the operating trolley; and send the second X-ray image acquisition instruction to the X-ray machine;

[0031] The X-ray machine is further used to receive and respond to the second X-ray image acquisition instruction to take a second X-ray image of the surgical site; and send the second X-ray image of the surgical site to the navigation trolley;

[0032] The navigation trolley is further used to receive the second X-ray image; and evaluate the surgical effect according to the first X-ray image and the second X-ray image.

[0033] In a possible implementation, the navigation trolley is further used to receive preoperative planning information when the current surgical mode is a 2D-3D-trauma mode or a 2D-3D-spine mode, wherein the preoperative planning information includes a CT image and a surgical position planned based on the CT image; register at least two X-ray images in the first X-ray image with the CT image and display the registration result;

[0034] The operating trolley is specifically used to receive the intraoperative planning information obtained by adjusting the preoperative planning information, wherein the adjustment of the preoperative planning information is an adjustment made by the user to the preoperative planning information according to the displayed registration result; and send the intraoperative planning information to the navigation trolley;

[0035] The navigation trolley is also used to receive the intraoperative planning information sent by the operating trolley.

[0036] In a possible embodiment, the navigation trolley is specifically used to receive preoperative planning information when the current surgical mode is a two-dimensional with three-dimensional-spinal mode, wherein the preoperative planning information includes CT vertebral partitioning in the CT image; performing X-ray vertebral partitioning on at least two X-ray images in the first X-ray image; and registering the partitioned CT image with at least two X-ray images in the partitioned first X-ray image and displaying the registration result.

[0037] In a possible implementation, the navigation trolley is specifically used to track the position of the tracer in real time; determine the patient's posture and the position of the locator according to the position of the tracer, and control the execution trolley to perform surgery.

[0038] An embodiment of the present invention further provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0039] Memory, used to store computer programs;

[0040] The processor is used to implement any of the above-mentioned automated surgical methods when executing the program stored in the memory.

[0041] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned automated surgical methods is implemented.

[0042] An embodiment of the present invention also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described automated surgical methods.

[0043] Beneficial effects of the embodiments of the present invention:

[0044] An automated surgery method and system provided by an embodiment of the present invention, the automated surgery method is applied to an automated surgery system, the automated surgery system comprising: a navigation trolley, an execution trolley, an operating trolley and an X-ray machine; the method comprises: obtaining the case of the current patient through the navigation trolley; receiving a selection instruction for a surgery mode sent by the operating trolley, wherein the surgery mode is one of a pure two-dimensional mode, a two-dimensional with three-dimensional-trauma mode, and a two-dimensional with three-dimensional-spinal mode; determining the current surgery mode according to the selection instruction; receiving a first X-ray image sent by the operating trolley according to the current surgery mode image acquisition instruction; sending the first X-ray image acquisition instruction to the X-ray machine; receiving and responding to the first X-ray image acquisition instruction through the X-ray machine, taking a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; sending the first X-ray image of the surgical site to the navigation trolley; receiving the first X-ray image of the surgical site through the navigation trolley; receiving intraoperative planning information determined based on at least two X-ray images of the first X-ray image of the surgical site sent by the operating trolley; and controlling the execution trolley to perform surgery based on the intraoperative planning information. Automated surgery can be achieved through the cooperation between the navigation trolley and the execution trolley.

[0045] Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0047] Figure 1 A schematic diagram of a flow chart of an automated surgical method provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the structure of an automated surgery system provided by an embodiment of the present invention;

[0049] Figure 3 Another schematic diagram of a flow chart of an automated surgical method provided by an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on the present invention belong to the scope of protection of the present invention.

[0052] In a first aspect of an embodiment of the present invention, an automated surgery method is first provided, which is applied to an automated surgery system, wherein the automated surgery system comprises: a navigation trolley, an execution trolley, an operation trolley and an X-ray machine;

[0053] See also Figure 1 , Figure 1 A schematic flow chart of an automated surgery method provided by an embodiment of the present invention, the method comprising:

[0054] Step S11, obtaining the case of the current patient through the navigation trolley; receiving a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determining the current surgical mode according to the selection instruction; receiving a first X-ray (X-ray) image acquisition instruction sent by the operating trolley according to the current surgical mode; and sending the first X-ray image acquisition instruction to the X-ray machine;

[0055] Step S12, receiving and responding to the first X-ray image acquisition instruction by the X-ray machine, taking a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and sending the first X-ray image of the surgical site to the navigation trolley;

[0056] Step S13, receiving the first X-ray image of the surgical site through the navigation trolley; receiving intraoperative planning information sent by the operating trolley, which is determined based on at least two X-ray images in the first X-ray image of the surgical site; and controlling the execution trolley to perform surgery according to the intraoperative planning information.

[0057] Corresponding to the above step S11, the navigation trolley can be used to perform navigation and calculations of the execution trolley. The navigation trolley can have a built-in host, through which calculations and related equipment can be controlled. The operating trolley can be connected to input devices such as a keyboard and a mouse, and the user can input relevant instructions through the operating trolley, and the operating trolley can forward the received instructions to the navigation trolley. When acquiring the case of the current patient, a pre-created case can be acquired, or a new case can be created. The selection instruction and the first X-ray image acquisition instruction can be input by the user through the operating trolley, and then the received selection instruction is forwarded to the navigation trolley by the operating trolley.

[0058] Corresponding to the above step S12, the X-ray machine in the system corresponding to the present invention can be a variety of types of X-ray machines, through which the X-ray image of the surgical site can be collected. Specifically, in response to the first X-ray image acquisition instruction, at least two X-ray images can be collected. In one example, the X-ray machine can be a C-arm X-ray machine. The navigation trolley can be directly connected to the execution trolley, the operating trolley, and the X-ray machine through wireless or wired connections, and related instructions or images can be sent through the connection.

[0059] Corresponding to the above-mentioned step S13, the intraoperative planning information can be obtained by adjusting according to the preoperative planning information, or it can be formulated during the operation. The X-ray machine responds to the image acquisition instruction and collects at least two X-ray images, so as to facilitate the positioning of the surgical position according to the two images during the operation, so as to determine the surgical plan. The intraoperative planning information may include information such as the surgical position. In one example, when the method of an embodiment of the present invention is applied to fracture surgery, the intraoperative planning information may include the location of the installation screws. When controlling the execution trolley to perform the operation, the execution trolley can be controlled to install screws, etc. When determining the surgical position, a locator can be installed near the surgical position, so that the surgical position can be determined by the locator.

[0060] It can be seen that through the method of the embodiment of the present invention, the case of the current patient can be obtained through the navigation trolley, and then the current surgical mode can be determined according to the selection instruction, thereby receiving the first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode, and taking the first X-ray image of the surgical site through the X-ray machine, thereby sending the first X-ray image of the surgical site to the navigation trolley, receiving the first X-ray image of the surgical site through the navigation trolley, and receiving intraoperative planning information determined according to at least two X-ray images of the first X-ray images of the surgical site sent by the operating trolley, thereby controlling the execution trolley to perform the operation according to the intraoperative planning information, thereby realizing automated surgery through the cooperation between the navigation trolley and the execution trolley.

[0061] The automated surgery system of the embodiment of the present invention may include: a navigation trolley, an operating trolley, an execution trolley, and positioning accessories. The navigation trolley may include a mobile platform, a workstation, a display, a binocular camera, and a camera bracket. The workstation may be installed with orthopedic surgery planning and control software; the execution trolley may include a mobile platform, a robotic arm, a lifting mechanism, and a foot pedal; the operating trolley may include a mobile operating platform, a display, and a storage box; the positioning accessories may include a high-temperature / low-temperature disinfection box used for trauma and spinal surgery, a C-arm registration plate, a patient tracer, etc. Figure 2 , Figure 2A schematic diagram of the structure of an automated surgical system provided by an embodiment of the present invention. The navigation trolley, the operating trolley, and the execution trolley are respectively connected to power cables, and the execution trolley and the C-arm X-ray machine can be connected to the navigation trolley through a network cable, the execution trolley can be connected to the navigation trolley through a network cable, the operating trolley can be connected to the navigation trolley through a video cable, and each can also be configured with a power cable.

[0062] In a possible implementation, the controlling the execution trolley to perform surgery according to the intraoperative planning information includes: real-time tracking of the position of the tracer by the navigation trolley; determining the patient's posture and the position of the locator according to the position of the tracer, and controlling the execution trolley to perform surgery. Among them, the surgery can mainly be performed by inserting screws, and the screws can use Kirschner wires or other materials. Kirschner wires are a commonly used internal fixation material in orthopedics, which is used to fix fractures with low stress such as short fractures or avulsion fractures, and are also used in the fixation of temporary fracture fragments in orthopedic surgery. Among them, the surgical mode is one of a pure two-dimensional mode, a two-dimensional with three-dimensional-trauma mode, and a two-dimensional with three-dimensional-spinal mode. The trauma mode represents the mode of trauma surgery, and the spinal mode represents the mode of spinal surgery. The image information of the surgical area can be an X-ray image of the surgical area taken. The surgical planning information can be information such as the location and angle of the surgery. The patient tracer is installed near the patient's lesion and is used to track the patient's posture in real time during surgery. The positioning navigation in the automated surgical system of the embodiment of the present invention is composed of a three-dimensional navigation tracking system, a robotic arm, a patient tracer, a robotic arm tracer, a locator, a C-arm machine, a host computer and its software. The three-dimensional navigation tracking system can be any three-dimensional navigation system based on physical principles, such as an infrared optical navigation system, a visible light optical navigation system, a magnetic navigation system, an electric navigation system, etc. The patient tracer is installed near the patient's lesion and is used to track the patient's position and posture in real time during surgery. The locator is used to guide the surgical channel, with the front end being the channel and the other end fixedly connected to the end of the robotic arm. Various medical surgical instruments can be placed in the front end. The locator is equipped with a tracer for capturing the position and posture of the locator in real time.

[0063] In a possible embodiment, before receiving the first X-ray image of the surgical site through the navigation trolley, the method further includes: when the current surgical mode is a 2D-3D-trauma mode or a 2D-3D-spine mode, receiving preoperative planning information, wherein the preoperative planning information includes a CT (Computed Tomography) image and a surgical position planned based on the CT image; receiving intraoperative planning information determined based on at least two X-ray images in the first X-ray image of the surgical site and sent by the operating trolley, including: aligning at least two X-ray images in the first X-ray image with the CT image and displaying the alignment result; receiving, through the operating trolley, adjustments to the preoperative planning information to obtain the intraoperative planning information, wherein the adjustments to the preoperative planning information are adjustments made by the user to the preoperative planning information based on the displayed alignment result; sending the intraoperative planning information to the navigation trolley; and receiving, through the navigation trolley, the intraoperative planning information sent by the operating trolley. Among them, the image registration is mainly used to determine the coordinates of the planned surgical position. For example, a three-dimensional CT image of the patient can be obtained before the operation, and then the surgical position can be planned in the image. After the operation begins, a three-dimensional X-ray image of the patient is obtained, and the position of the surgical position in the X-ray image coordinate system is determined by registering the CT image and the X-ray image. Then, by identifying the position of the tracer in the X-ray image coordinate system and the position in the world coordinate system, the positional relationship between the two coordinate systems is determined, and then the position of the surgical position in the world coordinate system is further calculated, so as to control the execution trolley to perform the operation. It should be noted that in order to determine the position of the tracer in the world coordinate system, the system of the present invention can also include a three-dimensional camera, which can be a binocular camera.

[0064] In a possible implementation, when the current surgical mode is 2D with 3D-trauma mode or 2D with 3D-spinal mode, receiving preoperative planning information includes: when the current surgical mode is 2D with 3D-spinal mode, receiving preoperative planning information, wherein the preoperative planning information includes CT vertebral partitions in the CT image; registering at least two X-ray images in the first X-ray image with the CT image and displaying the registration results, including: performing X-ray vertebral partitions on at least two X-ray images in the first X-ray image; registering the partitioned CT image with at least two X-ray images in the partitioned first X-ray image and displaying the registration results. Vertebral partitions can adjust the CT threshold and window width and window level to ensure that the CT image is clear, as well as mark the vertebrae, adjust the partition lines, and name the vertebrae.

[0065] In a possible implementation, after the operation is performed according to the operation planning information, the method further includes: receiving a second X-ray image acquisition instruction sent by the operation trolley through the navigation trolley; sending the second X-ray image acquisition instruction to the X-ray machine; receiving and responding to the second X-ray image acquisition instruction through the X-ray machine to take a second X-ray image of the operation site; sending the second X-ray image of the operation site to the navigation trolley; receiving the second X-ray image through the navigation trolley; and evaluating the effect of the operation according to the first X-ray image and the second X-ray image. By evaluating the operation after the operation is performed, it is convenient to evaluate whether the operation is successful, so as to facilitate the treatment of defects in the operation. Specifically, when performing the evaluation, the difference between the operation position planned during the operation and the actual position measured after the operation can be measured, so as to evaluate the effect according to the difference. The evaluation can also be performed based on the area of ​​trauma of the patient after the operation.

[0066] The pure two-dimensional process in the embodiment of the present invention is applicable to the following types of surgeries: trauma surgeries with large fracture displacement and trauma surgeries without CT data. The operation process includes: creating a new case, inputting basic patient information; installing a tracer near the patient's affected area; taking intraoperative X-rays; formulating a surgical plan based on the X-rays; and positioning navigation.

[0067] The two-dimensional-three-dimensional trauma process in the embodiment of the present invention is applicable to the following types of surgeries: trauma surgeries with inconspicuous fracture displacement. The operation process includes: creating a new case, inputting basic patient information; importing patient CT data; formulating a surgical plan; installing a tracer near the patient's affected area; taking intraoperative X-rays; fusing preoperative CT with intraoperative X-rays; and positioning navigation.

[0068] The two-dimensional-three-dimensional spine process in the embodiment of the present invention is applicable to the following types of surgeries: spine surgeries. The operation process includes: creating a new case, inputting basic patient information; importing patient CT data; dividing the patient's vertebrae and marking the vertebral names;

[0069] Formulate surgical plans; install tracers near the patient's affected area; take intraoperative X-rays; fuse preoperative CT scans with intraoperative X-rays; and perform positioning and navigation.

[0070] In order to illustrate the method of the embodiment of the present invention, the following is described in conjunction with specific embodiments. Figure 3 ,include:

[0071] 1. Prepare for surgery, connect the power supply and network cable, press the power switch, and the display of the operating trolley will automatically connect wirelessly with the navigation trolley;

[0072] 2. Log in and create a new case, including creating a new case and importing a case. For the imported case, you can observe the 3D (three-dimensional) view / CT tomographic view. For the newly created case, you can enter the patient's name, patient's gender, medical record number, patient's age, surgeon, hospital name, remarks and registration mode and other related information in the pop-up window that appears. The registration modes include: pure 2D, 2D 3D-spine (2D plus 3D-spine registration mode), 2D 3D-trauma mode (2D plus 3D-trauma registration mode);

[0073] 3. Data import: if it is 2D with 3D-spine registration mode, enter the CT vertebral partition interface; CT vertebral partition: adjust the slider of CT threshold and hold down the right mouse button and slide the mouse in the CT display window to change the CT window width and window position to make the CT display clear; adjust the patient's CT head to face up and the back to the left in the lateral position; interface planning, preoperative 3D planning, determine the position to add screws, and add MPR (multi-plane 3D reconstruction) lines; if it is 2D with 3D-trauma registration mode, do not perform CT vertebral partition;

[0074] 4. Select positioning accessories, select "Tool Kit", "C-arm", "Registration Plate" in turn; unfold the robotic arm; install the sterile cover; install the robotic arm registration plate;

[0075] 5. Patient tracer installation;

[0076] 6. Take X-ray images, take and process X-rays; provide guidance for investigation; process X-rays; partition X-ray vertebrae; image registration; plan X-rays, and determine the location of screws during surgery. Planning can be done in 2D X-rays or CT. If the 2D plus 3D-trauma registration mode is used, X-ray vertebrae partitioning will not be performed. If the 2D plus 3D-trauma registration mode or pure 2D registration mode is used, intraoperative 2D planning will be performed.

[0077] 7. Robotic arm positioning and tool navigation. Push the execution trolley to the appropriate position of the operating table and press the button on the execution trolley until the trolley footrest touches the ground and the trolley is stable. Install the first-level sleeve in the positioner. After entering the positioning navigation interface, select a screw to be positioned in the list. Step on the left pedal of the foot pedal to start the free drag function of the robot arm and manually drag the robot arm to the vicinity of the target. Step on the right pedal of the foot pedal and a dialog box for completing the robot arm simulation will pop up. The user can observe the movement path and final positioning posture of the robot arm. After confirmation, the robot arm will automatically run. to the target position; ⑥ If you are not satisfied with the motion path and final positioning posture of the robot arm, you can turn off the end control, click the [Simulation] button to enter the robot arm simulation interface, manually adjust the height and angle of the robot arm, and observe the motion path and final positioning posture of the robot arm. After confirming that you are satisfied, click the [Confirm] button to close the current interface; After confirming that the robot arm automatically moves to the target position after simulation, you can also use the end button of the robot arm to adjust the positioning posture of the robot arm again along the positioning channel; cut the sharp knife handle along the channel; put the secondary sleeve into the primary sleeve until it reaches the bone surface; insert the Kirschner wire;

[0078] 8. Surgery evaluation: In the navigation interface, click the [Evaluation] button in the upper right corner to enter the evaluation interface and evaluate the surgical effect; take postoperative X-rays and send them to the orthopedic surgery planning and control software. The postoperative X-rays will be displayed on the right side of the evaluation interface, and the planning X-ray images will be displayed on the left side of the evaluation interface, so that users can observe the similarities and differences between the two; after the evaluation is completed, close the page; if the patient's surgery is completed, click the [End Surgery] button to return to the [Patient Management] interface; if the patient still needs to continue the surgery, click the [Return to X-ray Registration] button to return to the X-ray registration interface. At this time, the X-ray automatically switches to the next group. You can retake the X-ray for the next group of surgeries; complete the surgery.

[0079] 9. Shut down the system.

[0080] A second aspect of an embodiment of the present invention provides an automated surgery system, the automated surgery system comprising: a navigation trolley, an execution trolley, an operation trolley and an X-ray machine;

[0081] The navigation trolley is used to obtain the case of the current patient; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine;

[0082] The X-ray machine is used to receive and respond to the first X-ray image acquisition instruction, take a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and send the first X-ray image of the surgical site to the navigation trolley;

[0083] The navigation trolley is also used to receive the first X-ray image of the surgical site; receive intraoperative planning information sent by the operating trolley, which is determined based on at least two X-ray images in the first X-ray image of the surgical site; and control the execution trolley to perform surgery based on the intraoperative planning information.

[0084] In a possible implementation, the navigation trolley is further used to receive a second X-ray image acquisition instruction sent by the operating trolley; and send the second X-ray image acquisition instruction to the X-ray machine;

[0085] The X-ray machine is further used to receive and respond to the second X-ray image acquisition instruction to take a second X-ray image of the surgical site; and send the second X-ray image of the surgical site to the navigation trolley;

[0086] The navigation trolley is further used to receive the second X-ray image; and evaluate the surgical effect according to the first X-ray image and the second X-ray image.

[0087] In a possible implementation, the navigation trolley is further used to receive preoperative planning information when the current surgical mode is a 2D-3D-trauma mode or a 2D-3D-spine mode, wherein the preoperative planning information includes a CT image and a surgical position planned based on the CT image; register at least two X-ray images in the first X-ray image with the CT image and display the registration result;

[0088] The operating trolley is specifically used to receive the intraoperative planning information obtained by adjusting the preoperative planning information, wherein the adjustment of the preoperative planning information is an adjustment made by the user to the preoperative planning information according to the displayed registration result; and send the intraoperative planning information to the navigation trolley;

[0089] The navigation trolley is also used to receive the intraoperative planning information sent by the operating trolley

[0090] In a possible embodiment, the navigation trolley is specifically used to receive preoperative planning information when the current surgical mode is a two-dimensional with three-dimensional-spinal mode, wherein the preoperative planning information includes CT vertebral partitioning in the CT image; performing X-ray vertebral partitioning on at least two X-ray images in the first X-ray image; and registering the partitioned CT image with at least two X-ray images in the partitioned first X-ray image and displaying the registration result.

[0091] In a possible implementation, the navigation trolley is specifically used to track the position of the tracer in real time; determine the patient's posture and the position of the locator according to the position of the tracer, and control the execution trolley to perform surgery.

[0092] It can be seen that through the system of the embodiment of the present invention, the case of the current patient can be obtained through the navigation trolley, and then the current surgical mode can be determined according to the selection instruction, thereby receiving the first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode, and taking the first X-ray image of the surgical site through the X-ray machine, thereby sending the first X-ray image of the surgical site to the navigation trolley, receiving the first X-ray image of the surgical site through the navigation trolley, and receiving the intraoperative planning information determined according to the first X-ray image of the surgical site sent by the operating trolley, thereby controlling the execution trolley to perform the operation according to the intraoperative planning information, thereby realizing automated surgery through the cooperation between the navigation trolley and the execution trolley.

[0093] The embodiment of the present invention further provides an electronic device, such as Figure 4 As shown, it includes a processor 401 , a communication interface 402 , a memory 403 and a communication bus 404 , wherein the processor 401 , the communication interface 402 , and the memory 403 communicate with each other via the communication bus 404 .

[0094] Memory 403, used for storing computer programs;

[0095] The processor 401 is used to execute the program stored in the memory 403 to implement the following steps:

[0096] Obtain the case of the current patient through the navigation trolley; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine;

[0097] By means of the X-ray machine, receiving and responding to the first X-ray image acquisition instruction, taking a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and sending the first X-ray image of the surgical site to the navigation trolley;

[0098] The navigation trolley is used to receive a first X-ray image of the surgical site; intraoperative planning information determined based on at least two X-ray images of the first X-ray image of the surgical site and sent by an operating trolley is received; and the execution trolley is controlled to perform surgery based on the intraoperative planning information.

[0099] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0100] The communication interface is used for communication between the above electronic device and other devices.

[0101] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0102] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0103] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned automated surgical methods are implemented.

[0104] In another embodiment provided by the present invention, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the automated surgical methods in the above embodiments.

[0105] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0106] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0107] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, electronic device, storage medium and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automated surgical method, characterized in that: Applied to an automated surgical system, the automated surgical system comprising: a navigation trolley, an execution trolley, an operating trolley and an X-ray machine; The method comprises: Obtain the case of the current patient through the navigation trolley; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine; By means of the X-ray machine, receiving and responding to the first X-ray image acquisition instruction, taking a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and sending the first X-ray image of the surgical site to the navigation trolley; The navigation trolley is used to receive a first X-ray image of the surgical site; intraoperative planning information determined based on at least two X-ray images of the first X-ray image of the surgical site and sent by an operating trolley is received; and the execution trolley is controlled to perform surgery based on the intraoperative planning information.

2. The method according to claim 1, characterized in that After performing the surgery according to the surgery planning information, the method further includes: Receiving, by the navigation trolley, a second X-ray image acquisition instruction sent by the operating trolley; sending the second X-ray image acquisition instruction to the X-ray machine; By means of the X-ray machine, receiving and responding to the second X-ray image acquisition instruction, taking a second X-ray image of the surgical site; and sending the second X-ray image of the surgical site to the navigation trolley; The second X-ray image is received by the navigation trolley; and the surgical effect is evaluated based on the first X-ray image and the second X-ray image.

3. The method according to claim 1, characterized in that Before receiving the first X-ray image of the surgical site by the navigation trolley, the method further includes: When the current surgical mode is a 2D combined with 3D-trauma mode or a 2D combined with 3D-spine mode, receiving preoperative planning information, wherein the preoperative planning information includes a CT image and a surgical position planned based on the CT image; The receiving of intraoperative planning information sent by the operation trolley and determined based on at least two X-ray images in the first X-ray image of the surgical site includes: Registering at least two of the first X-ray images with the CT image and displaying the registration result; Receiving, by means of the operating trolley, adjustments to the preoperative planning information to obtain the intraoperative planning information, wherein the adjustments to the preoperative planning information are adjustments made by the user to the preoperative planning information according to the displayed registration results; and sending the intraoperative planning information to the navigation trolley; The intraoperative planning information sent by the operating trolley is received through the navigation trolley.

4. The method according to claim 3, characterized in that When the current surgical mode is a 2D combined with 3D-trauma mode or a 2D combined with 3D-spine mode, receiving preoperative planning information includes: When the current surgical mode is a 2D-3D-spinal mode, receiving preoperative planning information, wherein the preoperative planning information includes CT vertebral partitions in the CT image; The registering at least two X-ray images in the first X-ray images with the CT image and displaying the registration result includes: Performing X-ray vertebral partitioning on at least two of the first X-ray images; The partitioned CT image and at least two of the partitioned first X-ray images are registered and the registration result is displayed.

5. The method according to claim 1, characterized in that The step of controlling the execution trolley to perform surgery according to the intraoperative planning information includes: The position of the tracer is tracked in real time by the navigation trolley; the patient's posture and the position of the locator are determined according to the position of the tracer, and the execution trolley is controlled to perform the operation.

6. An automated surgical system, characterized in that: The automated surgery system includes: a navigation trolley, an execution trolley, an operating trolley and an X-ray machine; The navigation trolley is used to obtain the case of the current patient; receive a selection instruction for a surgical mode sent by the operating trolley, wherein the surgical mode is one of a pure two-dimensional mode, a two-dimensional combined with three-dimensional-trauma mode, and a two-dimensional combined with three-dimensional-spinal mode; determine the current surgical mode according to the selection instruction; receive a first X-ray image acquisition instruction sent by the operating trolley according to the current surgical mode; and send the first X-ray image acquisition instruction to the X-ray machine; The X-ray machine is used to receive and respond to the first X-ray image acquisition instruction, take a first X-ray image of the surgical site, wherein the first X-ray image includes at least two X-ray images; and send the first X-ray image of the surgical site to the navigation trolley; The navigation trolley is also used to receive the first X-ray image of the surgical site; receive intraoperative planning information sent by the operating trolley, which is determined based on at least two X-ray images in the first X-ray image of the surgical site; and control the execution trolley to perform surgery based on the intraoperative planning information.

7. The system according to claim 6, characterized in that The navigation trolley is further used to receive a second X-ray image acquisition instruction sent by the operating trolley; and send the second X-ray image acquisition instruction to the X-ray machine; The X-ray machine is further used to receive and respond to the second X-ray image acquisition instruction to take a second X-ray image of the surgical site; and send the second X-ray image of the surgical site to the navigation trolley; The navigation trolley is further used to receive the second X-ray image; and evaluate the surgical effect according to the first X-ray image and the second X-ray image.

8. The system according to claim 6, characterized in that The navigation trolley is further used for receiving preoperative planning information when the current surgical mode is a 2D-3D-trauma mode or a 2D-3D-spine mode, wherein the preoperative planning information includes a CT image and a surgical position planned based on the CT image; registering at least two X-ray images in the first X-ray image with the CT image and displaying the registration result; The operating trolley is specifically used to receive the intraoperative planning information obtained by adjusting the preoperative planning information, wherein the adjustment of the preoperative planning information is an adjustment made by the user to the preoperative planning information according to the displayed registration result; and send the intraoperative planning information to the navigation trolley; The navigation trolley is also used to receive the intraoperative planning information sent by the operating trolley.

9. The system according to claim 8, characterized in that The navigation trolley is specifically used to receive preoperative planning information when the current surgical mode is a two-dimensional with three-dimensional-spinal mode, wherein the preoperative planning information includes CT vertebral partitioning in the CT image; performing X-ray vertebral partitioning on at least two X-ray images in the first X-ray image; and registering the partitioned CT image with at least two X-ray images in the partitioned first X-ray image and displaying the registration result.

10. The system according to claim 6, characterized in that The navigation trolley is specifically used to track the position of the tracer in real time; determine the patient's posture and the position of the locator according to the position of the tracer, and control the execution trolley to perform surgery.

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