Osteotomy control system, computer-assisted medical device, and computer program product

Abstract

The embodiment of the application is suitable for the technical field of computer-aided medical treatment and osteotomy surgery, and provides an osteotomy control system, a computer-aided medical device and a computer program product. The osteotomy control system comprises a data processing unit, an optical positioning system and a mechanical arm device. The optical positioning system is used to collect three-dimensional image information of a patient's operation area and a mechanical arm end tool, and transmit the three-dimensional image information to the data processing unit. The data processing unit is used to calculate relative position information between the mechanical arm end tool and an osteotomy safety boundary according to the three-dimensional image information, and generate a control instruction when the mechanical arm end tool exceeds the osteotomy safety boundary. The mechanical arm device is used to exert a force on the mechanical arm end tool according to the control instruction, so as to prevent the mechanical arm end tool from exceeding the osteotomy safety boundary. By using the above osteotomy control system, the safety and osteotomy precision of orthopedic surgery can be improved, and the operation burden of a doctor can be reduced.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application belongs to the technical field of computer-aided medical treatment and osteotomy surgery, and particularly relates to an osteotomy control system, a computer-aided medical treatment device and a computer program product. BACKGROUND

[0002] Osteotomy surgery is one of common orthopedic surgical procedures. With the wide application of computer-aided medical treatment, osteotomy can be assisted by computer devices to reduce the operation difficulty of surgeons and improve the operation efficiency.

[0003] Osteotomy surgery under computer assistance usually installs a tool at the end of a mechanical arm device to realize osteotomy operation by using the end tool. In the related art, the osteotomy operation assisted by a computer needs to collect boundary point set information of an osteotomy region. For example, a CT image of a patient is acquired and corresponding osteotomy boundary points are planned. On this basis, the computer device needs to convert the osteotomy boundary points to a coordinate system corresponding to the mechanical arm device, and then the mechanical arm device is used to perform related osteotomy operation. Since the above process involves multiple coordinate transformations, data cannot be synchronized in real time between devices, which seriously affects the accuracy of osteotomy operation. SUMMARY

[0004] Therefore, the embodiment of the present application provides an osteotomy control system, a computer-aided medical treatment device and a computer program product, which can directly use relative position information of a surgical region and a mechanical arm end tool in a world coordinate system provided by an optical positioning system for data processing, without needing to perform coordinate transformation on collected data, facilitating unified calculation and real-time control of related devices, helping to improve the safety and accuracy of orthopedic surgery and reduce the operation burden of doctors.

[0005] A first aspect of the embodiment of the present application provides an osteotomy control system, which comprises a data processing unit, and an optical positioning system and a mechanical arm device which are respectively in communication connection with the data processing unit; wherein:

[0006] The optical positioning system is configured to collect three-dimensional image information of a surgical region of a patient and a mechanical arm end tool installed at the end of the mechanical arm device, and transmit the three-dimensional image information to the data processing unit;

[0007] The data processing unit is configured to calculate relative position information between the mechanical arm end tool and a safe boundary for osteotomy in the surgical region according to the three-dimensional image information, and generate a control instruction when it is determined according to the relative position information that the mechanical arm end tool exceeds the safe boundary for osteotomy; the relative position information represents the relative position of the surgical region and the mechanical arm end tool in a world coordinate system provided by the optical positioning system.

[0008] The mechanical arm device is configured to receive the control instruction transmitted by the data processing unit and apply a force on the mechanical arm end tool according to the control instruction to prevent the mechanical arm end tool from exceeding the osteotomy safety boundary.

[0009] Optionally, the optical positioning system transmits the three-dimensional image information to the data processing unit at a frequency lower than that at which the data processing unit transmits the control instruction generated by the data processing unit to the mechanical arm device.

[0010] Optionally, the osteotomy safety boundary is composed of a set of boundary points, and the data processing unit is specifically configured to:

[0011] determine a positional relationship between a tool end point corresponding to the mechanical arm end tool and the osteotomy safety boundary, the positional relationship including that the tool end point is located on an osteotomy side of the osteotomy safety boundary or that the tool end point is located on a non-osteotomy side of the osteotomy safety boundary;

[0012] if the tool end point is located on the osteotomy side of the osteotomy safety boundary, divide an osteotomy region composed of the osteotomy safety boundary into a plurality of angle regions based on each position point in the set of boundary points, and determine a target region in which the tool end point is located among the plurality of angle regions;

[0013] obtain a plurality of triangles by connecting the tool end point and each vertex of the target region, and determine the relative position information according to areas of the plurality of triangles.

[0014] Optionally, the determination of the positional relationship between the tool end point corresponding to the mechanical arm end tool and the osteotomy safety boundary includes:

[0015] sequentially arranging each position point in the set of boundary points in a clockwise direction to determine a midpoint of a line connecting a first position point and a last position point;

[0016] calculating, based on the midpoint, a vertical vector coplanar with a plane on which each position point in the set of boundary points is located and perpendicular to a vector corresponding to a line connecting the first position point and the last position point;

[0017] calculating a vector included angle between a tool end point vector and the vertical vector, the tool end point vector and the vertical vector both having the midpoint as a starting point, and the tool end point vector being directed from the midpoint to the tool end point;

[0018] if the vector included angle is an obtuse angle, determining that the tool end point is located on the osteotomy side of the osteotomy safety boundary.

[0019] If the vector angle is an acute angle, it is determined that the tool end point is located on the non-osteotomy side of the osteotomy safety boundary.

[0020] Optionally, the osteotomy region constituted by the osteotomy safety boundary is divided into a plurality of angle regions based on each position point in the boundary point set, and a target region in which the tool end point is located in the plurality of angle regions is determined, including:

[0021] Each position point in the boundary point set is connected with a midpoint of a line connecting a first position point and a last position point in the boundary point set, to obtain a plurality of position point vectors and a plurality of angle regions; any position point vector is from the midpoint to a corresponding position point in the boundary point set;

[0022] The angle between each position point vector and a first position point vector is calculated in sequence, and a target region in which the tool end point is located in the plurality of angle regions is determined according to the size of the angle; the first position point vector is a vector formed by the midpoint pointing to the first position point.

[0023] Optionally, the relative position information is determined according to the size of the area of the plurality of triangles, including:

[0024] The area of a triangle region corresponding to the target region and the area of two target triangles are calculated respectively, any target triangle being composed of the tool end point, the midpoint and a vertex of the target region;

[0025] If the area is greater than or equal to the sum of the areas of the two triangles, it is determined that the tool end point is located inside the osteotomy region.

[0026] If the area is less than the sum of the areas of the two triangles, it is determined that the tool end point is located outside the osteotomy region.

[0027] Optionally, the data processing unit is further configured to:

[0028] A normal vector perpendicular to a osteotomy boundary line segment in the target region is calculated, the osteotomy boundary line segment being obtained by connecting two position points in the boundary point set located in the target region;

[0029] The control instruction is generated based on the normal vector, and the control instruction is transmitted to the robotic arm device.

[0030] Optionally, the robotic arm device applies a force of 15-25 Newton on the tool at the end of the robotic arm according to the control instruction.

[0031] A second aspect of the embodiments of the present application provides a computer-aided medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program, causing the computer-aided medical device to implement the following method:

[0032] acquiring, by an optical positioning system, three-dimensional image information of a surgical region of a patient and a mechanical arm end tool installed at a terminal end of the mechanical arm device;

[0033] According to the three-dimensional image information, the relative position information between the mechanical arm end tool and the osteotomy safety boundary in the surgical region is calculated;

[0034] generating a control instruction when it is determined according to the relative position information that the mechanical arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical region and the mechanical arm end tool in a world coordinate system provided by the optical positioning system;

[0035] transmitting the control instruction to the mechanical arm device; the mechanical arm device is used to exert a force on the mechanical arm end tool according to the control instruction, to prevent the mechanical arm end tool from exceeding the osteotomy safety boundary.

[0036] A third aspect of the embodiments of the present application provides a computer program product, comprising a computer program, when the computer program runs, causing the following method to be executed:

[0037] acquiring, by an optical positioning system, three-dimensional image information of a surgical region of a patient and a mechanical arm end tool installed at a terminal end of the mechanical arm device;

[0038] According to the three-dimensional image information, the relative position information between the mechanical arm end tool and the osteotomy safety boundary in the surgical region is calculated;

[0039] generating a control instruction when it is determined according to the relative position information that the mechanical arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical region and the mechanical arm end tool in a world coordinate system provided by the optical positioning system;

[0040] transmitting the control instruction to the mechanical arm device; the mechanical arm device is used to exert a force on the mechanical arm end tool according to the control instruction, to prevent the mechanical arm end tool from exceeding the osteotomy safety boundary.

[0041] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a computer to implement the following method.

[0042] acquire three-dimensional image information of a surgical region of a patient and a mechanical arm end tool installed at the end of the mechanical arm device through an optical positioning system;

[0043] According to the three-dimensional image information, the relative position information between the mechanical arm end tool and the osteotomy safety boundary in the surgical region is calculated;

[0044] generate a control instruction when it is determined according to the relative position information that the mechanical arm end tool exceeds the osteotomy safety boundary; the relative position information represents the relative position of the surgical region and the mechanical arm end tool in a world coordinate system provided by the optical positioning system;

[0045] transmit the control instruction to the mechanical arm device; the mechanical arm device is used to exert a force on the mechanical arm end tool according to the control instruction to prevent the mechanical arm end tool from exceeding the osteotomy safety boundary.

[0046] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0047] The osteotomy control system in the embodiment of the present application can acquire three-dimensional images of the surgical region and the mechanical arm end tool by using the optical positioning system, and obtain unified three-dimensional images of the mechanical arm end tool and the surgical region. Therefore, the relative position information obtained by the data processing unit based on the above three-dimensional image processing represents the relative position of the surgical region and the mechanical arm end tool in the world coordinate system provided by the optical positioning system. In this way, the data processing unit does not need to perform coordinate conversion on various data, and can perform subsequent calculation or processing based on the relative position of the surgical region and the mechanical arm end tool in the same coordinate system, so that unified calculation of data can be realized, multiple coordinate conversion processes are not needed, and the efficiency and real-time performance of data processing can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0049] Figure 1 is a schematic diagram of an osteotomy control system provided by the embodiment of the present application;

[0050] Figure 2 is a schematic diagram of a bone-cutting control method provided by an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of a possible implementation of S202 in a bone-cutting control method provided by an embodiment of the present application;

[0052] Figures 4 to 9 is a schematic diagram of a specific example of each stage in a bone-cutting control process provided by an embodiment of the present application;

[0053] Figure 10 is a schematic diagram of a computer-assisted medical device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, techniques, etc. are presented in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0055] The technical solutions of the present application are described below through specific embodiments.

[0056] Referring to Figure 1 , a schematic diagram of a bone-cutting control system provided by an embodiment of the present application is shown, which specifically can include an optical positioning system 101, a data processing unit 102, and a robotic arm device 103. The optical positioning system 101 and the robotic arm device 103 can be in communication connection with the data processing unit 102, respectively. In this way, the information collected by the optical positioning system 101 can be transmitted to the data processing unit 102 in time for processing. After processing based on the information collected by the optical positioning system 101, the data processing unit 102 can generate corresponding control instructions, which can be sent by the data processing unit 102 to the robotic arm device 103 in time. The robotic arm device 103 can operate in the manner indicated by the control instructions to assist the doctor in completing the current surgical operation. For example, the control instructions mentioned above can be generated when the end tool of the robotic arm device 103 exceeds the bone-cutting safety boundary, which can instruct the robotic arm device 103 to exert a force on the end tool, such as a force directed to the inside of the bone-cutting safety boundary, to prevent the end tool from exceeding the safety boundary.

[0057] It should be noted that in the description of the embodiments of the present application, unless otherwise specified, “robotic arm device” and “robotic arm” represent the same device, and “robotic arm end tool” and “end tool” both represent a tool installed at the end of the robotic arm.

[0058] In the embodiment of the present application, the optical positioning system 101 can be a device with functions of navigation and image acquisition. The optical positioning system 101 can acquire three-dimensional image information of a surgical region of a patient and a mechanical arm end tool installed at the end of the mechanical arm device 103. Specifically, the three-dimensional image information can include data such as a bone cutting boundary position of a surgical site or region, surgical planning data, and a mechanical arm end tool position. The optical positioning system 101 can transmit the three-dimensional image information to the data processing unit 102 for processing.

[0059] In a possible implementation manner of the embodiment of the present application, the optical positioning system 101 can be a navigator, which can provide functions related to navigation and three-dimensional image acquisition during a surgery. The specific type of the optical positioning system 101 is not limited in the embodiment of the present application.

[0060] In the embodiment of the present application, the data processing unit 102 can be a computer device with data processing capability. For example, the data processing unit 102 can process the three-dimensional image information transmitted by the optical positioning system 101 and output processed data. In some examples, the data processing unit 102 can also be referred to as a “common machine” or an “upper machine” or an “intermediate device”, and the like, which are not limited in the embodiment of the present application.

[0061] In the embodiment of the present application, after receiving the three-dimensional image information transmitted by the optical positioning system 101, the data processing unit 102 can process the three-dimensional image information and calculate relative position information between the mechanical arm end tool and a bone cutting safety boundary in the surgical region. The bone cutting safety boundary can be a limiting boundary obtained according to preoperative planning, which can ensure the safety of bone cutting in an actual bone cutting process. The bone cutting surgery should be performed within the bone cutting safety boundary to ensure the safety of the surgery.

[0062] In the embodiment of the present application, the optical positioning system 101 acquires three-dimensional images of the surgical region and the mechanical arm end tool, and can obtain unified three-dimensional images of the mechanical arm end tool and the surgical region. Therefore, the relative position information obtained by the data processing unit 102 based on the three-dimensional images represents the relative position of the surgical region and the mechanical arm end tool in a world coordinate system provided by the optical positioning system 101. In this way, the data processing unit 102 does not need to perform coordinate conversion on various data, and can perform subsequent calculation or processing based on the relative position of the surgical region and the mechanical arm end tool in the same coordinate system, which can realize unified calculation of data, does not need to perform multiple coordinate conversion processes on the data, and is helpful to improve the efficiency and real-time performance of data processing.

[0063] Generally, the patient will have random jitter during the osteotomy process, and the osteotomy tool mounted at the end of the mechanical arm will also have rotation or translation and other actions affected by the patient's jitter. On the other hand, the original data collected by the related equipment, such as the original CT image data of the patient's surgery site, will not change due to the rotation or translation of the osteotomy tool because it has been fixed. However, in actual operation, the rotation or translation of the osteotomy tool will cause changes in the subsequent real-time collected position information of the mechanical arm and the osteotomy tool, and therefore, if the coordinate transformation method is used to process the data, the accuracy of the results obtained will be reduced. The embodiments of the present application aim to solve the calculation complexity problem caused by the osteotomy boundary and tool movement, and uniformly process the position information and the like of the patient's surgery area and the end tool from the optical positioning system 101. After the relative position and other numerical values are calculated, the accuracy of data processing can be further improved.

[0064] In the embodiments of the present application, the data processing unit 102 can determine whether the end tool of the mechanical arm exceeds the osteotomy safety boundary according to the calculated relative position information. If the end tool of the mechanical arm does not exceed the osteotomy safety boundary, it can be indicated that the current operation is performed within a safe range, otherwise, once the end tool of the mechanical arm exceeds the osteotomy safety boundary, if the operation continues, it may cause serious safety problems. At this time, the doctor needs to be prompted.

[0065] In the embodiments of the present application, when the data processing unit 102 determines that the end tool exceeds the osteotomy safety boundary according to the calculated relative position information between the surgery area and the end tool of the mechanical arm, the data processing unit 102 generates a corresponding control instruction, which can be an instruction indicating that the mechanical arm device 103 drives the end tool back into the osteotomy safety boundary. The data processing unit 102 can transmit the generated control instruction to the mechanical arm device 103 in real time.

[0066] In the embodiments of the present application, the mechanical arm device 103 can be various types of mechanical arms, such as six-axis mechanical arms, seven-axis mechanical arms, and the like, and the specific type of the mechanical arm device 103 is not limited in the embodiments of the present application.

[0067] When the mechanical arm device 103 receives the control instruction transmitted by the data processing unit 102, the mechanical arm device 103 can exert a force on the end tool according to the control instruction to prevent the end tool from exceeding the osteotomy safety boundary.

[0068] In a possible implementation of the embodiment of the application, the mechanical arm device 103 can assist the osteotomy operation under the operation of the doctor. For example, the doctor can hold the mechanical arm and use the end tool to perform osteotomy at the operation site. When the mechanical arm device 103 applies a force on the end tool, the doctor holding the mechanical arm can perceive the force and operate the end tool back to the osteotomy safety boundary, thereby ensuring the safe operation of the operation.

[0069] In a possible implementation of the embodiment of the application, the mechanical arm device 103 can apply a force on the end tool of the mechanical arm according to the control instruction, and the size of the force can be between 15-20 Newton. For example, the mechanical arm device 103 applies a force of 20 Newton on the end tool, and the doctor holding the mechanical arm to assist the operation can perceive the force and operate the end tool according to the direction of the force to return to the osteotomy safety boundary.

[0070] In the embodiment of the application, one complete control cycle of the osteotomy control system can include one complete control process from collecting three-dimensional image information by the optical positioning system 101 to applying a force on the end tool of the mechanical arm device 103 according to the control instruction transmitted by the data processing unit 102. In one complete control cycle, the frequency of transmitting the three-dimensional image information from the optical positioning system 101 to the data processing unit 102 can be less than and as close as possible to the frequency of transmitting the generated control instruction from the data processing unit 102 to the mechanical arm device 103. In this way, the relative position between the operation area represented by the collected three-dimensional image information and the end tool of the mechanical arm can be identified by the data processing unit 102 in real time, and the control instruction can be fed back to the mechanical arm device 103 accordingly, so that the mechanical arm device 103 can apply a reverse force on the end tool in real time when the end tool exceeds the osteotomy safety boundary, thereby improving the stability and accuracy of the control process of the osteotomy control system.

[0071] In combination with the osteotomy control system shown in Figure 1 , the osteotomy control method provided by the embodiment of the application is shown in Figure 2 , which is an introduction to the osteotomy control process from the perspective of the data processing unit 102 in Figure 1 . The optical positioning system and the mechanical arm device involved in the method can refer to the optical positioning system 101 and the mechanical arm device 103 in Figure 1 . Specifically, the method can include the following steps:

[0072] S201, collecting three-dimensional image information of a patient operation area and a mechanical arm end tool installed at the end of the mechanical arm device by an optical positioning system.

[0073] Exemplarily, the optical positioning system can have navigation and data acquisition functions. During the surgery, the optical positioning system can be used to acquire three-dimensional image information of a patient's surgery area and a mechanical arm end tool, such as data of a surgery site bone cutting boundary position, surgery planning data, a mechanical arm end bone cutting tool position, and the like.

[0074] S202, according to the three-dimensional image information, calculating relative position information between the mechanical arm end tool and the bone cutting safety boundary in the surgery area.

[0075] In the embodiment of the present application, the navigation acquired three-dimensional image information can be transmitted to the data processing unit in real time, and the data processing unit can receive and fuse these data to establish a three-dimensional model of the surgery area and determine the safety boundary of the patient's bone cutting, that is, the bone cutting safety boundary. In this process, the data processing unit can calculate the relative position information between the mechanical arm end tool and the bone cutting safety boundary in the surgery area according to the received three-dimensional image information, which represents the relative position of the surgery area and the mechanical arm end tool in the world coordinate system provided by the optical positioning system. Therefore, the relevant data processed by the data processing unit can be data acquired based on the same coordinate system, which helps the data processing unit to make unified calculation on the relevant data, without the need for coordinate conversion processing on different data, thereby reducing the complexity of data processing, improving the efficiency and timeliness of data processing, and also helping to improve the real-time performance of the subsequent control process.

[0076] In a possible implementation manner of the embodiment of the present application, as shown in Figure 3 the three-dimensional image information, calculating relative position information between the mechanical arm end tool and the bone cutting safety boundary in the surgery area can specifically include steps S2021-S2023 as follows:

[0077] S2021, determining a positional relationship between a tool end point corresponding to the mechanical arm end tool and the bone cutting safety boundary.

[0078] In the embodiment of the present application, the tool end point corresponding to the mechanical arm end tool can refer to a position point where the end tool is located in real time, and the positional relationship between the tool end point and the bone cutting safety boundary can include two cases that the tool end point is located on the bone cutting side of the bone cutting safety boundary or the tool end point is located on the non-bone cutting side of the bone cutting safety boundary.

[0079] In a possible implementation manner of the embodiment of the present application, the bone cutting safety boundary can be obtained by processing the three-dimensional image information acquired by the optical positioning system by the data processing unit, and the boundary can be composed of a boundary point set, which can include a plurality of position points, and the specific positions of these position points can be determined according to a preoperative planning scheme.

[0080] In one example, the set of boundary points can be represented as N3 = {P1, P2, P3, P4, P5, P6, P7…P}. n In this example, the osteotomy safety boundary consists of n location points.

[0081] In this embodiment of the application, in order to determine the positional relationship between the end tool point and the osteotomy safety boundary, the position points in the boundary point set N3 can be sorted in a clockwise direction first to determine the first position point P1 and the last position point P2. n Let P be the midpoint of the line connecting the two points. m .

[0082] like Figure 4 As shown, the data processing unit can take the first position point P1 and the last position point P of the sorted boundary point set N3. n The line segment p1p formed by connecting the lines n And determine the line segment p1p n midpoint P m It should be noted that, Figure 4 The example shown is only one instance of the boundary point set N3. The fifth position point P5 and the last position point P in the point set are not shown in the example. n The other locations between them.

[0083] In this embodiment of the application, the midpoint P can be used as a basis. m The calculated plane is coplanar with the plane containing each point in the boundary point set N3, and perpendicular to the plane formed by the first point P1 and the last point P2. n Vectors corresponding to the connecting lines The perpendicular vector, which can be denoted as .

[0084] Specifically, such as Figure 4 As shown, in the determined boundary point set N3, the first position point P1 and the last position point P n Midpoint P of the line m Then, the vector can be calculated. and The cross product of the two vectors yields the normal vector of the plane containing the point set N3. By calculating the normal vector sum vector The cross product yields a plane that is coplanar with the plane containing each point in the point set N3 and perpendicular to the vector. perpendicular vector

[0085] Based on this, such as Figure 5 As shown, the data processing unit can calculate the vector of the tool's end point and the aforementioned perpendicular vector. The angle θ between the vectors. The endpoint tool point can be represented as P. T The tool's end point vector can be represented as tool end point vector It can be the midpoint P mentioned above. m Point to tool end point P T A vector, the tool's end point vector With the aforementioned perpendicular vector The starting point is always the midpoint P. m .

[0086] In this embodiment of the application, if the included angle θ of the aforementioned vectors is an obtuse angle, then the tool end point P can be determined. T Located on the osteotomy side at the safe boundary of the osteotomy. For example, Figure 5 The upper side is shown in the diagram. If the included vector angle θ is acute, then the tool end point P can be determined. T The non-osteotomy side located at the safety boundary of the osteotomy. For example, Figure 5 The lower side is shown in the image.

[0087] In this embodiment of the application, when the tool end point P is determined T When located on the non-osteotomy side of the osteotomy safety boundary, the tool end point P can be represented. T The current location poses no safety risks, and the data processing unit can refrain from processing the current operation. When the tool endpoint P... T When located on the osteotomy side within the safety boundary of the osteotomy, the data processing unit can execute subsequent steps S2022-S2023 to further identify the tool end point P. T The specific location.

[0088] S2022. Based on the various position points in the boundary point set, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angle regions, and the target area where the tool end point is located in the multiple angle regions is determined.

[0089] In this embodiment of the application, when the tool end point P T When located on the osteotomy side of the osteotomy safety boundary, the data processing unit can divide the osteotomy area formed by the osteotomy safety boundary into multiple angular regions based on each location point in the boundary point set N3.

[0090] like Figure 6 As shown, each position point in the boundary point set N3 can be compared with the aforementioned midpoint P. m By connecting the vectors, n vectors are obtained, thus dividing the osteotomy region into segments such as... Figure 6 The n-1 angular regions are shown.

[0091] Based on this, the data processing unit can further determine the tool end point P. TThe target area located in multiple angular regions, that is, determining P. T Which specific region is it located within the n-1 angular regions obtained from the segmentation?

[0092] In one possible implementation of this application embodiment, each position point in the boundary point set N3 can be compared with the first position point P1 and the last position point P. n Midpoint P of the line m Connecting these points yields multiple position point vectors and multiple angular regions; any position point vector can be derived from the aforementioned midpoint P. m A vector pointing to a corresponding position point in the boundary point set N3. For example, the first position point vector could be formed by the midpoint P mentioned above. m The vector pointing to the first position point P1, i.e. By sequentially calculating the vector of each position point and the vector of the first position point... The angle between them can be used to determine the tool end point P based on the calculated angle. T The target area located in multiple angular regions.

[0093] Specifically, such as Figure 6 As shown, the data processing unit can sequentially calculate the n vectors and the first position point vector. The included angles {θ1, θ2, θ3, ..., θ} n},calculate and The included angle θ between them, and P is determined based on the size of the included angle. T The target area. For example, in Figure 7 China P T Located at points P1, P2 and P m The angular region that makes up the area.

[0094] S2023. By connecting the end point of the tool with each vertex of the target area to obtain multiple triangles, the relative position information is determined according to the area of ​​the multiple triangles obtained.

[0095] In this embodiment of the application, P can be determined based on the triangle area method. T Is it within the osteotomy area? For example... Figure 7 As shown, assume P T In the first angular region, that is Figure 7 The middle is composed of position points P1, P2 and P m Within the angular region formed, the tool end point P can be... T Connecting to each vertex of the target region yields multiple triangles. For example, P... T With P1, P2 and P respectively m Connect, and you will get something likeFigure 7 The multiple triangles shown.

[0096] The data processing unit can calculate the area of ​​the triangular region corresponding to the target region, as well as the area of ​​each of the two target triangles. Each target triangle is defined by the tool's end point P. T Midpoint P m It is formed by a vertex of the target region. If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, then the tool end point P can be determined. T Located inside the osteotomy area; if the area of ​​the area is less than the sum of the areas of the two triangles, then the tool end point P can be determined. T Located on the outer side of the osteotomy area.

[0097] Specifically, see Figure 7 The triangular region corresponding to the target region can be a triangle Δp1p2p m The area of ​​the region can be expressed as S = SΔp1p2p m The two target triangles can be Figure 7 triangle Δp T p1p m and Δp T p2p m The areas of the two target triangles can be expressed as S1 = SΔp. T p1p m and S1=SΔp T p2p m Therefore, when comparing area sizes, if S ≥ S1 + S2, then the tool end point P can be determined. T Located inside the osteotomy area; if S < S1 + S2, then the tool end point P can be determined. T Located lateral to the osteotomy area. For example, Figure 8 That is, the tool end point P T A specific example located outside the osteotomy area.

[0098] When the tool end point P is determined T When the end effector is located outside the osteotomy area, it can be considered that the end effector has crossed the osteotomy safety boundary, and the doctor should be promptly notified to move the end effector back inside the safety boundary.

[0099] S203. When it is determined, based on the relative position information, that the end effector of the robotic arm exceeds the osteotomy safety boundary, a control command is generated.

[0100] In the embodiments of the present application, when it is determined that the end tool of the robot arm is about to cross or has crossed the osteotomy safety boundary, the data processing unit can generate a corresponding control instruction for preventing the end tool from crossing the osteotomy safety boundary or prompting the doctor to control the robot arm device to move the tool end point P T of the end tool back into the osteotomy safety boundary.

[0101] In the embodiments of the present application, as shown in Figure 9 , when the tool end point P T is outside the osteotomy safety boundary, the data processing unit can calculate a normal vector perpendicular to a line segment of the osteotomy boundary in the target region, which can be obtained by connecting two position points P1 and P2 in the boundary point set N3 located in the target region. Therefore, Figure 9 , the line segment of the osteotomy boundary in the target region is the line segment P1P2. The normal vector perpendicular to the line segment P1P2 calculated is Figure 9 Then, the data processing unit can generate a control instruction based on the normal vector and transmit the control instruction to the robot arm device.

[0102] S204, transmitting the control instruction to the robot arm device; the robot arm device is configured to apply a force on the end tool of the robot arm according to the control instruction to prevent the end tool of the robot arm from crossing the osteotomy safety boundary.

[0103] In the embodiments of the present application, the control instruction generated by the data processing unit can be an instruction for the robot arm device to apply a force on the end tool, the force having a certain size and being in the same direction as the normal vector , so that the tool end point P T moves back into the osteotomy safety boundary.

[0104] In a possible implementation manner of the embodiments of the present application, the size of the force applied by the robot arm device on the end tool according to the control instruction can be 15-25 Newton. For example, a force having a size of 20 Newton and being in the same direction as the normal vector Figure 10 in the target region can be applied.

[0105] Figure 2 The steps S201-S204 shown in the above can be Figure 1 ​​The algorithm flow executed by the osteotomy control system in one complete control cycle. In order to ensure the real-time between the data acquisition of the optical positioning system and the data processing process of the data processing unit and the process of controlling the end tool by the mechanical arm device in response to the instruction, the frequency of the optical positioning system transmitting the three-dimensional image information to the data processing unit in one complete control cycle of the osteotomy control system can be less than and as close as possible to the frequency of the data processing unit transmitting the generated control instruction to the mechanical arm device.

[0106] It should be noted that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing introduction of the osteotomy control system in the embodiments of the present application, and the osteotomy control method based on the data processing unit can be mutually borrowed between each embodiment.

[0107] Reference Figure 10 , a schematic diagram of a computer-aided medical device provided by an embodiment of the present application is shown. As Figure 10 shown, the computer-aided medical device 1000 in the embodiment of the present application includes a processor 1010, a memory 1020, and a computer program 1021 stored in the memory 1020 and executable on the processor 1010. The processor 1010 implements the steps in each of the above osteotomy control method embodiments when executing the computer program 1021, such as Figure 2 steps S201 to S204. Alternatively, the processor 1010 implements the functions of the related modules or units in each of the above system embodiments when executing the computer program 1021, such as Figure 1 the function of the data processing unit 102.

[0108] For example, the computer program 1021 can be divided into one or more modules / units, which are stored in the memory 1020 and executed by the processor 1010 to complete the present application. The one or more modules / units can be a series of computer program instruction segments that can complete a specific function, which can be used to describe the execution process of the computer program 1021 in the computer-aided medical device 1000. For example, the computer program 1021 can be divided into an acquisition module, a calculation module, a generation module, and a transmission module, and the specific functions of each module are as follows:

[0109] The acquisition module is configured to acquire three-dimensional image information of a patient's surgical area and a mechanical arm end tool installed at the end of the mechanical arm device through an optical positioning system.

[0110] The computing module is configured to calculate relative position information between the end effector of the robot arm and the osteotomy safety boundary in the surgical region according to the three-dimensional image information.

[0111] The generating module is configured to generate a control instruction when it is determined that the end effector of the robot arm exceeds the osteotomy safety boundary according to the relative position information; the relative position information represents relative positions of the surgical region and the end effector of the robot arm in a world coordinate system provided by the optical positioning system.

[0112] The transmitting module is configured to transmit the control instruction to the robot arm device; the robot arm device is configured to apply a force on the end effector of the robot arm according to the control instruction to prevent the end effector of the robot arm from exceeding the osteotomy safety boundary.

[0113] The computer-aided medical device 1000 can be a data processing unit in the foregoing embodiments or a computer device capable of realizing the functions of the data processing unit. For example, the computer-aided medical device 1000 can be a desktop computer, a cloud server or other computing device. The computer-aided medical device 1000 can include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art can understand that, Figure 10 The computer-aided medical device 1000 is only an example and does not limit the computer-aided medical device 1000, which can include more or fewer components than shown, or combine some components, or include different components, for example, the computer-aided medical device 1000 can also include an input / output device, a network access device, a bus, etc.

[0114] The processor 1010 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0115] The memory 1020 can be an internal storage unit of the computer-aided medical device 1000, for example, a hard disk or a memory of the computer-aided medical device 1000. The memory 1020 can also be an external storage device of the computer-aided medical device 1000, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like equipped on the computer-aided medical device 1000. Further, the memory 1020 can include both an internal storage unit and an external storage device of the computer-aided medical device 1000. The memory 1020 is used to store the computer program 1021 and other programs and data required by the computer-aided medical device 1000. The memory 1020 can also be used to temporarily store data that has been output or is to be output.

[0116] The embodiments of the present application also disclose a computer device, which can be the computer-aided medical device. The computer device can include a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the computer program implements the osteotomy control method as described in the foregoing embodiments.

[0117] The embodiments of the present application also disclose a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the computer program implements the osteotomy control method as described in the foregoing embodiments.

[0118] The embodiments of the present application also disclose a computer program product, which includes a computer program, and when the computer program is executed on a computer, the computer program causes the computer to execute the osteotomy control method as described in the foregoing embodiments.

[0119] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit it. Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An osteotomy control system, characterized in that, The osteotomy control system includes a data processing unit, an optical positioning system, and a robotic arm device, which are respectively communicatively connected to the data processing unit; wherein: The optical positioning system is used to acquire three-dimensional image information of the patient's surgical area and the robotic arm end effector installed at the end of the robotic arm device, and transmit the three-dimensional image information to the data processing unit; The data processing unit is configured to calculate the relative position information between the robotic arm end-effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information, and generate a control command when it is determined that the robotic arm end-effector has exceeded the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system; The robotic arm device is used to receive the control command transmitted by the data processing unit, and apply a force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary; The osteotomy safety boundary is composed of a set of boundary points; the data processing unit is specifically used for: Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary, wherein the positional relationship includes the tool end point being located on the osteotomy side of the osteotomy safety boundary, or the tool end point being located on the non-osteotomy side of the osteotomy safety boundary; If the tool tip is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angular regions based on each position point in the boundary point set, and the target area where the tool tip is located in the multiple angular regions is determined. Multiple triangles are obtained by connecting the end point of the tool with each vertex of the target area, and the relative position information is determined based on the area of ​​the multiple triangles obtained.

2. The osteotomy control system according to claim 1, characterized in that, The frequency at which the optical positioning system transmits the three-dimensional image information to the data processing unit is less than the frequency at which the data processing unit transmits the generated control commands to the robotic arm device.

3. The osteotomy control system according to claim 1, characterized in that, Determining the positional relationship between the end point of the robotic arm's end-effector and the osteotomy safety boundary includes: Sort the points in the boundary point set in a clockwise direction and determine the midpoint of the line connecting the first and last points. Based on the midpoint, a perpendicular vector is calculated that is coplanar with the plane containing each position point in the boundary point set and perpendicular to the vector corresponding to the line connecting the first position point and the last position point. Calculate the angle between the tool end point vector and the perpendicular vector; the starting point of both the tool end point vector and the perpendicular vector is the midpoint, and the tool end point vector points from the midpoint to the tool end point; If the included angle of the vectors is an obtuse angle, then the end point of the tool is determined to be located on the osteotomy side of the osteotomy safety boundary; If the included angle of the vectors is acute, then the end point of the tool is determined to be located on the non-osteotomy side of the osteotomy safety boundary.

4. The osteotomy control system according to claim 1, characterized in that, The process of dividing the osteotomy area formed by the osteotomy safety boundary into multiple angular regions based on the various position points in the boundary point set, and determining the target area where the tool end point is located in the multiple angular regions, includes: Connect each position point in the boundary point set to the midpoint of the line connecting the first and last position points therein to obtain multiple position point vectors and multiple angle regions; any position point vector points from the midpoint to a corresponding position point in the boundary point set; The angle between each of the position point vectors and the first position point vector is calculated sequentially, and the target area where the tool end point is located in the multiple angle regions is determined according to the size of the angle; the first position point vector is the vector formed by the midpoint pointing to the first position point.

5. The osteotomy control system according to claim 4, characterized in that, Determining the relative position information based on the areas of the multiple triangles obtained includes: Calculate the area of ​​the triangular region corresponding to the target region and the area of ​​the two target triangles respectively. Each target triangle is composed of the tool end point, the midpoint and a vertex of the target region. If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, then the end point of the tool is determined to be located inside the osteotomy region; If the area of ​​the region is less than the sum of the areas of the two triangles, then the end point of the tool is determined to be located outside the osteotomy region.

6. The osteotomy control system according to claim 5, characterized in that, The data processing unit is further configured to: Calculate the normal vector perpendicular to the osteotomy boundary line segment in the target region, wherein the osteotomy boundary line segment is obtained by connecting two position points in the target region from the boundary point set; The control command is generated based on the normal vector and transmitted to the robotic arm device.

7. The osteotomy control system according to any one of claims 1-6, characterized in that, The force applied to the end effector by the robotic arm device according to the control command is 15-25 Newtons.

8. A computer-assisted medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer-assisted medical device performs the following method: Three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device is acquired through an optical positioning system. Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated; A control command is generated when the robotic arm end-effector crosses the osteotomy safety boundary based on the relative position information. The relative position information indicates the relative position of the surgical area and the robotic arm end effector in the world coordinate system provided by the optical positioning system; The control commands are transmitted to the robotic arm device; The robotic arm device is used to apply force to the end tool of the robotic arm according to the control command to prevent the end tool of the robotic arm from exceeding the osteotomy safety boundary; The osteotomy safety boundary is composed of a set of boundary points; the calculation of the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information includes: Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary, wherein the positional relationship includes the tool end point being located on the osteotomy side of the osteotomy safety boundary, or the tool end point being located on the non-osteotomy side of the osteotomy safety boundary; If the tool tip is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angular regions based on each position point in the boundary point set, and the target area where the tool tip is located in the multiple angular regions is determined. Multiple triangles are obtained by connecting the end point of the tool with each vertex of the target area, and the relative position information is determined based on the area of ​​the multiple triangles obtained.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is run, the following method is executed: Three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device is acquired through an optical positioning system. Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated; A control command is generated when the robotic arm end-effector crosses the osteotomy safety boundary based on the relative position information. The relative position information indicates the relative position of the surgical area and the robotic arm end effector in the world coordinate system provided by the optical positioning system; The control commands are transmitted to the robotic arm device; The robotic arm device is used to apply force to the end tool of the robotic arm according to the control command to prevent the end tool of the robotic arm from exceeding the osteotomy safety boundary; The osteotomy safety boundary is composed of a set of boundary points; the calculation of the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information includes: Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary, wherein the positional relationship includes the tool end point being located on the osteotomy side of the osteotomy safety boundary, or the tool end point being located on the non-osteotomy side of the osteotomy safety boundary; If the tool tip is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angular regions based on each position point in the boundary point set, and the target area where the tool tip is located in the multiple angular regions is determined. Multiple triangles are obtained by connecting the end point of the tool with each vertex of the target area, and the relative position information is determined based on the area of ​​the multiple triangles obtained.

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