Surgical registration method and device and surgical robot system

Abstract

The invention relates to a surgical registration method and device and a surgical robot system. The method comprises the steps of obtaining a three-dimensional image of a to-be-registered object and a registration point set planned in an image space of the three-dimensional image; acquiring physical space coordinates of a plurality of mark point sets of the to-be-registered object; wherein the mark point set is a point set in a preset area of each registration point; determining a physical space coordinate corresponding to each registration point according to the physical space coordinate of the mark point set corresponding to each registration point; and generating a registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set. According to the three-dimensional image of the to-be-registered object, the registration point is obtained, the mark point set is planned in the preset range where the registration point is located, the physical space coordinate of the registration point is determined according to the physical space coordinate of the mark point set, a probe does not need to be used for finding a corresponding coarse registration point on an actual bone, and the registration efficiency of the surgical robot system is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a surgical registration and alignment method, device and surgical robot system. Background Art

[0002] Surgical robot systems are increasingly being used in orthopedic surgery. Building a connection between the image space and the actual physical object through the registration process is one of the key steps for surgical robot systems to perform surgery. Registration is usually divided into two steps: coarse registration and fine registration. Coarse registration is to provide an initial value for fine registration to avoid falling into a local minimum solution. The accuracy and efficiency of registration are two important aspects in practical applications. The level of accuracy directly affects the surgical effect. Improved efficiency can reduce intraoperative exposure time and reduce the risk of infection on the one hand, and improve the doctor's experience on the other.

[0003] In the prior art, a coarse registration matrix is ​​generated by finding at least three groups of corresponding points on the image data and the actual physical object. Specifically, according to the prompts of the navigation interface, the probe is used to find the corresponding coarse registration points on the actual bone. These coarse registration points usually select some feature points with obvious markings, but for hip replacement surgery, the acetabulum is relatively deep, and finding the corresponding coarse registration points is very time-consuming and seriously affects the registration efficiency.

[0004] With regard to the problem of low registration efficiency of surgical robot systems in the prior art, no effective solution has been proposed so far. Summary of the invention

[0005] Based on this, it is necessary to provide a surgical registration and alignment method, device and surgical robot system to address the above-mentioned technical problems, so as to solve the problem of low alignment efficiency of the surgical robot system in related technologies.

[0006] In a first aspect, the present application provides a surgical registration method, the method comprising the following steps:

[0007] Acquire a three-dimensional image of the object to be registered and a registration point set planned in the image space of the three-dimensional image;

[0008] Acquire the physical space coordinates of a plurality of marking point sets of the object to be registered; wherein the marking point sets are point sets within a preset area of ​​each of the registration points;

[0009] Determine the physical space coordinates corresponding to each registration point according to the physical space coordinates of the marking point set corresponding to each registration point;

[0010] A registration matrix is ​​generated according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

[0011] In one of the embodiments, each registration point in the planned registration point set is determined according to a feature point of the object to be registered.

[0012] In one embodiment, the set of marking points is a set of points within a preset area of ​​each of the registration points, including:

[0013] The preset area is determined according to structural features of a preset range of the registration point on the object to be registered.

[0014] In one of the embodiments, the registration point is located at the center or centroid of the preset area; and a plurality of marking points corresponding to the registration point are non-randomly scattered in the preset area.

[0015] In one embodiment, the plurality of marking points are non-randomly distributed in the preset area, including:

[0016] The multiple marking points constitute a marking point set corresponding to the registration point; and the multiple marking points are scattered in the preset area; the marking point set can be fitted into a geometric figure or the multiple marking points of the marking point set are scattered in an array.

[0017] In one embodiment, when the preset area is circular or substantially circular, the geometric figure is at least one of a ring shape and a cross shape;

[0018] When the preset area is in an arc shape or a strip shape, the geometric figure is in at least one of an arc shape and a straight line shape.

[0019] In one embodiment, after generating a registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set, the method further comprises:

[0020] The registration matrix is ​​verified to obtain a verification result.

[0021] In one embodiment, verifying the registration matrix to obtain a verification result comprises the following steps:

[0022] Acquire the image space coordinates of the verification points planned on the three-dimensional image of the object to be registered;

[0023] Calculate the theoretical physical space coordinates corresponding to the image space coordinates of the verification point according to the registration matrix;

[0024] Acquire the actual physical space coordinates of the verification points planned on the three-dimensional image of the object to be registered;

[0025] Determine the deviation between the theoretical physical space coordinates of the verification point and the actual physical space coordinates of the verification point and compare it with a preset threshold;

[0026] If the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

[0027] In one embodiment, verifying the registration matrix to obtain a verification result comprises the following steps:

[0028] Acquire the physical space coordinates of the verification points planned on the three-dimensional image of the object to be registered;

[0029] Calculate the actual image space coordinates corresponding to the physical space coordinates of the verification point according to the registration matrix;

[0030] Acquire the image space coordinates of the verification points planned on the three-dimensional image of the object to be registered;

[0031] Determine the deviation between the actual image space coordinates of the verification point and the image space coordinates of the verification point and compare it with a preset threshold;

[0032] If the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

[0033] In one embodiment, the method further comprises:

[0034] If the verification result is failed, the verification point is used as a supplementary marking point and the marking point set is updated;

[0035] Updating the physical space coordinates corresponding to each of the registration points according to the updated set of marking points;

[0036] A coarse registration matrix is ​​generated according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

[0037] The fine registration matrix is ​​regenerated according to the initial value provided by the coarse registration matrix, the physical space coordinates of the verification point and the physical space coordinates of the marking point.

[0038] In a second aspect, the present application further provides a registration device for a surgical robot system, the device comprising: a first acquisition module, a second acquisition module, a determination module, and a generation module;

[0039] The first acquisition module is used to acquire a three-dimensional image of the object to be registered and a registration point set planned in the image space of the three-dimensional image;

[0040] The second acquisition module is used to acquire the physical space coordinates of a plurality of marking point sets of the object to be registered; wherein the marking point sets are point sets within a preset area of ​​each of the registration points;

[0041] The determination module is used to determine the physical space coordinates corresponding to each of the registration points according to the physical space coordinates of the marking point set corresponding to each of the registration points;

[0042] The generating module is used to generate a registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

[0043] In a third aspect, the present application also provides a surgical robot system, the system comprising an image display system and a control system;

[0044] The image display system is used to display and update the three-dimensional image of the physical object in real time;

[0045] The control system is used to implement the steps of the method described in the first aspect above.

[0046] The above-mentioned registration method, device and surgical robot system of the surgical robot system obtain the registration points based on the three-dimensional image of the object to be registered, plan a set of marking points within a preset range where the registration points are located, and determine the physical space coordinates of the registration points based on the physical space coordinates of the marking point set. There is no need to use a probe to find the corresponding coarse registration points on the actual bones, which effectively improves the registration efficiency of the surgical robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0048] Figure 1 A hardware structure block diagram of a terminal of a surgical registration and alignment method according to an embodiment;

[0049] Figure 2 A schematic diagram of a process flow of a surgical registration and alignment method according to an embodiment;

[0050] Figure 3 The figure is a flowchart of an orthopedic surgery registration and alignment method according to an embodiment;

[0051] Figure 4 A schematic diagram of a registration probe collecting marker points distributed in a circular shape on the inner wall of the acetabulum according to an embodiment;

[0052] Figure 5A schematic diagram of a registration probe collecting marker points scattered in a horseshoe fossa in a cross shape in one embodiment;

[0053] Figure 6 It is a schematic diagram of the registration probe collecting the marking points scattered on the edge of the acetabulum in an arc shape in one embodiment;

[0054] Figure 7 A schematic diagram of a verification point according to an embodiment;

[0055] Figure 8 is a structural block diagram of a registration device for a surgical robot system according to an embodiment;

[0056] Fig. 9 is a structural block diagram of a surgical robot system according to an embodiment;

[0057] Fig.10 The figure is a diagram of the internal structure of a computer device according to an embodiment. DETAILED DESCRIPTION

[0058] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0059] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0060] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a hardware structure diagram of a terminal of a surgical registration and alignment method according to an embodiment of the present application. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0061] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the surgical registration and alignment method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0062] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0063] In one embodiment, Figure 2 As shown, a surgical registration method is provided, which is applied to Figure 1It is understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server.

[0064] In this embodiment, the method includes the following steps:

[0065] Step S201 : obtaining a three-dimensional image of an object to be registered and a registration point set planned in the image space of the three-dimensional image.

[0066] The three-dimensional image is obtained by scanning the object to be registered with a three-dimensional scanning device. The registration points are obtained according to the physiological structure of the object to be registered in the image space, and the registration point set is the set of all the registration points in the image space of the three-dimensional image. Exemplarily, the object to be registered is scanned by a three-dimensional scanning device to obtain a three-dimensional image of the object to be registered. At least one registration point is planned according to the structural features of the three-dimensional image, and a registration point set is obtained.

[0067] Step S202, obtaining the physical space coordinates of a plurality of marking point sets of the object to be registered; wherein the marking point set is a point set within a preset area of ​​each registration point.

[0068] Among them, the physical space coordinates are the coordinates of the marker point set in the object space coordinate system. The preset area is the area containing the registration point, and the preset area and the registration point correspond one to one. The marker point is located in the preset area and does not overlap with the registration point. The marker point set and the registration point correspond one to one, and there is a known positional relationship between each marker point in the marker point set and the corresponding registration point.

[0069] Exemplarily, according to the position of a certain registration point in the registration point set, a preset area containing the registration point is planned in the image space of the three-dimensional image. In the preset area, multiple marking points are planned around the registration point to obtain a marking point set corresponding to the registration point and the physical space coordinates of the marking point set. Subsequently, according to the position of another registration point in the registration point set, a marking point set of another registration point and the physical space coordinates of the marking point set are obtained. Repeat the above steps until the marking point set of each registration point in the registration point set is obtained.

[0070] Step S203: determining the physical space coordinates corresponding to each registration point according to the physical space coordinates of the marking point set corresponding to each registration point.

[0071] Because there is a known positional relationship between the marker point and the registration point, the physical space coordinates of the registration point can be determined based on the physical space coordinates of multiple marker points in the marker point set. Exemplarily, the registration point planned in step S201 is the first registration point; the corresponding planned registration point set is the first registration point set. In step S203, the registration point determined based on the marker point set is the second registration point, and the corresponding registration point set consisting of multiple registration points is the second registration point set.

[0072] Step S204: generating a registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

[0073] Among them, the image space coordinates are the coordinate system in the three-dimensional image space. According to the projection relationship between the object space and the three-dimensional image space, a transformation relationship can be obtained. Optionally, according to the transformation relationship, the physical space coordinates of the registration point set on the three-dimensional image are converted into the image space coordinate system to obtain the image space coordinates of the registration point set on the three-dimensional image, and according to the image space coordinate set of the registration point set on the three-dimensional image, a registration matrix is ​​obtained.

[0074] In the surgical registration and alignment method of the present embodiment, the alignment points are obtained based on the three-dimensional image of the object to be aligned, a marking point set is planned within a preset range where the alignment points are located, and the physical space coordinates of the marking point set are determined based on the physical space coordinates of the marking point set. There is no need to use a probe to find the corresponding coarse alignment points on the actual bones, thereby effectively improving the alignment efficiency of the surgical robot system.

[0075] In one of the embodiments, each registration point in the planned registration point set is determined according to the feature points of the object to be registered. The feature points refer to the feature points of the physiological structure of the object to be registered. Taking the acetabulum of the human body as an example, the feature points of the object to be registered may be the inner wall of the acetabulum and the horseshoe fossa of the acetabulum. Exemplarily, the feature points of the physiological structure of the object to be registered are determined according to the three-dimensional image of the object to be registered. According to multiple feature points of the object to be registered, registration points corresponding to each feature point are planned in the image space of the three-dimensional image, and the registration point set is composed of multiple planned registration points. Optionally, a registration point mark pattern can be generated in the image space of the three-dimensional image to indicate the location of the registration point to the user.

[0076] In one embodiment, the set of marking points is a set of points within a preset area of ​​each registration point, including: determining the preset area according to the structural features of the preset range of the corresponding registration point on the object to be registered. The structural features include the characteristics of the physiological structure to which the registration point belongs, such as protrusion, depression, etc., and the preset area is generated around the registration point according to the structural features. Optionally, according to the preset area, a mark is generated in the image space of the three-dimensional image to indicate the location of the preset area.

[0077] In one embodiment, the registration point is located at the center or centroid of a preset area; a plurality of marking points corresponding to the registration point are non-randomly scattered in the preset area. There is a correlation between the scattered positions of the marking points and the positions of the registration points. By scattering the marking points in the preset area in a non-random manner, the positional relationship between the marking points and the registration points can be determined, so that it is possible to calibrate the registration points according to the collection positions of the marking points.

[0078] In one embodiment, a plurality of marking points are non-randomly scattered in a preset area, including: a plurality of marking points constitute a marking point set corresponding to a registration point; and a plurality of marking points are scattered in a preset area; the marking point set can be fitted into a geometric figure, or a plurality of marking points of the marking point set are scattered in an array. Among them, the geometric figure includes a ring, an arc, a circle, a superposition of a plurality of geometric figures, and the like. If a plurality of marking points are scattered in a preset area in a geometric figure, the positional relationship between the marking point and the registration point can be obtained according to the shape characteristics of the geometric figure. If a plurality of marking points are scattered in an array in a preset area, the positional relationship between the marking point and the registration point can be obtained according to the array characteristics. A plurality of marking points are dispersed in a preset area and arranged in a specific manner to form a specific geometric figure. For example, for a preset area that is roughly circular, a plurality of marking points can be scattered in a ring (a plurality of marking points are evenly arranged along the circumference), or they can form a regular polygon (each marking point is each vertex of the regular polygon).

[0079] In one embodiment, when the preset area is circular or substantially circular, the geometric figure is at least one of a ring and a cross; when the preset area is arc-shaped or a strip-shaped, the geometric figure is at least one of an arc-shaped or a straight line.

[0080] According to the shape characteristics of the preset area, the shape formed by multiple marking points in the preset area is planned. Optionally, when the preset area is circular or roughly circular: when the shape formed by the marking points corresponding to the registration points is circular, the centroid coordinates of the circle are calculated based on the physical space coordinates of the marking points corresponding to the registration points, and the centroid coordinates are used as the physical space coordinates of the corresponding registration points; when the shape formed by the marking points corresponding to the registration points is a cross shape, the intersection is used as the physical space coordinates of the registration points; or the shape of the marking points corresponding to the registration points can be set to a combination of a circle and a cross shape. It can be understood that since the shape of the preset area is sometimes not a regular circle, the roughly circular shape includes an ellipse, a heart shape, etc., and the specific shape selected is set according to the shape characteristics of the physiological structure of the preset area. The cross shape includes a cross shape (X shape), a Y shape, a star shape (* shape), a rice shape, etc. In the cross shape, at least one marking point is at the center intersection, and multiple marking points are respectively at the ends of each fork. For example, in a cross shape, at least 5 marking points are included, at least 1 marking point is at the intersection, and the remaining at least 4 marking points are respectively at the ends of four forks; in addition, at least 1 marking point can also be planned on each forked path.

[0081] When the preset area is an arc or a strip: when the shape of the mark point corresponding to the registration point is an arc, the physical space coordinates of the mark point corresponding to the registration point are fitted with an arc, and the center coordinates of the fitted arc are used as the physical space coordinates of the corresponding registration point; when the shape formed by the mark point corresponding to the registration point is a straight line, the center coordinates of the line segment are used as the physical space coordinates of the corresponding registration point; it can also be set to a combination of an arc and a straight line.

[0082] In one embodiment, after generating the registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set, the method further includes: verifying the registration matrix to obtain a verification result.

[0083] Among them, verifying the registration matrix includes: determining whether the relationship between the three-dimensional image space position and the physical space position of at least one verification point in the object to be registered conforms to the positional relationship indicated by the registration matrix. The verification point coordinates can be planned on the three-dimensional image, and the verification point can be collected in the actual physical space to determine whether the planned coordinates and the collected coordinates correspond. The verification point coordinates can also be planned in the actual physical space, and the verification point can be collected in the actual image space to determine whether the planned coordinates and the collected coordinates correspond.

[0084] In one of the embodiments, verifying the registration matrix and obtaining the verification result includes the following steps: obtaining the image space coordinates of the verification point planned on the three-dimensional image of the object to be registered; calculating the theoretical physical space coordinates corresponding to the image space coordinates of the verification point according to the registration matrix; obtaining the actual physical space coordinates of the verification point planned on the three-dimensional image of the object to be registered; determining the deviation between the theoretical physical space coordinates of the verification point and the actual physical space coordinates of the verification point and comparing it with a preset threshold; if the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

[0085] Among them, the image space coordinates are the coordinates planned on the three-dimensional image. The theoretical physical space coordinates are the coordinates obtained after converting the image space coordinates to the physical space according to the registration matrix. The actual physical space coordinates are the coordinates obtained by collecting the verification points according to the image space coordinates.

[0086] Optionally, obtaining the coordinates in the actual physical space includes: determining, based on the displayed three-dimensional image, whether the position where the probe pokes on the physical object to be registered corresponds to the position of the marker on the three-dimensional image. If so, obtaining the coordinates in the actual physical space by positioning the position where the probe pokes.

[0087] Exemplarily, at least one verification point is planned on the three-dimensional image, and the planned image space coordinates are obtained. The image space coordinates are converted into the physical space according to the registration matrix to obtain the theoretical physical space coordinates. The probe is controlled to collect the marking points according to the image space coordinates. When the position where the probe pokes on the physical object to be registered corresponds to the position of the marking point on the three-dimensional image, the actual physical space coordinates are obtained by positioning. The deviation value is calculated based on the actual physical space coordinates and the theoretical physical space coordinates.

[0088] In one of the embodiments, verifying the registration matrix and obtaining the verification result includes the following steps: obtaining the physical space coordinates of the verification point planned on the three-dimensional image of the object to be registered; calculating the actual image space coordinates corresponding to the physical space coordinates of the verification point according to the registration matrix; obtaining the image space coordinates of the verification point planned on the three-dimensional image of the object to be registered; determining the deviation between the actual image space coordinates of the verification point and the image space coordinates of the verification point and comparing it with a preset threshold; if the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

[0089] Among them, the physical space coordinates are the coordinates of the verification points planned in the physical space. The actual image space coordinates are the coordinates obtained after converting the physical space coordinates to the image space according to the registration matrix. The image space coordinates of the verification point are the image space coordinates obtained by positioning when collecting the verification point according to the physical space coordinates.

[0090] Exemplarily, at least one verification point is planned in the physical space, and the planned physical space coordinates are obtained. The physical space coordinates are converted into the image space according to the registration matrix to obtain the actual image space coordinates. The probe is controlled to collect the marking point, and when the position of the probe tip corresponds to the physical space coordinates, the collected image space coordinates are located. The deviation value is calculated based on the actual image space coordinates and the image space coordinates, and the deviation value is compared with a preset threshold.

[0091] In one embodiment, the method further includes: if the verification result is not passed, the verification point is used as a supplementary marking point and the marking point set is updated; the physical space coordinates corresponding to each registration point are updated according to the updated marking point set; a coarse registration matrix is ​​generated according to the image space coordinates of the registration point set on the three-dimensional image and the transformation relationship between the physical space coordinates of the registration point set; and a fine registration matrix is ​​regenerated according to the initial value provided by the coarse registration matrix, the physical space coordinates of the verification point, and the physical space coordinates of the marking point. Among them, the verification point is used to verify whether the marking point is accurate and is obtained by acquisition. A new marking point set and a corresponding new registration matrix are obtained according to the verification point. If the verification result of the new registration matrix is ​​passed, the new registration matrix is ​​used as the coarse registration matrix. On the basis of the coarse registration matrix, the fine registration matrix is ​​obtained according to the physical space coordinates of the verification point and the physical space coordinates of the marking point by iteratively following the registration algorithm. Optionally, the registration algorithm can be an ICP registration algorithm or other algorithms, which are not limited here. If the verification result of the new registration matrix is ​​not passed, the registration matrix is ​​updated according to the new verification point until the updated registration matrix passes the verification.

[0092] In one embodiment, Figure 3 As shown in FIG. , a flowchart of an orthopedic surgery registration and alignment method is provided. Figure 3 As shown, the following steps are included:

[0093] Step S301, placing the patient in the planned position, implanting the registration array and the verification screw. The patient can be used as the object to be registered, or the part of the patient to be registered can be used as the object to be registered. The planned position is the position of the patient during the operation, which is planned according to the part of the patient to be operated on, so that the part of the patient to be operated on can obtain good surgical field exposure. Taking hip joint surgery as an example, the hip joint includes a left hip joint and a right hip joint, and the left hip joint and the right hip joint correspond to different patient positions respectively. The registration array is rigidly linked to the patient entity and is used to locate the patient's position. The verification screw is used to determine whether the registration array moves relative to each other. If the registration array moves relative to each other, it affects the positioning accuracy, and then the subsequent registration and registration accuracy of the image. Optionally, before the operation, the position of the verification screw is obtained on the affected part entity by a probe to determine the relative position of the verification screw and the registration array. During the operation, the position of the verification screw is found on the affected part entity again with the probe, and by determining whether the relative position of the verification screw and the registration array changes, it is determined whether the registration array moves relative to each other during the operation.

[0094] Step S302, adjust the optical tracking device to a suitable position, and use the probe to calibrate the calibration screw. The screw position is collected twice, the first position collection is used to record the position of the calibration screw relative to the registration array, and the second position collection is used to complete the calibration of the calibration screw position.

[0095] Step S303, according to the registration point position and the marker point position prompted by the software interface, the marker points are collected within the dotted line boundary until the specified number of points are collected. The registration point position and the marker point position can be marked with different identifiers on the software interface, such as indicating the registration point position and the marker point position with points of different colors. The dotted line boundary is used to indicate the position of the preset area.

[0096] Among them, one registration point corresponds to multiple marker points, and the multiple marker points are non-randomly scattered in the preset area, and the multiple marker points surround the corresponding registration point. The distribution of the marker points can be a ring shape, or a cross shape, or other shapes that meet the two conditions of being in the preset area and surrounding the registration point, or a superposition of the above shapes. The number of marker points can be planned according to user needs. It should be known that the more the number of marker points, the higher the accuracy of the registration. Correspondingly, as the number of marker points increases, the acquisition time will increase.

[0097] The preset area is associated with the features of the patient's part to be registered. Taking the acetabulum as an example, the preset area can be the horseshoe fossa of the inner wall of the acetabulum, or the acetabulum edge and the horseshoe fossa edge.

[0098] Figure 4 is a schematic diagram of the registration probe of this embodiment collecting marking points scattered in a ring shape on the inner wall of the mortal fossa;

[0099] Figure 5 is a schematic diagram of the registration probe collecting marker points scattered in the horseshoe fossa in a cross shape in this embodiment;

[0100] Figure 6 1 is a schematic diagram of the registration probe in this embodiment collecting the marking points scattered on the edge of the acetabulum in an arc shape, wherein 1 is the registration point, 2 is the marking point, 3 is the acetabulum, and 4 is the registration probe.

[0101] Step S304, based on the collected landmark points in step S303, generate the physical space coordinates of the corresponding registration points, obtain a coarse registration matrix based on the registration clicks, and iterate the coarse registration matrix to obtain a fine registration matrix. If the preset area corresponding to the registration point is a circle, the centroid of the area point can be taken as the coarse registration point; if the preset area corresponding to the registration point is an arc, an arc can be fitted, and the center of the arc is taken as the coarse registration point. Optionally, a coarse registration matrix is ​​generated based on the physical space coordinates of the collected landmark points, and the generation method can adopt the SVD decomposition method. According to the initial value provided by the coarse registration matrix, the fine registration matrix is ​​obtained through algorithm iteration, and the iterative algorithm can adopt the ICP registration and registration algorithm.

[0102] Step S305, collect verification points and determine whether the verification points have passed the verification. If all verification points have passed the verification, the registration is completed; if there are verification points that have not passed the verification, execute step S306. Figure 7 : is a schematic diagram of verification points in this embodiment. In the figure, number 5 indicates a verification point. The verification point is used to indicate the approximate area of ​​collection. The number of verification points is set according to user needs, and the number can be 3, 4 or more.

[0103] Wherein, judging whether the verification point meets the verification requirements includes: generating the verification point and the image space coordinates of the verification point in the three-dimensional image. According to the registration matrix, the image space coordinates of the verification point are converted to obtain the theoretical physical space coordinates of the verification point. Based on the three-dimensional image, the verification point is collected by registering the probe so that the position where the probe pokes on the patient entity corresponds to the position of the marking point on the three-dimensional image. When the probe reaches the position where the theoretical physical space coordinates of the verification point are located, the distance between the probe tip and the bone surface is obtained. The distance between the probe tip and the bone surface is used as the deviation between the theoretical physical space coordinates of the verification point and the actual physical space coordinates of the verification point. Judging whether the distance between the probe and the bone surface of the object to be registered meets the verification standard. If the distance between the probe tip and the bone surface when the probe clicks on the bone surface is 0, it is judged that there is no error in the registration matrix. If the distance from the probe tip to the bone surface is not 0, it is judged whether the distance is lower than the preset threshold. If the distance is lower than the threshold, it is considered that the registration matrix meets the verification standard. Wherein, the preset threshold can generally be set to 1mm, or it can be set to other values. The lower the threshold setting, the higher the accuracy of the detection. The higher the threshold, the greater the possibility of misjudgment.

[0104] Step S306, replacing the landmark points that have not passed the verification with the collected verification points, generating a new registration matrix, and executing step S305.

[0105] Among them, in a special scenario, the error of the new registration matrix is ​​still large, and the algorithm may fall into a local minimum solution. You can use the random consistency sampling algorithm to randomly select the collected landmarks in each area as registration points, or you can manually adjust the position of the planned registration points to obtain new registration points, and calculate the registration matrix based on the new registration points.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a registration device for implementing the surgical registration and registration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the registration device embodiment provided below can refer to the limitations of the surgical registration and registration method above, and will not be repeated here.

[0107] In one embodiment, the present application also provides a registration device for a surgical robot system, such as Figure 8 As shown, the device includes: a first acquisition module, a second acquisition module, a determination module and a generation module.

[0108] The first acquisition module is used to acquire the three-dimensional image of the object to be registered and the registration point set planned in the image space of the three-dimensional image; the second acquisition module is used to acquire the physical space coordinates of multiple marking point sets of the object to be registered; wherein the marking point set is a point set within a preset area of ​​each registration point; the determination module is used to determine the physical space coordinates corresponding to each registration point based on the physical space coordinates of the marking point set corresponding to each registration point; the generation module is used to generate a registration matrix based on the image space coordinates of the registration point set on the three-dimensional image and the transformation relationship between the physical space coordinates of the registration point set.

[0109] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0110] In one embodiment, a surgical robot system is also provided. Fig.10 As shown, the system includes an image display system and a control system; the image display system is used to display and update the three-dimensional image of the physical object in real time; the control system is used to implement the steps in the above-mentioned method embodiments.

[0111] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the registration matrix and information related to the registration matrix. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the surgical registration method in the above method embodiment is implemented.

[0112] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a surgical registration and alignment method is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball, or touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0113] Those skilled in the art will understand that Fig.10 The structure shown is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0115] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0116] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0117] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0118] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0119] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A surgical registration method, characterized in that: The method comprises the following steps: Acquire a three-dimensional image of the object to be registered and a registration point set planned in the image space of the three-dimensional image; Acquire the physical space coordinates of a plurality of marking point sets of the object to be registered; wherein the marking point sets are point sets within a preset area of ​​each of the registration points; Determine the physical space coordinates corresponding to each registration point according to the physical space coordinates of the marking point set corresponding to each registration point; A registration matrix is ​​generated according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

2. The surgical registration method according to claim 1, characterized in that: Each registration point in the planned registration point set is determined according to a feature point of the object to be registered.

3. The surgical registration method according to claim 1, characterized in that: The marking point set is a point set within a preset area of ​​each registration point, including: The preset area is determined according to structural features of a preset range of the registration point on the object to be registered.

4. The surgical registration method according to claim 1, characterized in that: The registration point is located at the center or centroid of the preset area; and a plurality of marking points corresponding to the registration point are non-randomly scattered in the preset area.

5. The surgical registration method according to claim 4, characterized in that: The plurality of marking points are non-randomly distributed in the preset area, including: The multiple marking points constitute a marking point set corresponding to the registration point; and the multiple marking points are scattered in the preset area; the marking point set can be fitted into a geometric figure or the multiple marking points of the marking point set are scattered in an array.

6. The surgical registration method according to claim 5, characterized in that: When the preset area is circular or substantially circular, the geometric figure is at least one of a ring shape and a cross shape; When the preset area is in an arc shape or a strip shape, the geometric figure is in at least one of an arc shape and a straight line shape.

7. The surgical registration method according to claim 1, characterized in that: After generating a registration matrix according to the image space coordinates of the registration point set on the three-dimensional image and the transformation relationship between the physical space coordinates of the registration point set, the method further includes: The registration matrix is ​​verified to obtain a verification result.

8. The surgical registration method according to claim 7, characterized in that: Verifying the registration matrix to obtain a verification result includes the following steps: Acquire the image space coordinates of the verification points planned on the three-dimensional image of the object to be registered; Calculate the theoretical physical space coordinates corresponding to the image space coordinates of the verification point according to the registration matrix; Acquire the actual physical space coordinates of the verification points planned on the three-dimensional image of the object to be registered; Determine the deviation between the theoretical physical space coordinates of the verification point and the actual physical space coordinates of the verification point and compare it with a preset threshold; If the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

9. The surgical registration method according to claim 7, characterized in that: Verifying the registration matrix to obtain a verification result includes the following steps: Acquire the physical space coordinates of the verification points planned on the three-dimensional image of the object to be registered; Calculate the actual image space coordinates corresponding to the physical space coordinates of the verification point according to the registration matrix; Acquire the image space coordinates of the verification points planned on the three-dimensional image of the object to be registered; Determine the deviation between the actual image space coordinates of the verification point and the image space coordinates of the verification point and compare it with a preset threshold; If the deviation is less than the preset threshold, the verification passes; if the deviation is not less than the preset threshold, the verification fails.

10. The surgical registration method according to claim 8 or 9, characterized in that: The method further comprises: If the verification result is failed, the verification point is used as a supplementary marking point and the marking point set is updated; Updating the physical space coordinates corresponding to each of the registration points according to the updated set of marking points; Generate a coarse registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set; The fine registration matrix is ​​regenerated according to the initial value provided by the coarse registration matrix, the physical space coordinates of the verification point and the physical space coordinates of the marking point.

11. A surgical registration device, characterized in that: The device comprises: a first acquisition module, a second acquisition module, a determination module and a generation module; The first acquisition module is used to acquire a three-dimensional image of the object to be registered and a registration point set planned in the image space of the three-dimensional image; The second acquisition module is used to acquire the physical space coordinates of a plurality of marking point sets of the object to be registered; wherein the marking point sets are point sets within a preset area of ​​each of the registration points; The determination module is used to determine the physical space coordinates corresponding to each of the registration points according to the physical space coordinates of the marking point set corresponding to each of the registration points; The generating module is used to generate a registration matrix according to the transformation relationship between the image space coordinates of the registration point set on the three-dimensional image and the physical space coordinates of the registration point set.

12. A surgical robot system, characterized in that: The system includes an image display system and a control system; The image display system is used to display and update the three-dimensional image of the physical object in real time; The control system is used to implement the steps of the method according to any one of claims 1 to 10.

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