Positioning precision detection system and positioning precision detection method

Abstract

The invention provides a positioning precision detection system and a positioning precision detection method, which can detect the positioning precision of a surgical robot in real time. The positioning precision detection system (1) comprises an adapter phantom (3), a plurality of detection probes (4), a test tool body (2) and a control device (5), before a simulated operation is carried out, medical three-dimensional image data of the adapter phantom are obtained, an operation plan is made, the adapter phantom is installed on the test tool body and is registered with the medical three-dimensional image data, and the detection probes (4) are used for detecting the positioning precision of the test tool body (2). When the simulation operation is carried out, the adaptive phantom is detached from the testing tool body, the surgical robot carries out the simulation operation in the space through the surgical instrument according to the surgical planning, and the reference spatial position is the spatial position obtained by converting the spatial position, specified in the surgical planning, of the surgical instrument after registration.

Description

TECHNICAL FIELD

[0001] The present application relates to a positioning accuracy detection system and a positioning accuracy detection method for detecting the positioning accuracy of a surgical robot. BACKGROUND

[0002] With the development of surgical equipment assisted by robot technology, surgical robot equipment is now also increasingly common in surgery. In particular, in orthopedics, the development of orthopedic surgical robot equipment is relatively faster.

[0003] A general orthopedic surgical robot is composed of a tracking device, a mechanical arm, and a control system with a computer as the core. Before surgery, through medical images such as CT and MRI of the patient, the patient's bone model data is established through image segmentation, reconstruction, and other processes. Through the three-dimensional model of the bone, preoperative surgical planning is performed, and the prosthesis or implant is simulated to be placed in the appropriate position of the patient through three-dimensional simulation. The mechanical arm tracks the tracking element rigidly connected to the patient's bone through the tracking device during surgery, accurately positions the pre-planned prosthesis or implant, and completes the precise surgery through the end tool. Therefore, the surgical accuracy in the surgery completed by using the orthopedic surgical robot depends largely on the system positioning accuracy.

[0004] System positioning accuracy testing runs through the whole life cycle of production, installation, and maintenance of the surgical robot. The current system positioning accuracy detection method generally uses a three-coordinate instrument to detect the spatial position. In Chinese Patent CN114571507B, a surgical robot end tool error detection method and device are disclosed, wherein the end tool error detection method comprises: acquiring a theoretical coordinate model of an assembly body and a theoretical coordinate of a reference point at the front end of a surgical tool, wherein the assembly body includes an end holder of an orthopedic surgical robot fixed to a detection machine base and the surgical tool; detecting the assembly body through a three-coordinate instrument, establishing a detection coordinate system for the end holder in the theoretical coordinate model based on the detection result of the three-coordinate instrument, and determining the detection coordinate of the reference point in the detection coordinate system; and determining the spatial error value of the reference point based on the determined detection coordinate of the reference point and the theoretical coordinate of the reference point.

[0005] The prior art represented by the above-mentioned Chinese patent uses a three-coordinate instrument to detect the position of the surgical tool, which can verify the dimensional accuracy and positional accuracy of the surgical tool, and ensure the efficiency of the detection and reduce the detection error.

[0006] In addition, in order to verify the dimensional accuracy and positional accuracy of the surgical tool, a special verification tool corresponding to each indication is generally used, and such a special verification tool has low universality. Moreover, for different special verification tools, different system accuracy detection programs need to be set to perform different registration processes. SUMMARY

[0007] As described above, the special verification tool corresponding to the indication is not high in universality, and different system accuracy detection programs need to be set for different special verification tools to perform different registration processes.

[0008] The prior art uses a three-coordinate instrument for detection, which cannot autonomously complete the detection function and must rely on the three-coordinate instrument to complete the dotting and detection process, which is complicated, and the three-coordinate instrument has high cost and high maintenance condition. The coordinate value detected by the three-coordinate instrument is a static coordinate value, which cannot detect the dynamic positioning accuracy of the surgical instrument (system end tool).

[0009] Although the prior art can ensure the detection efficiency and reduce the detection error to a certain extent, there is still room for further improving the detection efficiency and reducing the detection error.

[0010] To solve the above technical problems, the present application provides a positioning accuracy detection system for detecting the positioning accuracy of a surgical robot, which comprises: an adapter model for the surgical robot to perform a simulated surgery for detecting the positioning accuracy of the surgical robot; a plurality of detection probes for detecting the actual spatial position of the surgical instrument when the surgical robot performs the simulated surgery with the surgical instrument; a test tool body capable of mounting the adapter model and the plurality of detection probes; and a control device for controlling the plurality of detection probes to detect the actual spatial position and calculating the error between the actual spatial position and a reference spatial position of the surgical instrument as the positioning accuracy of the surgical robot using the detected actual spatial position. Before performing the simulated surgery, medical three-dimensional image data of the adapter model is acquired and a surgical plan is made, the adapter model is mounted on the test tool body to acquire the coordinate axes of the actual space, and the coordinate axes of the medical three-dimensional image data are registered with the coordinate axes of the actual space. When performing the simulated surgery, the adapter model is removed from the test tool body, and the surgical robot performs the simulated surgery in space with the surgical instrument according to the surgical plan, wherein the reference spatial position is a spatial position obtained by converting the spatial position of the surgical instrument specified in the surgical plan after registration.

[0011] By using the control device of the present application to control the plurality of detection probes to detect the actual spatial position of the surgical instrument when the surgical robot performs the simulated surgery, the actual spatial position can be obtained at any time, solving the problem that the three-coordinate instrument cannot autonomously complete the detection function and cannot dynamically detect in the prior art.

[0012] Preferably, the adapter model comprises a knee joint model, a hip joint model and a spine model.

[0013] In the positioning accuracy detection system of the present application, the plurality of phantom models can be installed on the test tool body, and the registration process of the surgical robot of various forms can be completed without relying on a specific system accuracy detection program.

[0014] Preferably, the control device controls the plurality of detection probes to simultaneously detect the actual spatial positions and simultaneously receive the actual spatial positions detected by the plurality of detection probes by sending synchronous probe driving signals to the plurality of detection probes.

[0015] By synchronously detecting the actual spatial positions, the detection accuracy, especially the dynamic accuracy, can be further ensured.

[0016] Preferably, the error of the actual spatial position and the reference spatial position as the positioning accuracy includes a distance error of the spatial distance between the two and an angle error of the angle formed by the two.

[0017] Using the distance error and the angle error to represent the positioning accuracy is the same as the error defined by general surgical robot manufacturers, and the surgical robot can be used for general surgical robots.

[0018] Preferably, the display part is further included, and the display part can display the actual spatial position, the reference spatial position, and the error.

[0019] Using the display part to display the actual spatial position, the reference spatial position, and the error can enable the detection personnel to conveniently and intuitively know the detection result.

[0020] In addition, the present application provides a positioning accuracy detection method for detecting the positioning accuracy of a surgical robot, characterized in that the method comprises the following steps: a planning step of obtaining medical three-dimensional image data of a phantom model and formulating a surgical plan; a registration step of installing the phantom model on a test tool body to obtain the coordinate axes of the actual space, and registering the coordinate axes of the medical three-dimensional image data with the coordinate axes of the actual space; a removal step of removing the phantom model from the test tool body; a surgery step of performing a simulated surgery in space by a surgical instrument according to the surgical plan by the surgical robot; a detection step of detecting the actual spatial position of the surgical instrument during the simulated surgery by a control device controlling a plurality of detection probes; and a calculation step of comparing the actual spatial position detected in the detection step with a reference spatial position obtained by converting the spatial position of the surgical instrument specified in the surgical plan after registration, and calculating the error of the actual spatial position of the surgical instrument and the reference spatial position as the positioning accuracy of the surgical robot.

[0021] The control device is used to control the multiple detection probes to detect the actual spatial position of the surgical instrument when the surgical robot is used to perform a simulation surgery, so that the actual spatial position can be obtained at any time, and the problems that the three-coordinate instrument cannot completely perform the detection function and cannot dynamically perform the detection in the prior art are solved.

[0022] Preferably, the adaptors include a knee joint adaptor, a hip joint adaptor and a spine adaptor.

[0023] In the positioning accuracy detection system, the multiple adaptors can be installed on the test tool body, and the registration process of the multiple forms of surgical robots can be completed without relying on a specific system accuracy detection program.

[0024] Preferably, in the detection step, the control device controls the multiple detection probes to simultaneously detect the actual spatial position and simultaneously receive the actual spatial positions detected by the multiple detection probes by sending a synchronous probe driving signal to the multiple detection probes.

[0025] The actual spatial position is detected synchronously, so that the detection accuracy, especially the dynamic accuracy, can be further ensured.

[0026] Preferably, the error between the actual spatial position and the reference spatial position of the positioning accuracy includes a distance error of the spatial distance between the two and an angle error of the angle formed by the two.

[0027] The distance error and the angle error are used to represent the positioning accuracy, which is the same as the error defined by general surgical robot manufacturers, and can be used for general surgical robots.

[0028] Preferably, the display step is further included, in which the actual spatial position, the reference spatial position and the error are displayed.

[0029] The actual spatial position, the reference spatial position and the error are displayed by the display unit, so that the detection personnel can conveniently and intuitively know the detection result.

[0030] The positioning accuracy detection system and the positioning accuracy detection method according to the present application have the test tool body that can adapt to multiple different bone models, can match different bone models according to different indications, can complete the registration process of multiple forms of surgical robots without relying on a specific system accuracy detection program, have the positioning detection device that can detect the dynamic and static positioning accuracy of the end tool in real time, and the control device adopts the frame synchronization scheme to ensure the detection accuracy of the positioning accuracy detection system itself. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1is a schematic diagram for illustrating a surgical robot.

[0032] Figure 2 is a schematic diagram showing the structure of an example of a special verification tool.

[0033] Figure 3 is a schematic diagram of a positioning accuracy detection system 1 of the present application.

[0034] Figure 4 is a structural block diagram of a control device.

[0035] Figure 5 is a flowchart illustrating the working process of the positioning accuracy detection system 1.

[0036] Figure 6 is a schematic diagram of distance error and angle error. DETAILED DESCRIPTION

[0037] First, the surgical process of a surgical robot is explained.

[0038] As shown in Figure 1 , the surgical robot includes a tracking device and a positioning marker, a mechanical arm, and a computer-based control system.

[0039] To perform surgery using a surgical robot, first, a CT, MRI, or other medical three-dimensional image of a patient is acquired before surgery. The three-dimensional image is subjected to image segmentation, reconstruction, and other processes to establish a three-dimensional model of the patient's bones, and the three-dimensional model of the bones is used to perform preoperative surgical planning suitable for the patient to determine various data such as the size, position, and direction of cutting, drilling, prosthetics, or implants. Furthermore, the three-dimensional model data of the bones is input to the control console of the surgical robot, and the robot is programmed through the control console to let the surgical robot know what surgical tool to use at which part to perform what operation.

[0040] In order to spatially align the three-dimensional model of the bones based on the medical three-dimensional image with the actual position of the patient during surgery, registration is required. The three-dimensional model of the bones acquired before surgery has a model space coordinate system, and the surgical robot uses the tracking device and the positioning marker to accurately obtain the position of the surgical site of the patient in space, i.e., the actual space coordinate system. Registration is the process of spatially aligning data in the two different coordinate systems. The control system uses computer algorithms such as the iterative closest point algorithm to automatically calculate the transformation relationship between the different coordinate systems, thereby enabling surgery in accordance with the preoperative surgical planning based on the three-dimensional model of the bones.

[0041] In surgery, the mechanical arm is supervised by the doctor or autonomously cuts, drills holes, etc. on the patient's bones, and on this basis, the doctor selects a suitable size of prosthesis or implant according to the preoperative planning and implants it into the corresponding area. In this process, the surgical robot can ensure that the prosthesis or implant is accurately matched in spatial positioning and angle, improving the efficiency and success rate of surgical operations.

[0042] From the above working process of the surgical robot, it can be seen that the positioning accuracy is an extremely important parameter of the surgical robot, and the positioning accuracy test of the surgical robot system runs through the whole life cycle of production, installation and maintenance of the surgical robot.

[0043] At present, in order to detect the positioning accuracy of the surgical robot system, a special verification tool based on its indications is generally used.

[0044] Figure 2 Fig. 1 illustrates the structure of an example of a special verification tool. As shown in the figure, the special verification tool 100 includes a base 101, a reference element 102 arranged on the side of the base 101, and a test phantom 103 which can be disassembled relative to the base 101.

[0045] Figure 2 The base 101 is a stepped base composed of two cuboids with the upper one larger than the lower one. A plurality of registration points are arranged on the exposed surfaces of the base 101 in plan view and side view, which are used to accurately obtain the position of the patient's surgical site in space during registration to establish an actual spatial coordinate system.

[0046] The reference element 102 is arranged on the side of the base 101 and is a component composed of a cross arm. A connecting part is arranged at the center of the cross arm for fixed connection with the base 101. A reflective marker ball is arranged at the top end of each arm of the cross arm. At least two cameras are arranged beside the operating table, which can continuously shoot the reflective marker balls, so that the real-time coordinates of the target can be calculated by a triangulation detection algorithm.

[0047] The test phantom 103 is installed on the top surface of the base 101 and can be disassembled from the base 101. A registration curved surface is arranged on the test phantom 103, and a plurality of registration points are arranged at appropriate positions of the registration curved surface, which are used together with the registration points arranged on the base 101 to accurately obtain the position of the patient's surgical site in space during registration to establish an actual spatial coordinate system.

[0048] A plurality of vertical columns are arranged on the top surface of the test phantom 103 when it is installed on the base 101, and a small spherical reflecting ball target point is arranged on the top end of each vertical column. The heights of these small ball target points on the horizontal plane are different from each other, a target straight line can be defined by two small ball target points, and a target plane can be defined by three small ball target points. In addition, a plurality of target points are arranged on the exposed surface of the test phantom 103 when it is installed on the base 101.

[0049] The position detection of the above-mentioned plurality of target points is performed by a coordinate measuring machine. The probe of the coordinate measuring machine is moved to the target point, and the coordinate value of the target point is displayed by the reading device and the digital display device. Therefore, the coordinate value of any point can be displayed by the reading device and the digital display device.

[0050] As described above, the special verification tool corresponds to its indications one by one, for example, a special verification tool is suitable for a knee joint phantom, and it cannot be used for a hip joint phantom and a spine phantom. Such a special verification tool has low versatility.

[0051] In addition, different system accuracy detection programs need to be set for different special verification tools to perform different registration processes.

[0052] In addition, the coordinate value detected by the coordinate measuring machine is a static coordinate value, and the dynamic positioning accuracy of the system surgical instrument (end tool) cannot be detected.

[0053] In view of the problems existing in the above-mentioned existing special verification tool, the present application provides a positioning accuracy detection system and a positioning accuracy detection, which has a test tool body suitable for a plurality of different bone models, can be matched with different bone models according to different indications. In addition, for various forms of model bones, the registration process of a plurality of forms of surgical robots can be completed without relying on a specific system accuracy detection program. In addition, the positioning detection device can detect the dynamic and static positioning accuracy of the end tool in real time. In addition, the control device adopts a frame synchronization scheme, which ensures the detection accuracy of the positioning accuracy detection system itself.

[0054] The following refers to Figure 3 The positioning accuracy detection system of the present application is described in detail.

[0055] As Figure 3 shown, the positioning accuracy detection system 1 of the present application mainly includes a test tool body 2, an adaptive phantom 3, a detection probe 4 and a control device 5.

[0056] The test tool body 2 is used to assemble the adaptive phantom 3, the detection probe 4, and the reference element 6 for guiding the surgical instrument 7. As Figure 3As shown, the test tool body 2 mainly includes a phantom assembly part 2-1 and a probe assembly part 2-2. The phantom assembly part 2-1 is vertically arranged and is provided with a fixing member (not shown) for mounting and fixing various phantoms. The fixing member can adjust its width, height and depth, thereby being able to adapt to various phantoms. The probe assembly part 2-2 extends horizontally from the bottom of the surface of the phantom assembly part 2-1 on which the phantom 3 is mounted and is provided with a plurality of detection probes 4. Figure 3 Three detection probes 4 are shown in the figure, but the number of detection probes 4 can also be more than three, which can be configured and expanded according to different detection contents.

[0057] The phantom 3 includes various phantoms, for example, at least a knee joint phantom, a hip joint phantom and a spine phantom. The human body bones corresponding to the three phantoms are common objects of orthopedic surgery using a surgical robot. Of course, the phantom 3 can also include various bone phantoms such as a foot bone phantom, a lumbar spine phantom, etc. in addition to the above-mentioned three phantoms, and is not particularly limited. In the positioning accuracy detection system 1 of the present application, the phantom 3 is used for the surgical robot to perform simulated surgery in order to detect the positioning accuracy of the surgical robot. The simulated surgery here means that the surgical robot performs surgery on the phantom 3 in imagination, and the phantom 3 is not actually mounted on the test tool body 2 when the positioning accuracy of the surgical robot is actually detected. Figure 3 The phantom 3 shown in the figure is a phantom, which is not any of the above-mentioned phantoms.

[0058] The detection probe 4 is used to determine the position of the detected component, for example, is composed of a laser displacement sensor, and uses laser ranging and three-dimensional reconstruction method to accurately detect the position of the end tool (i.e. the surgical instrument 7 described below). The detection probe 4 obtains the position information of the end tool by laser ranging, establishes the plane information of the surgical instrument 7 by three-dimensional reconstruction algorithm, then performs coordinate system conversion with the known coordinates of the positioning accuracy detection system 1, obtains the three-dimensional plane coordinate data of the surgical instrument 7, and thus restores the three-dimensional space information of the surgical instrument 7. When the detection probe 4 works, first, 3 beams of laser (one laser emits one beam) are emitted by a laser emitter and are parallelly shot on the surface of the surgical instrument 7 to form 3 laser points, then the laser returns to the receiving probe of the laser return detector. The position of the laser irradiation point on the surface of the object is different, and the laser return time is also different, thereby completing the laser ranging, obtaining the position of the light spot image, determining a plane according to three points, and performing three-dimensional reconstruction. Further, the position plane of the surface laser irradiation point of the surgical instrument 7 is calculated. When the surgical instrument 7 moves along the laser line direction, the position of the light spot will also change accordingly, and by continuously detecting the change of the light spot position, the displacement detection of the surgical instrument 7 can be realized. Finally, the detection probe 4 sends the detected position information of the surgical instrument 7 to the control device 5, and the control device 5 calculates the positioning accuracy.

[0059] Wherein, since the detection probe 4 has multiple, in order to accurately detect the precision of surgical instruments 7, so need multiple detection probe 4 in the same time detection. Therefore, by the control device 5 generates probe drive signal and makes it synchronized, and then send the probe drive signal to each detection probe 4, thereby making multiple detection probe 4 synchronous detection. If further synchronization by multiple detection probe 4 respectively detected position information, then can be in the control device 5 receives from multiple detection probe 4 position information, with time reference source time as the axis, all data frame according to time stamp sorting, if there is unacceptable delay difference is fine-tuned.

[0060] In addition, the above description detection probe 4 by laser displacement sensor is constituted by the example, but the constitution of detection probe 4 is not limited to this, for example, can also be infrared displacement sensor and other sensors that can detect the precise three-dimensional position in close range.

[0061] The control device 5 is used to drive the detection probe 4 detection and calculation, display of detection results. As shown in Figure 4 The control device 5 includes probe drive module 51, frame synchronization module 52, information receiving module 53, calculation module 54 and display module (display part) 55.

[0062] The probe drive module 51 generates the probe drive signal for driving multiple detection probe 4 respectively detection when the position of surgical instruments 7 needs to be detected, and sends the probe drive signal to the frame synchronization module 52.

[0063] The frame synchronization module 52 synchronizes each probe drive signal sent by the probe drive module 51 based on the same reference, and assigns a time stamp to each probe drive signal. The synchronized probe drive signal is sent by the frame synchronization module 52 to each detection probe 4 respectively. When the detection probe 4 receives the probe drive signal sent to itself, it starts to detect the actual spatial position of the surgical instruments 7.

[0064] Wherein, the synchronization of the frame synchronization module 52 is not limited to the use of time stamp, but also can be other software or hardware synchronization mode. As long as it can meet the required accuracy of the invention, not particularly limited here.

[0065] The information receiving module 53 is used to receive the position information collected by each detection probe 4 respectively, and send it to the calculation module 54.

[0066] The calculation module 54 calculates the actual spatial position of the surgical instrument 7 detected by the plurality of detection probes 4, obtains the distance error and the angle error of the actual spatial position relative to the reference spatial position compared with the predetermined position planned in advance, and judges the positioning accuracy of the surgical robot according to the distance error and the angle error. After the distance error, the angle error and the positioning accuracy are calculated, the calculation module 54 sends them to the display module 55.

[0067] The display module 55, for example, is a display, and can display the distance error, the angle error, the positioning accuracy as the detection result, etc. from the calculation module 54 in various forms of data, charts, graphs, etc.

[0068] In addition, Figure 3 The reference element 6 for guiding the surgical instrument 7 is installed on one side of the test tool body 2, and forms an infrared optical positioning device with the infrared light source and the two infrared cameras. The reference element 6 is provided with four reflective marker balls like the existing reference element 102. These reflective marker balls are small balls coated with a reflective coating on the surface, which can effectively reflect infrared light. When the infrared light emitted by the infrared light source is irradiated on the reflective ball, the reflective ball will reflect the light back along the same light path, and the two infrared cameras will capture the infrared light image reflected back by the reflective ball. The system control device uses digital image processing technology to process the image captured by the camera, identifies the position of the reflective ball, and calculates the three-dimensional coordinates of the reflective ball through algorithms such as triangular detection method. According to the three-dimensional coordinate information of the reflective ball, the surgical robot can accurately position the surgical site and ensure that the surgical instrument 7 operates according to the preoperative planned path. The system control device can be the same device composed of a computer as the control device 5, or can be a device different from the control device 5.

[0069] The working process of the positioning accuracy detection system 1 will be described below with reference to the flowchart of Figure 4 .

[0070] First, in step S1, a medical image such as a CT, MRI, or the like is taken of the phantom 3 to be used, and a bone model data of the phantom 3 is created by image segmentation, reconstruction, or the like and stored in the system control device. Also, using the bone model data and a surgical plan assumed, a surgical plan of the surgical instrument 7 operated by the surgical robot is made. The surgical plan includes ideal positions (attitudes) that the functional edge of the surgical instrument 7, particularly the saw blade edge of a swing saw blade, the needle tip of a puncture needle, or the like should have at arbitrary positions of the phantom 3, i.e., positions and inclination angles at which the functional edge should be. These ideal positions converted into spatial positions after registration are reference spatial positions for detecting the accuracy of the surgical robot. In order to reduce the amount of data, a plurality of prescribed positions can be set, and only the positions and inclination angles at the prescribed positions can be detected. Hereinafter, the position of the functional edge of the surgical instrument 7 is simply referred to as the position of the surgical instrument 7.

[0071] Next, in step S2, after the phantom 3 is fixed to the test jig body 2, registration is started. At the time of registration, a plurality of non-collinear point pairs are found in the real space created using the reference element 6, and using a probe with a tip, the test operator pokes the required positions on the phantom 3 using the probe tip, acquires the current point positions, and after repeating a plurality of times, acquires the required number of points for registration, and performs point cloud registration with the bone model data stored in advance in the system control device. The three-dimensional coordinates of the actual positions in the real space after registration are unified with the three-dimensional coordinates in the bone model data.

[0072] After the registration process of step S2 is completed, the phantom 3 is detached from the test jig body 2 in step S3.

[0073] In step S4, without the phantom 3, the surgical robot moves the surgical instrument 7 according to the surgical plan by the guidance of the reference element 6, and sequentially reaches each of the planned positions to perform a simulation surgery.

[0074] In step S5, when the accuracy of the surgical robot is to be detected, the probe drive signal is generated by the probe drive module 51 of the control device 5, is sent to the frame synchronization module 52, and the frame-synchronized probe drive signal is sent to each of the detection probes 4 by the frame synchronization module 52, so that each of the detection probes 4 detects synchronously.

[0075] At the arbitrary positions, the plurality of detection probes 4 detect the position (real space position) and the inclination angle at which the surgical instrument 7 actually is. Thus, real position data of the surgical instrument 7 in the real space can be obtained. The detected real position data is sent to the calculation module 54 by the information reception module 53 simultaneously.

[0076] In step S6, the calculation module 54 is able to obtain the real pose of the surgical instrument 7 in the real space based on the real position data detected by the plurality of detection probes 4. For the real pose, the calculation module 54 compares it with the planned pose which has been converted into the real space coordinates after registration, and is able to obtain the positional deviation and the angular deviation therebetween. Since the real pose is evaluated based on the planned pose, the positional deviation is the spatial shortest distance between the surgical instrument 7 in the real pose and the planned pose, i.e. the distance error Δx, and the angular deviation is the angle error Δα between the surgical instrument 7 in the real pose and the planned pose.

[0077] The detected surgical robot has previously set the range of the distance error Δx and the range of the angle error Δα as its nominal accuracy. Through the distance error Δx and the angle error Δα calculated above, it can be known whether the detected surgical robot meets its nominal accuracy.

[0078] As an example of the distance error Δx and the angle error Δα, as shown in FIG. 7, the left side reference numeral 7-0 represents the surgical instrument 7 in the ideal position, and the right side reference numeral 7-1 represents the surgical instrument 7 in the actual position, the spatial shortest distance therebetween is the distance error Δx, and the spatial angle therebetween is the angle error Δα. Figure 6

[0079] In step S6, the display module 55 displays the numerical value or the graph of the distance error and the angle error from the calculation module 54, and displays the detection result whether the detected surgical robot meets its nominal accuracy.

[0080] The surgical robot continuously operates the surgical instrument 7 according to the surgical plan previously made, so that the surgical instrument 7 continuously moves. At the same time, the plurality of detection probes 4 is able to continuously detect the real-time position of the surgical instrument 7 in movement. Thus, the calculation module 54 is able to calculate the real-time distance error Δx and the angle error Δα. For the accuracy in static state, the accuracy at the dispersed points can be extracted from the real-time distance error Δx and the angle error Δα, or a plurality of specified points can be set, and the accuracy of the surgical instrument 7 is detected and calculated at these specified points.

[0081] In addition, if the accuracy of the surgical robot in different electromagnetic, vibration, etc. environments is to be detected, the environmental factors can be changed for repeated detection, so that the accuracy of the surgical robot in different environments, i.e. the ability of the surgical robot to resist electromagnetic interference and vibration, can be obtained.

[0082] ​The positioning accuracy detection system of the application has a test tool body suitable for various different bone models, can match different bone models according to different indications, and can complete the registration process of various forms of surgical robots without relying on specific system accuracy detection programs. The positioning detection device can detect the dynamic and static positioning accuracy of the end tool in real time. The control device adopts a frame synchronization scheme to ensure the detection accuracy of the positioning accuracy detection system itself.

[0083] The embodiment of the application is described below.

[0084] The surgical robot to be tested for knee surgery has a nominal accuracy set in advance, which is a distance error |Δx| < 2mm and an angle error |Δα| ≤ 1°. In order to verify whether the surgical robot to be tested has the nominal accuracy, the positioning accuracy detection system 1 of the application is used to detect its accuracy.

[0085] First, a CT image of the knee phantom (adaptation phantom 3) to be used is taken, and the bone model data of the knee phantom is established through image segmentation, reconstruction, etc. and stored in the system control device. Furthermore, the surgical planning of the sawing saw (surgical instrument 7) operated by the surgical robot is made by using the bone model data and the assumed surgical planning. The surgical planning includes the ideal position (pose) that the saw blade edge of the sawing saw should have when reaching any part of the knee phantom, i.e. the position and inclination angle it should be in.

[0086] Then, after the knee phantom is installed and fixed on the test tool body 2, registration is started. During registration, a plurality of non-collinear point pairs are found in the real space established by the infrared reflecting ball (reference element 6), and a probe with a tip is used. The test operator uses the probe tip to hit the required position on the knee phantom, collects the current point, and after repeating several times, obtains the required number of points for registration. Then, the point cloud registration is performed with the bone model data stored in the system control device. After registration, the three-dimensional coordinates of the actual position in the real space are unified with the three-dimensional coordinates in the bone model data.

[0087] After the registration process is completed, the knee phantom is removed from the test tool body 2.

[0088] Without the knee phantom, the surgical robot to be tested moves the sawing saw according to the surgical planning under the guidance of the infrared reflecting ball, and sequentially reaches each position planned.

[0089] When the accuracy of the surgical robot to be tested is to be detected, the probe driving signal generated by the probe driving module 51 of the control device 5 is sent to the frame synchronization module 52, and the frame synchronization module 52 sends the synchronized probe driving signal to the three detection probes 4 respectively, so that each detection probe 4 synchronously detects.

[0090] The multiple detection probes 4 detect the real-time position data of the swing saw on the swing saw's travel path and send the real-time position data to the calculation module 54 via the information receiving module 53.

[0091] The calculation module 54 compares the real-time posture obtained from the real-time position data with the planned posture, and obtains the distance error Δx and the angle error Δα between the two. When the distance error Δx and the angle error Δα at any place both satisfy the nominal accuracy, i.e., the distance error |Δx| < 2 mm and the angle error |Δα| ≤ 1°, the detection result is that the precision of the surgical robot to be tested is qualified. When one of the distance error Δx and the angle error Δα at any place does not satisfy the nominal accuracy, the detection result is that the precision of the surgical robot to be tested is unqualified.

[0092] The distance error Δx and the angle error Δα and the detection result are displayed by the display module 55.

[0093] The positioning precision detection system 1 of the embodiment illustrates the use of a knee joint phantom, but it can be matched with different bone models according to different indications, and can complete the registration process of various forms of surgical robots without relying on a specific system precision detection program. Moreover, the positioning detection device including the detection probe 4 can detect the dynamic and static positioning precision of the swing saw in real time. Moreover, the control device 5 adopts a frame synchronization scheme, ensuring the detection precision of the positioning precision detection system 1 itself.

Claims

1. A positioning accuracy detection system for detecting positioning accuracy of a surgical robot, characterized by, comprising: an adaptor phantom for the surgical robot to perform a simulated surgery for detecting positioning accuracy of the surgical robot; a plurality of detection probes for detecting actual spatial positions of surgical instruments of the surgical robot when the surgical robot performs the simulated surgery with the surgical instruments; a test tool body capable of mounting the adaptor phantom and the plurality of detection probes; and a control device for controlling the plurality of detection probes to detect the actual spatial positions and calculating errors between the actual spatial positions and reference spatial positions of the surgical instruments as the positioning accuracy of the surgical robot, before the simulated surgery, acquiring medical three-dimensional image data of the adaptor phantom and making a surgical plan, mounting the adaptor phantom to the test tool body to acquire coordinate axes of an actual space, and registering coordinate axes of the medical three-dimensional image data with coordinate axes of the actual space, during the simulated surgery, removing the adaptor phantom from the test tool body, and the surgical robot performing the simulated surgery in space with surgical instruments according to the surgical plan, wherein the reference spatial positions are spatial positions of the surgical instruments defined in the surgical plan after registration and conversion.

2. The positioning accuracy detection system according to claim 1, wherein: the adaptor phantom comprises a knee joint phantom, a hip joint phantom, and a spine phantom.

3. The positioning accuracy detection system according to claim 1 or 2, wherein: the control device controls the plurality of detection probes to simultaneously detect the actual spatial positions and simultaneously receive the actual spatial positions detected by the plurality of detection probes by sending synchronous probe driving signals to the plurality of detection probes.

4. The positioning accuracy detection system according to claim 1 or 2, wherein: the errors between the actual spatial positions and the reference spatial positions as the positioning accuracy comprise distance errors of spatial distances therebetween and angle errors of angles therebetween.

5. The positioning accuracy detection system according to claim 1 or 2, further comprising a display portion capable of displaying the actual spatial positions, the reference spatial positions, and the errors. comprising: a planning step of acquiring medical three-dimensional image data of an adaptor phantom and making a surgical plan; 6. A positioning accuracy detection method for detecting positioning accuracy of a surgical robot, characterized by a registration step of mounting the adaptor phantom to a test tool body to acquire coordinate axes of an actual space, and registering coordinate axes of the medical three-dimensional image data with coordinate axes of the actual space; a removal step of removing the adaptor phantom from the test tool body; a surgery step of performing a simulated surgery in space with surgical instruments according to the surgical plan by a surgical robot; a detection step of controlling a plurality of detection probes to detect actual spatial positions of the surgical instruments when the simulated surgery is performed by the control device; a detection step of controlling a plurality of detection probes to detect actual spatial positions of the surgical instruments when the simulated surgery is performed by the control device; ​ The control device compares the actual spatial position detected in the detecting step with a reference spatial position obtained by converting a spatial position of the surgical instrument specified in the surgical plan after registration, and calculates an error between the actual spatial position and the reference spatial position of the surgical instrument as the positioning accuracy of the surgical robot.

7. The positioning accuracy detection method according to claim 6, wherein: The phantom includes a knee phantom, a hip phantom, and a spine phantom.

8. The positioning accuracy detection method according to claim 6 or 7, wherein: In the detecting step, the control device controls the plurality of detection probes to simultaneously detect the actual spatial position and to simultaneously receive the actual spatial positions detected by the plurality of detection probes by transmitting a synchronized probe drive signal to the plurality of detection probes.

9. The positioning accuracy detection method according to claim 6 or 7, wherein: The error between the actual spatial position and the reference spatial position of the positioning accuracy includes a distance error of a spatial distance therebetween and an angle error of an angle therebetween.

10. The positioning accuracy detection method according to claim 6 or 7, further comprising a displaying step in which the actual spatial position, the reference spatial position, and the error are displayed. ​

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