Control method of skeletal surgery navigation positioning system

Abstract

The invention discloses a control method of a skeletal surgery navigation and positioning system, and belongs to the technical field of electronic control, a skeletal image of a patient is shot, the image is transmitted to a computer, a proper prosthesis model is selected in the computer and placed on a lesion skeletal for matching, and the coincident part of the prosthesis model and the skeletal is the part needing to be cut and replaced. A sensor A and a magnetic field generator are installed, a bone image of the patient is shot again, the shooting range comprises the sensor A and a lesion bone part, a coordinate system is established in a computer with the sensor A as an original point, and the computer calculates an interface and coordinates of a prosthesis model and a bone overlapping part; a cutting tool, a grabbing tool and other tools are arranged at the front end of the mechanical arm, and a sensor B is installed at the front end of the mechanical arm. The surgical robot receives coordinates of the interface and commands the mechanical arm to conduct operations such as osteotomy resection, bone prosthesis placement or surgical channel opening in combination with position information fed back by the sensor B.

Description

TECHNICAL FIELD

[0001] The application is a control method of a bone surgery navigation positioning system, belonging to the technical field of electronic control. BACKGROUND

[0002] At present, the precision, minimally invasive and intelligent safety of surgery are the pursuit goals of surgeons. With the development of computer aided surgery (CAS), computer aided minimally invasive surgery (CAMIS), computer aided navigation orthopedic surgery (CAOS) and the close combination of these technologies with multi-disciplines, the surgical navigation system has become one of the main development directions of future surgery. The robot controlled by the surgical navigation system involves automation, artificial intelligence, electronic information, medical image processing and other technologies, closely integrates surgical surgery with computer software and engineering machinery, extends the visual and tactile range of surgeons, improves the precision, safety and repeatability of surgical operation, and assists to complete some high-risk complex surgeries that were previously impossible, effectively reducing surgical trauma.

[0003] For example, the patent number "202111605189.3" discloses a control method of a joint replacement surgery robot, which comprises: fixing a support on the patient's bone, and each support is provided with at least three signal sources not on the same straight line. Since the signal sources are installed on the bone through the support, the signal sources are not on the same plane as the bone, and the signal sources have a certain distance relative to the bone. When the plane CB takes an X-ray film, the light is in a scattered state. For the signal sources away from the plane of the bone, the projected image has a magnification phenomenon. The plane CB itself cannot be accurately restored. The plane CB itself can only accurately restore the influence of objects in the same plane as the bone. Therefore, there is an error between the size and position of the scattered image and the actual size and position. In order to eliminate this error, the computer needs to be told the accurate distance of the signal source relative to the bone, and then the computer can calculate the accurate size and position eliminating the scattering effect. This process may have human error, resulting in deviation in surgery. SUMMARY

[0004] The technical problem to be solved by the application is to provide a control method of a bone surgery navigation positioning system to eliminate the distance between the signal source and the bone, thereby eliminating the error between the size and position of the scattered image of the plane CB and the actual size and position, and meeting the requirement of surgical precision.

[0005] To solve the above technical problems, the application adopts the following technical solutions.

[0006] A control method of a bone surgery navigation positioning system, comprising the following steps.

[0007] Step one, take the patient's bone image, and transmit the image to the computer system, and the computer system obtains the image data of the bone.

[0008] Step two, in the computer system, place the bone image according to the normal biological force line.

[0009] Step three, select a suitable prosthesis model in the computer system and place it on the diseased bone for matching. After the matching is completed, the overlapping part of the prosthesis model and the bone is the part that needs to be resected and replaced.

[0010] Step four, after the patient is on the operating table, select a fixed point on the exposed part of the patient's operation without affecting the operation of the bone, and fix sensor A on the fixed point through bone nails or adhesives, and place a magnetic field generator near the diseased bone. The magnetic field generated by the magnetic field generator includes the diseased bone, sensor A and the active area of the surgical robot mechanical arm. Sensor A senses the magnetic field and transmits the position and direction information of sensor A in the magnetic field to the computer.

[0011] Step five, take the image of the patient's bone again, and the image includes the sensor A and the diseased bone part, and transmit the image to the computer system.

[0012] Step six, in the computer system, take the position and direction of sensor A as the origin to establish a coordinate system, and place the bone image obtained in step five and the prosthesis model bone image matched in step three in the coordinate system. The computer system automatically calculates and remembers the interface between the prosthesis model and the diseased bone obtained in this step, and the coordinates in the coordinate system, and outputs the coordinates to the surgical robot.

[0013] This process is called "fly injection" in the medical system.

[0014] Step seven, the surgical robot is provided with a mechanical arm, the front end of the mechanical arm is provided with a drilling, cutting, grabbing tool, and is provided with a sensor B. The surgical robot receives the coordinates of the interface, and combines the position information fed back by the sensor B to guide the mechanical arm to perform bone resection, bone prosthesis placement or surgical channel opening operation.

[0015] Further, the surgical channel is set to determine the position, direction, depth and range of the surgical channel in craniocerebral surgery, and is set to determine the position, direction, depth and range of the bone nail in trauma and oral surgery.

[0016] Further, the step one, shooting the patient's bone image, is to shoot the patient's bone image by X-ray, and to place the patient's bone according to the normal biological force line to obtain the first bone three-dimensional model in the computer system, and the first bone three-dimensional model includes the diseased bone part.

[0017] Further, the step two, placing the bone image according to the normal biological force line in the computer system, is to shoot the three-dimensional reconstruction image of the patient's bone by X-ray, and to place the patient's bone according to the normal biological force line to obtain the first bone three-dimensional model in the computer system, and the first bone three-dimensional model includes the diseased bone part.

[0018] Further, the step five, shooting the patient's bone image again, is to shoot the X-ray film image data containing the sensor A and the diseased bone part, and the matched prosthesis model bone image in the step three is the full-length X-ray film of the matched prosthesis model.

[0019] Further, the step five in the step six obtains the bone image: the X-ray film image data containing the sensor A, and the matched prosthesis model bone image in the step three is the full-length X-ray film of the matched prosthesis model.

[0020] Further, the step one, shooting the patient's bone image, is to shoot the bone image by CT or stereoscopic CB image.

[0021] Further, the step two, placing the bone image according to the normal biological force line in the computer system, is to shoot the three-dimensional reconstruction image of the patient's bone by CT or stereoscopic CB image, and to place the bone according to the normal biological force line to obtain the first bone three-dimensional model in the computer system, and the first bone three-dimensional model includes the diseased bone part.

[0022] Further, the step five, shooting the patient's bone image again, is to shoot the CT or stereoscopic CB image, and the shooting range contains the sensor A and the diseased bone part.

[0023] Further, the step six, in the computer system, the CT or stereoscopic CB image containing the sensor A and the diseased bone part is three-dimensionally modeled to obtain the second bone three-dimensional model, and the first bone three-dimensional model of the matched prosthesis model in the above step three is placed in the coordinate system.

[0024] Beneficial Effects: Compared with the existing technology of patent number "202111605189.3", the technical feature of patent number "202111605189.3" is to use optical sensing technology to capture images of the diseased bone and guide and control the surgery. This invention uses magnetic navigation technology to guide and control the surgery while using optical sensing technology. By bonding and installing sensor A on the bone, sensor A and the bone are in the same plane, eliminating the distance between the signal source and the bone in patent number "202111605189.3". It also eliminates the defect of calculation error between the image size and position after planar CB scattering and the actual size and position. It also avoids the defect of damaging the bone by drilling holes and nailing to fix the support. It also avoids the defect of the reference displacement caused by the large size of the support. Similarly, it avoids the defect that the signal source is not completely included in the same X-ray field of view due to the large size of the support, thus improving the accuracy of the surgery. Detailed Implementation

[0025] Example 1: A control method for a bone surgery navigation and positioning system, comprising the following steps.

[0026] Step 1: Position the patient's skeleton in the anteroposterior and lateral views, with the lateral view perpendicular to the anteroposterior view. Take anteroposterior and lateral X-rays of the entire skeleton and upload the X-ray images to the computer system, which then acquires the X-ray image data.

[0027] Step 2: In the computer system, place the frontal and lateral X-ray films according to the normal biomechanical axis.

[0028] Step 3: In the computer system, the doctor selects a suitable size of the pre-set prosthesis model and places it on the patient's bone. Based on experience, the doctor matches the prosthesis model with the bone in the X-ray film in both anteroposterior and lateral views. After the prosthesis model and bone are matched in the computer system, the part that overlaps with the bone is the part that needs to be removed and replaced.

[0029] Step 4: After the patient is on the operating table, select a fixation point on the exposed bone of the patient's surgical site that will not affect the surgical operation, and fix sensor A at the fixation point with bone screws or adhesive. Place a magnetic field generator near the patient's bone. The magnetic field generated by the magnetic field generator includes the diseased bone, sensor A and the moving area of ​​the surgical robot arm. Sensor A senses the magnetic field and transmits the sensed position and orientation information of sensor A in the magnetic field to the computer.

[0030] Step 5: Take anteroposterior and lateral X-ray images of the patient's bones again according to the bone direction determined in Step 1. The imaging range includes the sensor A and the diseased bone area, and upload the images to the computer system.

[0031] Step Six: In the computer system, the X-ray image data including sensor A taken in Step Five is used to establish a coordinate system with the position of sensor A as the origin. Within the coordinate system, the X-ray image including sensor A taken in Step Five is placed in correspondence with the full-length X-ray of the prosthesis model matched in Step Three. The computer system automatically calculates and memorizes the interface between the prosthesis model and the overlapping part of the diseased bone obtained in this step, as well as its coordinates in the coordinate system, and outputs the coordinates to the surgical robot.

[0032] Step 7: The surgical robot is equipped with a robotic arm. The front end of the robotic arm is equipped with cutting and grasping tools, as well as sensor B. The surgical robot receives the coordinates of the interface and, in conjunction with the position information fed back by sensor B, directs the robotic arm to perform osteotomy and resection and complete the placement of the bone prosthesis.

[0033] The scaling ratio of the X-ray images taken before surgery to fit the bones must be the same as the scaling ratio used during surgery. The surgical robot automatically calculates the coordinates of the actual bones.

[0034] Example 2: A control method for a bone surgery navigation and positioning system, comprising the following steps.

[0035] Step 1: Take CT or 3D CB images of the patient's bones and upload the images to the computer system. The computer system then retrieves the image data from the CT or 3D CB images.

[0036] Step 2: Perform 3D modeling of the skeleton in the computer system based on CT or stereoscopic CB images, and place the patient's skeleton according to the normal biomechanical lines to obtain the first 3D model of the skeleton in the computer system. The first 3D model of the skeleton includes the diseased bone area.

[0037] Step 3: In the computer system, the doctor selects a suitable size of the pre-set prosthesis model and places it on the diseased bone. Based on experience, the doctor matches the prosthesis model with the bone in the first three-dimensional bone model. After the prosthesis model and bone are matched in the computer system, the part that overlaps with the bone is the part that needs to be removed and replaced.

[0038] Step 4: After the patient is on the operating table, select a fixation point on the exposed bone of the patient's surgical site that will not affect the surgical operation, and fix sensor A at the fixation point with bone screws or adhesive. Place a magnetic field generator near the patient's bone. The magnetic field generated by the magnetic field generator includes the diseased bone, sensor A and the moving area of ​​the surgical robot arm. Sensor A senses the magnetic field and transmits the sensed position and orientation information of sensor A in the magnetic field to the computer.

[0039] Step 5: Take another CT or 3D CB image of the patient's bones, including the sensor A and the affected bone area, and upload it to the computer system.

[0040] Step Six: In the computer system, the CT or stereoscopic CB image containing the sensor A and the diseased bone site is used to create a three-dimensional model to obtain a second bone three-dimensional model. A coordinate system is established with the position of sensor A as the origin. The first bone three-dimensional model, which is matched with the prosthesis model in Step Three, is placed in the coordinate system to correspond and overlap. The computer system automatically calculates and memorizes the interface between the prosthesis model and the bone model obtained in Step Six, as well as the coordinates in the coordinate system, and outputs the coordinates to the surgical robot.

[0041] Step 7: The surgical robot is equipped with a robotic arm. The front end of the robotic arm is equipped with cutting and grasping tools, as well as sensor B. The surgical robot receives the coordinates of the interface and, in conjunction with the position information fed back by sensor B, directs the robotic arm to perform osteotomy and resection and complete the placement of the bone prosthesis.

[0042] The surgical robot is connected to a computer system, which has the functions of 3D modeling and coordinate system generation.

[0043] The description of this invention is given for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A control method for a bone surgery navigation and positioning system, characterized in that, Includes the following steps: Step 1: Take images of the patient's bones and transmit the images to a computer system, which then acquires the bone image data. Step 2: In the computer system, place the skeletal image according to the normal biomechanical alignment; Step 3: Select a suitable prosthesis model in the computer system and place it on the diseased bone for matching. After matching, the part of the prosthesis model that overlaps with the bone is the part that needs to be removed and replaced. Step 4: After the patient is on the operating table, select a fixation point on the exposed bone of the patient's surgical site that will not affect the operation. Fix sensor A to the fixation point with bone screws or adhesive. Place a magnetic field generator near the diseased bone. The magnetic field generated by the magnetic field generator includes the diseased bone, sensor A and the moving area of ​​the surgical robot arm. Sensor A senses the magnetic field and transmits the sensed position and orientation information of sensor A in the magnetic field to the computer. Step 5: Take another image of the patient's bones, including the sensor A and the affected bone area, and transmit the image to the computer system; Step 6: In the computer system, establish a coordinate system with the position and direction of sensor A as the origin, and place the bone image obtained in step 5 and the matching prosthesis model bone image in step 3 in the coordinate system to correspond and overlap. The computer system automatically calculates and memorizes the interface of the overlapping part of the prosthesis model and the diseased bone obtained in this step, as well as the coordinates in the coordinate system, and outputs the coordinates to the surgical robot. Step 7: The surgical robot is equipped with a robotic arm. The front end of the robotic arm is equipped with drilling, cutting and grasping tools, and sensor B. The surgical robot receives the coordinates of the interface and, in combination with the position information fed back by sensor B, directs the robotic arm to perform osteotomy, bone prosthesis placement or surgical channel opening operations.

2. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, The surgical channel, in craniocerebral surgery, is used to determine the location, direction, depth, and extent of the surgical channel; in trauma and oral surgery, it is used to determine the location, direction, depth, and extent of the insertion of bone screws.

3. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, Step one, taking images of the patient's skeleton, involves taking X-ray images of the patient's skeleton, aligning the patient's skeleton in the anteroposterior and lateral views, with the lateral view perpendicular to the anteroposterior view, and taking anteroposterior and lateral X-ray images of the entire length of the skeleton.

4. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, Step two involves placing the bone image in the computer system according to the normal biomechanical lines. This is done by taking a three-dimensional reconstruction image of the patient's bones from an X-ray and placing the patient's bones according to the normal biomechanical lines to obtain a first three-dimensional bone model of the patient's bones in the computer system. The first three-dimensional bone model includes the diseased bone area.

5. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, In step five, the patient's bones are photographed again, with the bone direction consistent with that determined in step one. Anteroposterior and lateral X-rays are taken of the patient's bones, and the imaging range includes the sensor A and the diseased bone area.

6. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, The skeletal image obtained in step five, as described in step six, is the X-ray image data including sensor A. The skeletal image of the matched prosthesis model in step three is the full-length X-ray of the matched prosthesis model.

7. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, Step one, taking images of the patient's bones, involves taking images of the bones using CT or 3D CB imaging.

8. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, Step two involves placing the bone image in the computer system according to the normal biomechanical lines. This is done by taking CT or 3D CB images to create a three-dimensional model of the bone, and placing the bone according to the normal biomechanical lines to obtain a first three-dimensional bone model in the computer system. The first three-dimensional bone model includes the diseased bone area.

9. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, In step five, the patient's bone image is captured again, which is a CT or 3D CB image, and the imaging range includes the sensor A and the diseased bone area.

10. The control method for a bone surgery navigation and positioning system according to claim 1, characterized in that, In step six, the computer system performs three-dimensional modeling of the CT or stereoscopic CB image containing the sensor A and the diseased bone site to obtain a second bone three-dimensional model, and places it in the coordinate system to correspond and overlap with the first bone three-dimensional model that was matched with the prosthesis model in step three above.