Vertebral plate grinding control method and surgical robot system

Abstract

A vertebral plate grinding control method and a surgical robot system. The vertebral plate grinding control method comprises: acquiring a medical image of a vertebral plate, and establishing a three-dimensional vertebral plate model on the basis of the medical image; acquiring a movement stroke range of a grinding tool, and establishing a three-dimensional grinding model on the basis of the movement stroke range; and intersecting the three-dimensional grinding model with the three-dimensional vertebral plate model to acquire a region to be ground of the vertebral plate. The method can reduce the operation difficulty and requirements, and improve the efficiency. In addition, a concrete three-dimensional grinding model can enable a doctor to have a clearer and more intuitive understanding of grinding actions, such that appropriate regions to be ground can be respectively determined for three-dimensional vertebral plate models in different forms, and the efficiency and surgical quality can thus be improved.

Description

Laminae grinding control method and surgical robot system Technical Field

[0001] The present invention relates to the field of surgical robots, and more particularly, to a lamina grinding control method and a surgical robot system. Background Art

[0002] Laminectomy is a common spinal surgery procedure and one of the highest-risk surgical procedures. Traditional laminectomy requires the surgeon to cut and grind the lamina in the affected area using surgical tools such as a bone drill to remove the lamina and relieve nerve pressure. However, this traditional procedure places extremely high demands on the surgeon, requiring not only skilled surgical techniques and strong mental fortitude but also a high level of mental alertness throughout the procedure. Fatigue or nervousness can lead to misoperation, resulting in serious consequences.

[0003] The existing Chinese patent with authorization announcement number CN110936379B discloses a robot control method, a robot control device and a robot. The control method includes obtaining the vertebral plate area to be cut from the three-dimensional reconstructed image, and then obtaining the movement path of the robot during the cutting process according to the various position points of the vertebral plate; when obtaining the vertebral plate area to be cut, establishing a bounding box surrounding the vertebral plate area to be cut; wherein, the doctor can use the mouse to drag the control point to adjust the size of the bounding box, or obtain the vertebral plate area to be cut from the three-dimensional reconstructed image through a deep learning network, and establish a bounding box surrounding the vertebral plate area to be cut, without the doctor manually adjusting the bounding box.

[0004] The automatic creation of bounding boxes using deep learning networks is also based on a large number of actual doctor operation cases. Therefore, the creation of bounding boxes in the above patent still relies mainly on doctors using the mouse to drag control points to adjust them.

[0005] However, doctors use mouse control points to adjust the size of the bounding box. This operation method is not only inefficient but also places high demands on doctors.

[0006] Summary of the Invention

[0007] In response to the shortcomings of the existing technology, one of the purposes of the present invention is to provide a vertebral plate grinding control method, which intersects the grinding three-dimensional model with the vertebral plate three-dimensional model to obtain the area to be ground of the vertebral plate, which can reduce the difficulty and requirements of operation and improve efficiency; at the same time, the concrete grinding three-dimensional model can enable doctors to have a clearer and more intuitive understanding of the grinding action, so that they can determine the appropriate area to be ground for different forms of vertebral plate three-dimensional models, thereby improving efficiency and surgical quality.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A lamina grinding control method, the grinding control method comprising:

[0010] Acquire medical images of the vertebral lamina and establish a three-dimensional model of the vertebral lamina based on the medical images;

[0011] Obtain the moving range of the grinding tool and establish a grinding three-dimensional model based on the moving range;

[0012] The grinding 3D model is intersected with the lamina 3D model to obtain the lamina area to be ground.

[0013] Furthermore, after the grinding three-dimensional model intersects with the lamina three-dimensional model, the grinding three-dimensional model is adjusted to obtain the lamina area to be ground;

[0014] One or more intersection sections of the grinding three-dimensional model and the lamina three-dimensional model are established to assist in adjusting the grinding three-dimensional model.

[0015] Furthermore, the grinding control method further includes: establishing a starting point indication model at the vertex of the grinding three-dimensional model.

[0016] Furthermore, a cross-sectional contour line of the area to be ground is obtained, a grinding boundary line is established along the cross-sectional contour line, and a grinding safety margin is set based on the grinding boundary line.

[0017] Furthermore, the grinding control method further includes: using the grinding boundary line as a guide path, and establishing a grinding path along the guide path.

[0018] Furthermore, a plurality of circles arranged in an array along the guide path are established with the grinding boundary line as the guide path and the grinding safety margin as the radius; the grinding path includes a grinding line located within the cross-sectional contour line and tangent to the plurality of circles.

[0019] Further, the grinding path includes a plurality of grinding lines; wherein a grinding line executed later serves as a guide path for an adjacent grinding line executed earlier.

[0020] Furthermore, the number of the grinding three-dimensional models is one;

[0021] Alternatively, there are multiple grinding three-dimensional models, and the multiple grinding three-dimensional models are intersected with different positions of the lamina three-dimensional model respectively.

[0022] Furthermore, the grinding tool moves in a two-dimensional plane, and its moving range includes a first direction stroke and a second direction stroke, and the first direction is perpendicular to the second direction;

[0023] Alternatively, the grinding tool moves in a three-dimensional space, and its moving range includes a first direction stroke, a second direction stroke, and a third direction stroke, and the first direction, the second direction, and the third direction are perpendicular to each other.

[0024] Another object of the present invention is to provide a surgical robot system, and provides the following technical solutions:

[0025] A surgical robot system is used to execute the above-mentioned lamina grinding control method.

[0026] Further, it includes a grinding tool, a surgical motion platform for driving the grinding tool to move to perform the grinding action, and a robotic arm for driving the surgical motion platform to move;

[0027] The surgical motion platform is a two-axis motion platform for driving the grinding tool to move in a two-dimensional plane;

[0028] Alternatively, the surgical motion platform is a three-axis motion platform for driving the grinding tool to move in three-dimensional space.

[0029] In summary, the present invention has the following beneficial effects:

[0030] (1) The doctor can drag the grinding three-dimensional model with the mouse to move or rotate it, and then change the intersection area according to the specific shape of the vertebral plate three-dimensional model to obtain a suitable area to be ground; the doctor does not need to adjust the shape and volume of the grinding three-dimensional model, but only needs to control the grinding three-dimensional model to translate or rotate, which can reduce the difficulty and requirements of the operation and improve efficiency; at the same time, the concrete grinding three-dimensional model can give the doctor a clearer and more intuitive understanding of the grinding action, so that the doctor can determine the suitable area to be ground for different shapes of vertebral plate three-dimensional models, thereby improving efficiency and surgical quality;

[0031] (2) Establish a grinding boundary line along the cross-sectional contour line, and use the grinding boundary line as a guide path. Then, establish a grinding path along the guide path. This can improve the safety of grinding and avoid wear-through. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic flow chart of a lamina grinding control method in Example 1;

[0033] FIG2 is a schematic diagram of the lamina three-dimensional model and two grinding three-dimensional models in Example 1;

[0034] FIG3 is a schematic diagram of the lamina three-dimensional model, the grinding three-dimensional model, and three intersecting cross sections in Example 1;

[0035] FIG4 is a schematic diagram of a lamina three-dimensional model and a grinding three-dimensional model in Example 1;

[0036] FIG5 is a schematic diagram of a cross-sectional profile in Example 1;

[0037] FIG6 is a schematic diagram of a cross-sectional contour line and a grinding boundary line in Example 1;

[0038] FIG7 is a schematic diagram of the cross-sectional contour line, grinding boundary line, and grinding path in Example 1;

[0039] FIG8 is a schematic diagram of a grinding boundary line, a first circle, and a first grinding line in Example 1;

[0040] FIG9 is a schematic diagram of a grinding boundary line, a first circle, a first grinding line, a second circle, and a second grinding line in Example 1. FIG. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings.

[0042] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as such modifications are within the scope of the claims of the present invention, they are protected by patent law.

[0043] Example 1:

[0044] A vertebral plate grinding control method, referring to Figures 1 to 9, includes respectively establishing a vertebral plate three-dimensional model and a grinding three-dimensional model, and then intersecting the grinding three-dimensional model with the vertebral plate three-dimensional model to obtain an area to be ground; specifically, to establish the vertebral plate three-dimensional model, it is necessary to obtain a medical image of the vertebral plate, such as a CT image, and then establish the vertebral plate three-dimensional model based on the medical image; to establish the grinding three-dimensional model, it is necessary to obtain the moving stroke range of the grinding tool, and then establish the grinding three-dimensional model based on the moving stroke range; to obtain the area to be ground, it is necessary to first intersect the grinding three-dimensional model with the vertebral plate three-dimensional model, and then the grinding three-dimensional model can be adjusted to change the shape or volume of the intersection area, and the determined intersection area is the vertebral plate area to be ground.

[0045] Among them, after selecting the grinding tool and the moving range of the grinding tool, the shape and volume of the grinding three-dimensional model are fixed, so the doctor only needs to control the grinding three-dimensional model to translate or rotate; for example, the doctor can drag the grinding three-dimensional model to move or rotate it with the mouse, or use the keyboard to enter a specific translation distance or rotation angle, so as to change the intersection area according to the specific shape of the vertebral plate three-dimensional model, and then obtain a suitable area to be ground; the doctor does not need to adjust the shape and volume of the grinding three-dimensional model, but only needs to control the grinding three-dimensional model to translate or rotate, which can reduce the difficulty and requirements of operation and improve efficiency; at the same time, the concrete grinding three-dimensional model can enable the doctor to have a clearer and more intuitive understanding of the grinding action, so that the suitable area to be ground can be determined for different forms of vertebral plate three-dimensional models, thereby improving efficiency and surgical quality; of course, in other optional embodiments, the grinding three-dimensional model can also be made to intersect with the vertebral plate three-dimensional model through a deep learning network to obtain a suitable area to be ground, which is not limited here.

[0046] Among them, the grinding three-dimensional model is established according to the moving stroke range of the grinding tool, so the shape of the grinding three-dimensional model is more regular and simple than the vertebral lamina three-dimensional model, so it is more convenient to adjust the grinding three-dimensional model to change the intersection area; of course, in other optional embodiments, the vertebral lamina three-dimensional model can also be adjusted to change the intersection area, or the grinding three-dimensional model and the vertebral lamina three-dimensional model can be adjusted separately to change the intersection area, which is not limited here; in order to more accurately adjust the position or angle of the grinding three-dimensional model, one or more intersection sections of the grinding three-dimensional model and the vertebral lamina three-dimensional model can be established to assist in adjusting the grinding three-dimensional model; specifically, referring to Figure 3, in this embodiment, three different intersection sections (sagittal view, coronal view, and axial view) are established to assist in adjusting the grinding three-dimensional model. The relative position of the grinding three-dimensional model and the vertebral lamina three-dimensional model can be more clearly observed through the intersection sections, and the position or angle of the grinding three-dimensional model can be more accurately adjusted, thereby obtaining a more suitable area to be ground, thereby improving the quality of the surgery; the position and number of the above-mentioned intersection sections can be selected as needed and are not limited here.

[0047] The number of vertebral plate three-dimensional models is one, and the number of grinding three-dimensional models can be one or more; the number of grinding three-dimensional models can be selected as needed and is not limited here; Figure 2 shows a vertebral plate three-dimensional model and two grinding three-dimensional models, and Figure 4 shows a vertebral plate three-dimensional model and a grinding three-dimensional model; the two grinding three-dimensional models in Figure 2 intersect with different positions of the vertebral plate three-dimensional model respectively, and each grinding three-dimensional model is independently adjusted, so that two different areas to be ground can be obtained respectively; the two grinding three-dimensional models in Figure 2 are established by the same grinding tool and its moving stroke range; that is, the two grinding three-dimensional models are only different in position and posture; of course, in other optional embodiments, multiple grinding three-dimensional models can also be established by different grinding tools or moving stroke ranges, which is not limited here.

[0048] Specifically, in this embodiment, the grinding tool is a ball-end drill; of course, in other optional embodiments, the grinding tool may also be an ultrasonic bone knife or a milling cutter, etc., which is not limited here; in this embodiment, the grinding tool moves in a two-dimensional plane, and its moving stroke range includes a first direction stroke and a second direction stroke, and the first direction is perpendicular to the second direction; that is, the ball-end drill can move in a plane defined by the first direction stroke and the second direction stroke; the grinding tool moves in a two-dimensional plane, so when establishing a three-dimensional grinding model, it is also necessary to combine the size of the ball-end drill; that is, a rectangular grinding three-dimensional model is established based on the radius, first direction stroke and second direction stroke of the ball-end drill; for example, the radius of the ball-end drill is defined as r, the first direction stroke is defined as a, and the second direction stroke is defined as b, then a is used as the length of the grinding three-dimensional model, 2r is used as the width of the grinding three-dimensional model, and b is used as the height of the grinding three-dimensional model, so that a rectangular grinding three-dimensional model can be established; wherein, the moving stroke range of the grinding tool is usually It is much larger than the area to be ground, so when establishing the three-dimensional grinding model, the length or width of the three-dimensional grinding model can be ignoring the radius r of the ball-end drill; of course, the radius r of the ball-end drill can be added to the length or width of the three-dimensional grinding model, which is not limited here; in other optional embodiments, the edges of the rectangular parallelepiped can also be rounded according to the radius of the ball-end drill, which is not limited here; controlling the movement of the grinding tool in the two-dimensional plane can simplify the three-dimensional grinding model, and can facilitate the planning of the grinding path and improve the grinding efficiency; of course, in other optional embodiments, the grinding tool can also move in three-dimensional space, and its moving stroke range includes a first direction stroke, a second direction stroke and a third direction stroke, and the first direction, the second direction and the third direction are perpendicular to each other, which is not limited here; if the grinding tool moves in three-dimensional space, the width of the three-dimensional grinding model can be limited by the radius of the ball-end drill and the third direction stroke, or the width of the three-dimensional grinding model can be limited only by the third direction stroke, which is not limited here.

[0049] Preferably, the grinding control method also includes: establishing a starting point indication model at the top corner of the grinding three-dimensional model; the relative position of the starting point indication model and the grinding three-dimensional model remains unchanged, so that the concrete starting point indication model can facilitate the doctor to have a clearer and more intuitive understanding of the posture of the grinding three-dimensional model, and also facilitate the adjustment of the grinding three-dimensional model; in this embodiment, the starting point indication model is a cone, and the top of the cone is opposite to the grinding three-dimensional model; of course, in other optional embodiments, the starting point indication model can also choose other shapes, which is not limited here.

[0050] Specifically, the grinding control method also includes: obtaining the cross-sectional contour line of the area to be ground (refer to FIG5), establishing a grinding boundary line along the cross-sectional contour line (refer to FIG6), and setting a grinding safety margin based on the grinding boundary line; then using the grinding boundary line as a guide path, establishing a grinding path along the guide path; in this embodiment, the cross-sectional contour line is automatically identified and displayed by the software, which can improve efficiency; of course, in other optional embodiments, the cross-sectional contour line can also be drawn by the doctor using a mouse, which is not limited here; the thicker line segment at the bottom of the cross-sectional contour line in FIG6 is the grinding boundary line; in this embodiment, according to the position of the area to be ground, in order to avoid grinding through downwards, a grinding boundary line located at the bottom of the cross-sectional contour line is established; in other optional embodiments, In the embodiment, for grinding safety, the position and number of grinding boundary lines can be adjusted as needed, and there is no restriction here. In this embodiment, the cross section of the cross-sectional contour line is parallel to the plane defined by the first direction stroke and the second direction stroke. In this embodiment, the grinding boundary line is established along the cross-sectional contour line, and then the grinding safety margin is set based on the grinding boundary line, and the grinding path is established with the grinding boundary line as the guide path, which can effectively avoid grinding through downwards. Specifically, the doctor draws the grinding boundary line along the cross-sectional contour line with the mouse. The grinding boundary line is located at the bottom position of the cross-sectional contour line and has a starting point and an end point. Of course, in other optional embodiments, the grinding boundary line can also be automatically identified and generated without the need for the doctor to draw it, and there is no restriction here.

[0051] 7 and 8 , with the grinding boundary line as the guide path and the grinding safety margin as the radius, a plurality of first circles arranged in an array along the guide path are established; wherein, with the grinding boundary line as the guide path, that is, the centers of the plurality of first circles are all located on the grinding boundary line; the grinding path includes a first grinding line located within the cross-sectional contour line and tangent to the plurality of first circles; that is, the tangent points on the plurality of first circles are connected into a line, and then the portion located within the cross-sectional contour line is intercepted as the first grinding line; the minimum distance between any point on the first grinding line and the grinding boundary line is greater than or equal to the grinding safety margin, thereby effectively ensuring the safety of grinding; if single grinding is adopted, then the first grinding line can be established, and the entire area above the first grinding line is ground along the first grinding line; if multiple grinding is adopted, more grinding lines can be established on the basis of the first grinding line, and the grinding path includes multiple grinding lines; wherein the grinding line executed later serves as the guide path for the adjacent grinding line executed earlier, thereby facilitating the grinding 7 and 9 , with the first grinding line as the guide path and the radius of the ball-end drill as the radius, a plurality of second circles arranged in an array along the guide path are established. The grinding path includes second grinding lines located within the cross-sectional contour and tangent to the plurality of second circles, and the second grinding lines are located above the first grinding lines. The centers of the plurality of second circles are all located on the first grinding line. Similarly, with reference to FIG7 , the grinding path in this embodiment includes the first grinding line, the second grinding line, the third grinding line, the fourth grinding line, and the fifth grinding line, which are arranged from bottom to top. During grinding, grinding is performed sequentially starting from the fifth grinding line and proceeding from top to bottom. The number of circles arranged in the array along the guide path can be adjusted as needed, and of course, a larger number is preferred. In this embodiment, the circles arranged in the array along the third, fourth, and fifth grinding lines all have the radius of the ball-end drill as the radius of the circle, thereby facilitating the formation of the grinding path. Of course, the radius of the circles arranged in the array can be adjusted as needed, and this is not limited here.

[0052] Example 2:

[0053] A surgical robot system is used to execute the vertebral plate grinding control method in Example 1; specifically, the surgical robot system includes a grinding tool, a surgical motion platform for driving the grinding tool to move to perform the grinding action, and a robotic arm for driving the surgical motion platform to move; the surgical robot system also includes a positioning mark, a visual recognition mechanism and a control system; wherein the surgical motion platform is a two-axis motion platform for driving the grinding tool to move in a two-dimensional plane; the two-axis motion platform in this embodiment is existing technology and will not be described here.

[0054] Specifically, the visual recognition mechanism scans the identification graphic on the positioning mark to locate the movement of the robotic arm; the control system drives the robotic arm to move the surgical motion platform to the specified position, and then the surgical motion platform drives the grinding tool to move according to the grinding path; the use of the surgical motion platform to drive the grinding tool to move is conducive to improving the movement accuracy; of course, in other optional embodiments, the surgical motion platform can also be a three-axis motion platform for driving the grinding tool to move in three-dimensional space, which is not limited here; at the same time, in other optional embodiments, when the lamina grinding control method in Example 1 is adopted, the grinding tool can also be directly driven to move by the robotic arm, which is not limited here.

Claims

1. A lamina grinding control method, characterized in that: The grinding control method comprises: Acquire a medical image of the vertebral lamina, and establish a three-dimensional model of the vertebral lamina according to the medical image; Obtaining the moving travel range of the grinding tool and establishing a grinding three-dimensional model according to the moving travel range; The grinding three-dimensional model is intersected with the lamina three-dimensional model to obtain the lamina area to be ground.

2. The lamina grinding control method according to claim 1, characterized in that: After the grinding three-dimensional model intersects with the lamina three-dimensional model, the grinding three-dimensional model is adjusted to obtain the lamina area to be ground; One or more intersection sections of the grinding three-dimensional model and the lamina three-dimensional model are established to assist in adjusting the grinding three-dimensional model.

3. The lamina grinding control method according to claim 1, characterized in that: The grinding control method further includes: establishing a starting point indication model at the vertex of the grinding three-dimensional model.

4. The lamina grinding control method according to claim 1, characterized in that: The cross-sectional contour line of the area to be ground is obtained, a grinding boundary line is established along the cross-sectional contour line, and a grinding safety margin is set based on the grinding boundary line.

5. The lamina grinding control method according to claim 4, characterized in that: The grinding control method further includes: using the grinding boundary line as a guide path, and establishing a grinding path along the guide path.

6. The lamina grinding control method according to claim 5, characterized in that: Taking the grinding boundary line as the guide path and the grinding safety margin as the radius, a plurality of circles arranged in an array along the guide path are established; the grinding path includes a grinding line located within the cross-sectional contour line and tangent to the plurality of circles.

7. The lamina grinding control method according to claim 6, characterized in that: The grinding path includes a plurality of grinding lines; wherein a grinding line executed later serves as a guide path for an adjacent grinding line executed earlier.

8. The lamina grinding control method according to claim 1, characterized in that: The number of the grinding three-dimensional models is one; Alternatively, there are multiple grinding three-dimensional models, and the multiple grinding three-dimensional models are respectively intersected with different positions of the lamina three-dimensional model.

9. The lamina grinding control method according to claim 1, characterized in that: The grinding tool moves in a two-dimensional plane, and its moving stroke range includes a first direction stroke and a second direction stroke, and the first direction is perpendicular to the second direction; Alternatively, the grinding tool moves in a three-dimensional space, and its moving range includes a first direction stroke, a second direction stroke and a third direction stroke, and the first direction, the second direction and the third direction are perpendicular to each other.

10. A surgical robot system, characterized in that: Used to execute the lamina grinding control method according to any one of claims 1 to 9.

11. The surgical robot system according to claim 10, characterized in that: It includes a grinding tool, a surgical motion platform for driving the grinding tool to move to perform a grinding action, and a mechanical arm for driving the surgical motion platform to move; The surgical motion platform is a two-axis motion platform, which is used to drive the grinding tool to move in a two-dimensional plane; Alternatively, the surgical motion platform is a three-axis motion platform for driving the grinding tool to move in three-dimensional space.

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