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

Abstract

Embodiments of the present application are applicable to the technical fields of computer-assisted medical treatment and osteotomies, and provide an osteotomy control system, a computer-assisted medical device, and a computer program product. The osteotomy control system comprises a data processing unit, an optical positioning system, and a robotic arm device; the optical positioning system is used for acquiring three-dimensional image information of a surgical area of a patient and a robotic arm end tool, and transmitting the three-dimensional image information to the data processing unit; the data processing unit is used for calculating relative position information between the robotic arm end tool and an osteotomy safety boundary on the basis of the three-dimensional image information, and generating a control instruction when the robotic arm end tool crosses the osteotomy safety boundary; and the robotic arm device is used for applying an acting force on the robotic arm end tool on the basis of the control instruction, so as to prevent the robotic arm end tool from crossing the osteotomy safety boundary. The use of the osteotomy control system can improve the safety and osteotomy accuracy of orthopedic surgery, thereby reducing a surgeon's operation burden.

Description

Osteotomy control systems, computer-aided medical devices and computer program products

[0001] This application claims priority to Chinese Patent Application No. 202411547143.4, filed on October 31, 2024, entitled "Osteotomy Control System, Computer-Aided Medical Device and Computer Program Product", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of computer-aided medical and osteotomy surgery technology, and in particular to an osteotomy control system, computer-aided medical equipment, and computer program product. Background Technology

[0003] Osteotomy is a common orthopedic surgical procedure. With the widespread application of computer-aided medicine, using computer equipment to assist in osteotomy can reduce the difficulty of the surgeon's operation and improve surgical efficiency.

[0004] Computer-assisted osteotomy surgery typically involves attaching a tool to the end effector of a robotic arm to perform the osteotomy. In related technologies, achieving this computer-assisted osteotomy requires acquiring a set of boundary points of the osteotomy area. For example, acquiring the patient's CT images and planning the corresponding osteotomy boundary points. Based on this, the computer needs to transform these boundary points into the coordinate system corresponding to the robotic arm, and then use the robotic arm to perform the relevant osteotomy operation. Because this process involves multiple coordinate transformations, data cannot be synchronized in real time between the various devices, severely affecting the accuracy of the osteotomy operation. Technical issues

[0005] In view of this, embodiments of this application provide an osteotomy control system, computer-aided medical device, and computer program product, which can directly utilize the relative position information of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system for data processing, without the need to perform coordinate transformation on the collected data. This facilitates unified calculation and real-time control of related equipment, helps improve the safety and accuracy of orthopedic surgery, and reduces the operational burden on doctors. Technical solutions

[0006] A first aspect of this application provides an osteotomy control system, which includes a data processing unit, an optical positioning system, and a robotic arm device, all communicatively connected to the data processing unit; wherein:

[0007] The optical positioning system is used to acquire three-dimensional image information of the patient's surgical area and the robotic arm end effector installed at the end of the robotic arm device, and transmit the three-dimensional image information to the data processing unit;

[0008] The data processing unit is configured to calculate the relative position information between the robotic arm end-effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information, and generate a control command when it is determined that the robotic arm end-effector has exceeded the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system;

[0009] The robotic arm device is used to receive the control command transmitted by the data processing unit, and apply force to the end tool of the robotic arm according to the control command to prevent the end tool of the robotic arm from exceeding the osteotomy safety boundary.

[0010] Optionally, the optical positioning system transmits the three-dimensional image information to the data processing unit at a frequency lower than the frequency at which the data processing unit transmits the generated control commands to the robotic arm device.

[0011] Optionally, the osteotomy safety boundary is composed of a set of boundary points; the data processing unit is specifically used for:

[0012] Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary, wherein the positional relationship includes the tool end point being located on the osteotomy side of the osteotomy safety boundary, or the tool end point being located on the non-osteotomy side of the osteotomy safety boundary;

[0013] If the tool tip is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angular regions based on each position point in the boundary point set, and the target area where the tool tip is located in the multiple angular regions is determined.

[0014] Multiple triangles are obtained by connecting the end point of the tool with each vertex of the target area, and the relative position information is determined based on the area of ​​the multiple triangles obtained.

[0015] Optionally, determining the positional relationship between the tool tip point corresponding to the robotic arm end-effector and the osteotomy safety boundary includes:

[0016] Sort the points in the boundary point set in a clockwise direction and determine the midpoint of the line connecting the first and last points.

[0017] Based on the midpoint, a perpendicular vector is calculated that is coplanar with the plane containing each position point in the boundary point set and perpendicular to the vector corresponding to the line connecting the first position point and the last position point.

[0018] Calculate the angle between the tool end point vector and the perpendicular vector; the starting point of both the tool end point vector and the perpendicular vector is the midpoint, and the tool end point vector points from the midpoint to the tool end point;

[0019] If the included angle of the vectors is an obtuse angle, then the end point of the tool is determined to be located on the osteotomy side of the osteotomy safety boundary;

[0020] If the included angle of the vectors is acute, then the end point of the tool is determined to be located on the non-osteotomy side of the osteotomy safety boundary.

[0021] Optionally, the step of dividing the osteotomy area formed by the osteotomy safety boundary into multiple angular regions based on each location point in the boundary point set, and determining the target region where the tool end point is located in the multiple angular regions, includes:

[0022] Connect each position point in the boundary point set to the midpoint of the line connecting the first and last position points therein to obtain multiple position point vectors and multiple angle regions; any position point vector points from the midpoint to a corresponding position point in the boundary point set;

[0023] The angle between each of the position point vectors and the first position point vector is calculated sequentially, and the target area where the tool end point is located in the multiple angle regions is determined according to the size of the angle; the first position point vector is the vector formed by the midpoint pointing to the first position point.

[0024] Optionally, determining the relative position information based on the area sizes of the obtained multiple triangles includes:

[0025] Calculate the area of ​​the triangular region corresponding to the target region and the area of ​​the two target triangles respectively. Each target triangle is composed of the tool end point, the midpoint and a vertex of the target region.

[0026] If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, then the end point of the tool is determined to be located inside the osteotomy region;

[0027] If the area of ​​the region is less than the sum of the areas of the two triangles, then the end point of the tool is determined to be located outside the osteotomy region.

[0028] Optionally, the data processing unit is further configured to:

[0029] Calculate the normal vector perpendicular to the osteotomy boundary line segment in the target region, wherein the osteotomy boundary line segment is obtained by connecting two position points in the target region from the boundary point set;

[0030] The control command is generated based on the normal vector and transmitted to the robotic arm device.

[0031] Optionally, the force applied to the end effector of the robotic arm device according to the control command is 15-25 Newtons.

[0032] A second aspect of this application provides a computer-assisted medical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the computer-assisted medical device performs the following method:

[0033] The optical positioning system acquires three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device.

[0034] Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated;

[0035] A control command is generated when the robotic arm end-effector exceeds the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system;

[0036] The control command is transmitted to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0037] A third aspect of this application provides a computer program product, including a computer program that, when executed, causes the following method to be performed:

[0038] The optical positioning system acquires three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device.

[0039] Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated;

[0040] A control command is generated when the robotic arm end-effector exceeds the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system;

[0041] The control command is transmitted to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0042] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the following method:

[0043] The optical positioning system acquires three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device.

[0044] Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated;

[0045] A control command is generated when the robotic arm end-effector exceeds the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system;

[0046] The control command is transmitted to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary. Beneficial effects

[0047] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0048] The osteotomy control system in this embodiment can acquire three-dimensional images of the surgical area and the robotic arm's end effector using an optical positioning system, obtaining a unified three-dimensional image of the robotic arm's end effector and the surgical area. Therefore, the relative position information obtained by the data processing unit based on the above three-dimensional image processing represents the relative position of the surgical area and the robotic arm's end effector in the world coordinate system provided by the optical positioning system. In this way, the data processing unit does not need to perform coordinate transformations on various data, and can perform subsequent calculations or processing based on the relative position of the surgical area and the robotic arm's end effector in the same coordinate system. This enables unified data calculation without the need for multiple coordinate transformations, which helps improve the efficiency and real-time performance of data processing. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 is a schematic diagram of an osteotomy control system provided in an embodiment of this application;

[0051] Figure 2 is a schematic diagram of an osteotomy control method provided in an embodiment of this application;

[0052] Figure 3 is a schematic diagram of a possible implementation of S202 in an osteotomy control method provided in an embodiment of this application;

[0053] Figures 4 to 9 are schematic diagrams illustrating specific examples of each stage in the osteotomy control process provided in the embodiments of this application;

[0054] Figure 10 is a schematic diagram of a computer-aided medical device provided in an embodiment of this application. Embodiments of the present invention

[0055] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0056] The technical solution of this application will be described below through specific embodiments.

[0057] Referring to Figure 1, a schematic diagram of an osteotomy control system provided in an embodiment of this application is shown. The system specifically includes an optical positioning system 101, a data processing unit 102, and a robotic arm device 103. The optical positioning system 101 and the robotic arm device 103 are communicatively connected to the data processing unit 102. Thus, information collected by the optical positioning system 101 can be promptly transmitted to the data processing unit 102 for processing. After processing the information collected by the optical positioning system 101, the data processing unit 102 can generate corresponding control commands, which can then be promptly sent to the robotic arm device 103. The robotic arm device 103 can operate according to the control commands, assisting the surgeon in completing the current surgical procedure. For example, the control command can be generated when the end effector of the robotic arm device 103 crosses the osteotomy safety boundary. This control command can instruct the robotic arm device 103 to apply a force to the end effector, such as a force pointing inwards towards the osteotomy safety boundary, preventing the end effector from crossing the safety boundary.

[0058] It should be noted that, unless otherwise specified, in the description of the embodiments of this application, "robotic arm device" and "robotic arm" refer to the same device, and "robotic arm end effector" and "end effector" both refer to the tool installed at the end of the aforementioned robotic arm.

[0059] In this embodiment, the optical positioning system 101 can be a device with navigation and image acquisition functions. The optical positioning system 101 can acquire three-dimensional image information of the patient's surgical area and the robotic arm end effector mounted on the end of the robotic arm device 103. Specifically, the aforementioned three-dimensional image information may include data such as the osteotomy boundary position of the surgical site or area, surgical planning data, and the position of the robotic arm end effector. The optical positioning system 101 can transmit the three-dimensional image information to the data processing unit 102 for processing.

[0060] In one possible implementation of this application embodiment, the optical positioning system 101 can be a navigator, which can provide navigation and three-dimensional image acquisition related functions during surgery. This application embodiment does not limit the specific type of the optical positioning system 101.

[0061] In this embodiment, the data processing unit 102 may be a computer device with data processing capabilities. For example, the data processing unit 102 may process the three-dimensional image information transmitted by the optical positioning system 101 and output the processed data. In some examples, the data processing unit 102 may also be referred to as a "common machine," "host machine," or "intermediate device," etc., and this embodiment does not limit this.

[0062] In this embodiment, after receiving the three-dimensional image information transmitted by the optical positioning system 101, the data processing unit 102 can process the three-dimensional image information to calculate the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area. The osteotomy safety boundary can be a restrictive boundary obtained based on preoperative planning, ensuring osteotomy safety during the actual osteotomy process. The osteotomy surgery should be performed within the osteotomy safety boundary to ensure surgical safety.

[0063] This embodiment utilizes an optical positioning system 101 to acquire three-dimensional images of the surgical area and the robotic arm's end effector, obtaining a unified three-dimensional image of the robotic arm's end effector and the surgical area. Therefore, the relative position information obtained by the data processing unit 102 based on the aforementioned three-dimensional image processing represents the relative position of the surgical area and the robotic arm's end effector within the world coordinate system provided by the optical positioning system 101. In this way, the data processing unit 102 does not need to perform coordinate transformations on various data; it can perform subsequent calculations or processing based on the relative position of the surgical area and the robotic arm's end effector within the same coordinate system. This enables unified data calculation without requiring multiple coordinate transformations, thus improving data processing efficiency and real-time performance.

[0064] Typically, patients experience random shaking during osteotomy, which causes the osteotomy tool mounted on the end effector of the robotic arm to rotate or translate. On the other hand, the raw data acquired by related equipment, such as the original CT images of the patient's surgical site, is fixed and does not change due to the rotation or translation of the osteotomy tool. However, in practice, the rotation or translation of the osteotomy tool will cause changes in the positional information of the robotic arm and osteotomy tool acquired in real time. Therefore, using coordinate transformation to process the data will reduce the accuracy of the results. This embodiment addresses the computational complexity caused by osteotomy boundaries and tool movement by uniformly calculating the patient's surgical area and the position of the end effector from the optical positioning system 101. This allows for the calculation of relative positions and other numerical values, further improving the accuracy of data processing.

[0065] In this embodiment, the data processing unit 102 can determine whether the robotic arm end-effector has exceeded the osteotomy safety boundary based on the calculated relative position information. If the robotic arm end-effector has not exceeded the osteotomy safety boundary, it indicates that the current surgical operation is being performed within a safe range. Otherwise, if the robotic arm end-effector exceeds the aforementioned osteotomy safety boundary, continuing the surgery may lead to serious safety problems. In this case, it is necessary to alert the surgeon.

[0066] In this embodiment, when the data processing unit 102 determines that the end-effector has exceeded the osteotomy safety boundary based on the calculated relative position information between the surgical area and the robotic arm's end-effector, the data processing unit 102 generates a corresponding control command. This control command may be an instruction to the robotic arm device 103 to move the end-effector back within the osteotomy safety boundary. The data processing unit 102 can send the generated control command to the robotic arm device 103 in real time.

[0067] In this embodiment, the robotic arm device 103 can be various types of robotic arms, such as a six-axis robotic arm, a seven-axis robotic arm, etc. This embodiment does not limit the specific type of robotic arm device 103.

[0068] When the robotic arm device 103 receives the control command transmitted by the data processing unit 102, the robotic arm device 103 can apply force to the end tool according to the control command to prevent the end tool from exceeding the osteotomy safety boundary.

[0069] In one possible implementation of this application embodiment, the robotic arm device 103 can assist in osteotomy surgery under the operation of a doctor. For example, the doctor can hold the robotic arm and use the end effector to perform osteotomy at the surgical site. When the robotic arm device 103 applies force to the end effector, the doctor holding the robotic arm can sense the force and operate the end effector back within the osteotomy safety boundary, thereby ensuring the safe conduct of the surgery.

[0070] In one possible implementation of this application embodiment, the magnitude of the force applied by the robotic arm device 103 to the end-effector according to the control command can be between 15 and 20 Newtons. For example, if the robotic arm device 103 applies a force of 20 Newtons to the end-effector, the surgeon using the robotic arm to assist in the operation can feel a certain magnitude of the force and thus be able to manipulate the end-effector back within the osteotomy safety boundary according to the direction of the force.

[0071] In this embodiment, a complete control cycle of the osteotomy control system can include a complete control process from the acquisition of three-dimensional image information by the optical positioning system 101 to the application of force by the robotic arm device 103 to the application of force on the end tool of the robotic arm according to the control commands transmitted by the data processing unit 102. Within a complete control cycle, the frequency at which the optical positioning system 101 transmits three-dimensional image information to the data processing unit 102 can be less than and as close as possible to the frequency at which the data processing unit 102 transmits the generated control commands to the robotic arm device 103. In this way, it can be ensured that the relative position between the surgical area represented by the acquired three-dimensional image information and the end tool of the robotic arm can be identified by the data processing unit 102 in real time, and the control commands can be fed back to the robotic arm device 103 accordingly. This allows the robotic arm device 103 to apply a reverse force on the end tool in real time when the end tool exceeds the osteotomy safety boundary, thereby improving the stability and accuracy of the osteotomy control system.

[0072] Referring to the osteotomy control system shown in Figure 1 and Figure 2, a schematic diagram of an osteotomy control method provided in this application embodiment is shown. This method describes the osteotomy control process from the perspective of the data processing unit 102 in Figure 1. The optical positioning system and robotic arm device involved in this method can refer to the optical positioning system 101 and robotic arm device 103 in Figure 1. Specifically, the method may include the following steps:

[0073] S201. Acquire three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device through an optical positioning system.

[0074] For example, the optical positioning system can have navigation and data acquisition functions. During the operation, the optical positioning system can be used to acquire three-dimensional image information of the patient's surgical area and the robotic arm's end effector, such as the location of the osteotomy boundary at the surgical site, surgical planning data, and the location of the robotic arm's end effector.

[0075] S202. Based on the three-dimensional image information, calculate the relative position information between the end effector of the robotic arm and the osteotomy safety boundary in the surgical area.

[0076] In this embodiment, the 3D image information acquired during navigation can be transmitted to the data processing unit in real time. The data processing unit can receive and fuse this data to establish a 3D model of the surgical area and determine the safe boundary of the osteotomy, i.e., the osteotomy safety boundary. During this process, the data processing unit can calculate the relative position information between the robotic arm's end effector and the osteotomy safety boundary in the surgical area based on the received 3D image information. This relative position information represents the relative position of the surgical area and the robotic arm's end effector in the world coordinate system provided by the optical positioning system. Therefore, the relevant data processed by the data processing unit can be data acquired based on the same coordinate system, which helps the data processing unit to perform unified calculations on the relevant data without needing to perform coordinate transformation processing on different data. This reduces the complexity of data processing, improves the efficiency and timeliness of data processing, and also helps to improve the real-time performance of subsequent control processes.

[0077] In one possible implementation of this application embodiment, as shown in FIG3, step S202 calculates the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information, which may specifically include the following steps S2021-S2023:

[0078] S2021. Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary.

[0079] In this embodiment of the application, the tool end point corresponding to the robotic arm end tool can refer to the real-time location of the end tool. The positional relationship between the tool end point and the osteotomy safety boundary can include two cases: the tool end point is located on the osteotomy side of the osteotomy safety boundary, or the tool end point is located on the non-osteotomy side of the osteotomy safety boundary.

[0080] In one possible implementation of this application, the osteotomy safety boundary can be obtained by the data processing unit after processing the three-dimensional image information acquired by the optical positioning system. This boundary can be composed of a boundary point set, which may include multiple location points. The specific locations of these location points can be determined according to the preoperative planning scheme.

[0081] In one example, the set of boundary points can be represented as N3 = {P1, P2, P3, P4, P5, P6, P7…P}. n In this example, the osteotomy safety boundary consists of n location points.

[0082] In this embodiment of the application, in order to determine the positional relationship between the end tool point and the osteotomy safety boundary, the position points in the boundary point set N3 can be sorted in a clockwise direction first to determine the first position point P1 and the last position point P2. nLet P be the midpoint of the line connecting the two points. m .

[0083] As shown in Figure 4, the data processing unit can take the first position point P1 and the last position point P of the sorted boundary point set N3. n The line segment p1p formed by connecting the lines n And determine the line segment p1p n midpoint P m It should be noted that Figure 4 is only one example of the boundary point set N3. The fifth point P5 and the last point P in the set are not shown in the example. n The other locations between them.

[0084] In this embodiment of the application, the midpoint P can be used as a basis. m The calculated plane is coplanar with the plane containing each point in the boundary point set N3, and perpendicular to the plane formed by the first point P1 and the last point P2. n Vectors corresponding to the connecting lines The perpendicular vector, which can be denoted as .

[0085] Specifically, as shown in Figure 4, in the determined boundary point set N3, the first position point P1 and the last position point P n Midpoint P of the line m Then, the vector can be calculated. and The cross product of the two vectors yields the normal vector of the plane containing the point set N3. By calculating the normal vector sum vector The cross product yields a plane that is coplanar with the plane containing each point in the point set N3 and perpendicular to the vector. perpendicular vector

[0086] Based on this, as shown in Figure 5, the data processing unit can calculate the vector of the tool's end point and the aforementioned perpendicular vector. The vector angle θ between them. The endpoint tool point can be represented as P. T The tool's end point vector can be represented as tool end point vector It can be the midpoint P mentioned above. m Point to the end point P of the tool T A vector, the tool's end point vector With the aforementioned perpendicular vector The starting point is always the midpoint P. m .

[0087] In this embodiment of the application, if the included angle θ of the aforementioned vectors is an obtuse angle, then the tool end point P can be determined. T Located on the osteotomy side at the safety boundary of the osteotomy. For example, the upper side shown in Figure 5. If the vector angle θ is acute, the tool end point P can be determined. T The non-osteotomy side located at the safety boundary of the osteotomy. For example, the lower side shown in Figure 5.

[0088] In this embodiment of the application, when the tool end point P is determined T When located on the non-osteotomy side of the osteotomy safety boundary, the tool end point P can be represented. T There are no safety issues at the current location, and the data processing unit can refrain from processing the current operation. When the tool endpoint P... T When located on the osteotomy side within the safety boundary of the osteotomy, the data processing unit can execute subsequent steps S2022-S2023 to further identify the tool end point P. T The specific location.

[0089] S2022. Based on the various position points in the boundary point set, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angle regions, and the target area where the tool end point is located in the multiple angle regions is determined.

[0090] In this embodiment of the application, when the tool end point P T When located on the osteotomy side of the osteotomy safety boundary, the data processing unit can divide the osteotomy area formed by the osteotomy safety boundary into multiple angular regions based on each location point in the boundary point set N3.

[0091] As shown in Figure 6, each position point in the boundary point set N3 can be compared with the aforementioned midpoint P. m By connecting the vectors, n vectors are obtained, thus dividing the osteotomy area into n-1 angular regions as shown in Figure 6.

[0092] Based on this, the data processing unit can further determine the tool end point P. T The target area located in multiple angular regions, that is, determining P. T Which specific region is it located within the n-1 angular regions obtained from the segmentation?

[0093] In one possible implementation of this application embodiment, each position point in the boundary point set N3 can be compared with the first position point P1 and the last position point P. n Midpoint P of the line m Connecting these points yields multiple position point vectors and multiple angular regions; any position point vector can be derived from the aforementioned midpoint P. mA vector pointing to a corresponding position point in the boundary point set N3. For example, the first position point vector could be formed by the midpoint P mentioned above. m The vector pointing to the first position point P1, i.e. By sequentially calculating the vector of each position point and the vector of the first position point... The angle between them can be used to determine the tool end point P based on the calculated angle. T The target area located in multiple angular regions.

[0094] Specifically, as shown in Figure 6, the data processing unit can sequentially calculate the n vectors obtained and the first position point vector. The included angles {θ1, θ2, θ3, ..., θ} n},calculate and The included angle θ between them, and P is determined based on the size of the included angle. T The target area. For example, in Figure 7, P T Located at points P1, P2 and P m The angular region that makes up the area.

[0095] S2023. By connecting the end point of the tool with each vertex of the target area to obtain multiple triangles, the relative position information is determined according to the area of ​​the multiple triangles obtained.

[0096] In this embodiment of the application, P can be determined based on the triangle area method. T Is it within the osteotomy area? As shown in Figure 7, assume P... T In the first angular region, that is, in Figure 7, by position points P1, P2, and P... m Within the angular region formed, the tool end point P can be... T Connecting to each vertex of the target region yields multiple triangles. For example, P... T With P1, P2 and P respectively m Connect them to obtain multiple triangles as shown in Figure 7.

[0097] The data processing unit can calculate the area of ​​the triangular region corresponding to the target region, as well as the area of ​​each of the two target triangles. Each target triangle is defined by the tool's end point P. T Midpoint P m It is formed by a vertex of the target region. If the area of ​​the region is greater than or equal to the sum of the areas of the two triangles, then the tool end point P can be determined. T Located inside the osteotomy area; if the area of ​​the area is less than the sum of the areas of the two triangles, then the tool end point P can be determined. T Located on the outer side of the osteotomy area.

[0098] Specifically, referring to Figure 7, the triangular region corresponding to the target region can be a triangle Δp1p2p m The area of ​​the region can be expressed as S = SΔp1p2p m The two target triangles can be triangle Δp in Figure 7. T p1p m and Δp T p2p m The areas of the two target triangles can be expressed as S1 = SΔp. T p1p m and S1=SΔp T p2p m Therefore, when comparing area sizes, if S ≥ S1 + S2, then the tool end point P can be determined. T Located inside the osteotomy area; if S < S1 + S2, then the tool end point P can be determined. T Located outside the osteotomy area. For example, Figure 8 shows the tool tip point P. T A specific example located outside the osteotomy area.

[0099] When the tool end point P is determined T When the end effector is located outside the osteotomy area, it can be considered that the end effector has crossed the osteotomy safety boundary, and the doctor should be promptly notified to move the end effector back inside the safety boundary.

[0100] S203. When it is determined, based on the relative position information, that the end effector of the robotic arm exceeds the osteotomy safety boundary, a control command is generated.

[0101] In this embodiment, when it is determined that the robotic arm's end-effector is about to cross or has already crossed the osteotomy safety boundary, the data processing unit can generate corresponding control commands to prevent the end-effector from crossing the osteotomy safety boundary or to prompt the doctor to control the robotic arm device to move the end-effector's tool tip P. T Move back within the safe boundary of the osteotomy.

[0102] In this embodiment of the application, as shown in FIG9, when the tool end point P T When outside the osteotomy safety boundary, the data processing unit can calculate the normal vector perpendicular to the osteotomy boundary line segment in the target area. This osteotomy boundary line segment can be obtained by connecting two points located in the target area from the boundary point set N3, namely points P1 and P2 in Figure 9. Therefore, the osteotomy boundary line segment in Figure 9 is also line segment P1P2. The calculated normal vector perpendicular to this line segment P1P2 is... Then, the data processing unit can be based on the normal vector. Generate control commands and transmit them to the robotic arm device.

[0103] S204. The control command is transmitted to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0104] In this embodiment, the control command generated by the data processing unit may be an instruction for the robotic arm device to apply a certain magnitude and direction to the end effector with respect to the normal vector. The same force applies, thus the tool end point P T Move back within the safe boundary of the osteotomy.

[0105] In one possible implementation of this application embodiment, the magnitude of the force applied to the end effector by the robotic arm device according to control commands can be 15-25 Newtons. For example, a force of 20 Newtons can be applied, and its direction is aligned with the normal vector in Figure 10. The same force.

[0106] Steps S201-S204 shown in Figure 2 can be the algorithm flow to be executed in one complete control cycle of the osteotomy control system in Figure 1. In order to ensure the real-time relationship between the data acquisition and data processing process of the optical positioning system and the process of the robotic arm responding to the command to control the end tool, within one complete control cycle of the osteotomy control system, the frequency at which the optical positioning system transmits three-dimensional image information to the data processing unit can be less than and as close as possible to the frequency at which the data processing unit transmits the generated control command to the robotic arm.

[0107] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The foregoing description of the osteotomy control system and the various embodiments of the osteotomy control method based on the data processing unit in the embodiments of this application can be used for mutual reference.

[0108] Referring to FIG10, a schematic diagram of a computer-assisted medical device provided in an embodiment of this application is shown. As shown in FIG10, the computer-assisted medical device 1000 in this embodiment includes: a processor 1010, a memory 1020, and a computer program 1021 stored in the memory 1020 and executable on the processor 1010. When the processor 1010 executes the computer program 1021, it implements the steps in the various embodiments of the osteotomy control method described above, such as steps S201 to S204 shown in FIG2. Alternatively, when the processor 1010 executes the computer program 1021, it implements the functions of relevant modules or units in the various system embodiments described above, such as the functions of the data processing unit 102 shown in FIG1.

[0109] For example, the computer program 1021 can be divided into one or more modules / units, which are stored in the memory 1020 and executed by the processor 1010 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 1021 in the computer-assisted medical device 1000. For example, the computer program 1021 can be divided into an acquisition module, a calculation module, a generation module, and a transmission module, with the specific functions of each module as follows:

[0110] The acquisition module is used to acquire three-dimensional image information of the patient's surgical area and the robotic arm end effector installed at the end of the robotic arm device through an optical positioning system;

[0111] The calculation module is used to calculate the relative position information between the robotic arm end tool and the osteotomy safety boundary in the surgical area based on the three-dimensional image information;

[0112] A generation module is used to generate control commands when it is determined, based on the relative position information, that the robotic arm end-effector has exceeded the osteotomy safety boundary; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system;

[0113] A transmission module is used to transmit the control commands to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control commands to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

[0114] The computer-assisted medical device 1000 may be a data processing unit in the foregoing embodiments or a computer device capable of performing the functions of the aforementioned data processing unit. For example, the computer-assisted medical device 1000 may be a desktop computer, a cloud server, or other computing device. The computer-assisted medical device 1000 may include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art will understand that FIG10 is merely an example of a computer-assisted medical device 1000 and does not constitute a limitation on the computer-assisted medical device 1000. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the computer-assisted medical device 1000 may also include input / output devices, network access devices, buses, etc.

[0115] The processor 1010 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0116] The memory 1020 can be an internal storage unit of the computer-assisted medical device 1000, such as a hard disk or RAM of the computer-assisted medical device 1000. The memory 1020 can also be an external storage device of the computer-assisted medical device 1000, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer-assisted medical device 1000. Furthermore, the memory 1020 can include both internal and external storage units of the computer-assisted medical device 1000. The memory 1020 is used to store the computer program 1021 and other programs and data required by the computer-assisted medical device 1000. The memory 1020 can also be used to temporarily store data that has been output or will be output.

[0117] This application also discloses a computer device, which can be one of the aforementioned computer-aided medical devices. The computer device may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the osteotomy control method as described in the foregoing embodiments.

[0118] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a computer, implements the osteotomy control method as described in the foregoing embodiments.

[0119] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to execute the osteotomy control method described in the foregoing embodiments.

[0120] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An osteotomy control system, characterized in that, The osteotomy control system includes a data processing unit, an optical positioning system, and a robotic arm device, which are respectively communicatively connected to the data processing unit; wherein: The optical positioning system is used to acquire three-dimensional image information of the patient's surgical area and the robotic arm end effector installed at the end of the robotic arm device, and transmit the three-dimensional image information to the data processing unit; The data processing unit is configured to calculate the relative position information between the robotic arm end-effector and the osteotomy safety boundary in the surgical area based on the three-dimensional image information, and generate a control command when it is determined that the robotic arm end-effector has exceeded the osteotomy safety boundary based on the relative position information; the relative position information represents the relative position of the surgical area and the robotic arm end-effector in the world coordinate system provided by the optical positioning system; The robotic arm device is used to receive the control command transmitted by the data processing unit, and apply force to the end tool of the robotic arm according to the control command to prevent the end tool of the robotic arm from exceeding the osteotomy safety boundary.

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

3. The osteotomy control system according to claim 1 or 2, characterized in that, The osteotomy safety boundary is composed of a set of boundary points; the data processing unit is specifically used for: Determine the positional relationship between the tool end point corresponding to the robotic arm end tool and the osteotomy safety boundary, wherein the positional relationship includes the tool end point being located on the osteotomy side of the osteotomy safety boundary, or the tool end point being located on the non-osteotomy side of the osteotomy safety boundary; If the tool tip is located on the osteotomy side of the osteotomy safety boundary, the osteotomy area formed by the osteotomy safety boundary is divided into multiple angular regions based on each position point in the boundary point set, and the target area where the tool tip is located in the multiple angular regions is determined. Multiple triangles are obtained by connecting the end point of the tool with each vertex of the target area, and the relative position information is determined based on the area of ​​the multiple triangles obtained.

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

5. The osteotomy control system according to claim 3, characterized in that, The process of dividing the osteotomy area formed by the osteotomy safety boundary into multiple angular regions based on the various position points in the boundary point set, and determining the target area where the tool end point is located in the multiple angular regions, includes: Connect each position point in the boundary point set to the midpoint of the line connecting the first and last position points therein to obtain multiple position point vectors and multiple angle regions; any position point vector points from the midpoint to a corresponding position point in the boundary point set; The angle between each of the position point vectors and the first position point vector is calculated sequentially, and the target area where the tool end point is located in the multiple angle regions is determined according to the size of the angle; the first position point vector is the vector formed by the midpoint pointing to the first position point.

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

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

8. The osteotomy control system according to any one of claims 1-2 or 4-7, characterized in that, The force applied to the end effector of the robotic arm device according to the control command is 15-25 Newtons.

9. A computer-aided medical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer-assisted medical device performs the following method: Three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device is acquired through an optical positioning system. Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated; A control command is generated when the robotic arm end-effector crosses the osteotomy safety boundary based on the relative position information. The relative position information indicates the relative position of the surgical area and the robotic arm end effector in the world coordinate system provided by the optical positioning system; The control command is transmitted to the robotic arm device; the robotic arm device is used to apply force to the robotic arm end tool according to the control command to prevent the robotic arm end tool from exceeding the osteotomy safety boundary.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is run, the following method is executed: Three-dimensional image information of the patient's surgical area and the end effector of the robotic arm installed at the end of the robotic arm device is acquired through an optical positioning system. Based on the three-dimensional image information, the relative position information between the robotic arm end effector and the osteotomy safety boundary in the surgical area is calculated; A control command is generated when the robotic arm end-effector crosses the osteotomy safety boundary based on the relative position information. The relative position information indicates the relative position of the surgical area and the robotic arm end effector in the world coordinate system provided by the optical positioning system; The control commands are transmitted to the robotic arm device; The robotic arm device is used to apply force to the end-effector of the robotic arm according to the control command, so as to prevent the end-effector of the robotic arm from exceeding the osteotomy safety boundary.

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