CN114681002A - Real-time early warning and protecting method and system for osteotomy - Google Patents
Real-time early warning and protecting method and system for osteotomy Download PDFInfo
- Publication number
- CN114681002A CN114681002A CN202210172230.0A CN202210172230A CN114681002A CN 114681002 A CN114681002 A CN 114681002A CN 202210172230 A CN202210172230 A CN 202210172230A CN 114681002 A CN114681002 A CN 114681002A
- Authority
- CN
- China
- Prior art keywords
- plane
- osteotomy
- real
- bone saw
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 58
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 210000002303 tibia Anatomy 0.000 claims abstract description 13
- 210000000689 upper leg Anatomy 0.000 claims abstract description 13
- 239000003550 marker Substances 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 abstract 2
- 210000000629 knee joint Anatomy 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000032984 Intraoperative Complications Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000037099 Prosthesis Failure Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000013150 knee replacement Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/14—Surgical saws
- A61B17/15—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a real-time early warning and protecting method and system for osteotomy. The method comprises the following steps: calibrating a position translation matrix [ RT]1(ii) a Transforming matrix [ RT ] according to position]1Calculating to obtain a plane equation of the plane alpha of the bone saw blade in the coordinate system of the optical tracker; calibrating a position translation matrix [ RT]2(ii) a Transforming matrix [ RT ] according to position]2Calculating to obtain a plane equation of the osteotomy plane beta of the femur or the tibia in the optical tracker coordinate system; calculating an included angle theta between a plane alpha of a saw blade of the bone saw and a plane beta of an osteotomy in real time; calculating the maximum distance d from all points on the plane alpha of the saw blade of the bone saw to the osteotomy plane beta in real time; and when the included angle theta or the maximum distance d exceeds a threshold value, the power supply of the bone saw is cut off through the relay. The osteotomy real-time early warning and protecting method and the osteotomy real-time early warning and protecting system provided by the invention can be used for warning and protecting the osteotomy in real time when the pose relation exceeds the user settingAfter the threshold value, automatically executing safety protection measures.
Description
Technical Field
The invention relates to the technical field of surgical navigation systems, in particular to a real-time early warning and protecting method and system for osteotomy.
Background
Total Knee Replacement (TKR) is one of the most effective surgeries for solving serious Knee joint injuries affecting the activity of patients, and can effectively improve the quality of life of patients. However, the conventional artificial knee joint replacement operation at present depends on the experience of a clinician, and the failure rate of prosthesis loosening, dislocation, fracture and infection noise reaches 5 to 8 percent. Compared with the traditional artificial knee joint replacement surgery, the knee joint replacement surgery navigation system combines computer image processing and robot precise planning, carries out intelligent assessment on stress and motion analysis, assists a clinician to complete the knee joint replacement surgery, can reduce surgical injury, reduces surgery time, and improves surgery success rate and quality.
The knee joint replacement operation navigation system mainly aims at automatically and accurately placing a bone saw or a bone cutting guide plate at a preoperative planned position in an operation according to the preoperative user planned bone cutting position, and assisting a doctor to complete an accurate bone cutting operation. Chinese patent CN213075907U discloses an accurate tool setting device in a medical surgical navigation system. However, the clinical operation environment is complex, the randomness is relatively high, the safety requirement on the knee joint replacement operation navigation system is very high, when an accident situation occurs, such as a target suddenly moves, a tracked object cannot be tracked suddenly, and the like, the navigation system can give an early warning in real time, and take safety protection measures, so that no operation accident can be ensured, and the equipment safety is provided.
Disclosure of Invention
The invention aims to provide a real-time bone cutting early warning and protecting method and system, which can automatically execute safety protection measures when the pose relation exceeds a threshold set by a user.
In order to solve the technical problem, the invention provides a real-time early warning and protecting method for osteotomy, which comprises the following steps: method for calibrating four points on plane through standard needle, and calibrating position conversion matrix [ RT ] between plane where bone saw blade is located and tracking marker on bone saw]1(ii) a The optical tracker tracks the space position of the tracking marker on the bone saw in real time and then rotates according to the positionChange matrix [ RT]1Calculating to obtain a plane equation of the plane alpha of the bone saw blade in the coordinate system of the optical tracker; obtaining point cloud and point cloud registration method through standard needle, calibrating position conversion matrix [ RT ] between femur or tibia and tracking marker on femur or tibia]2(ii) a The optical tracker tracks the space position of the tracking marker on the femur or the tibia in real time and then converts the matrix [ RT ] according to the position]2Calculating to obtain a plane equation of the osteotomy plane beta of the femur or the tibia in the optical tracker coordinate system; calculating an included angle theta between a plane alpha of a saw blade of the bone saw and a plane beta of an osteotomy in real time; calculating the maximum distance d from all points on the plane alpha of the saw blade of the bone saw to the osteotomy plane beta in real time; and when the included angle theta or the maximum distance d exceeds a threshold value, the power supply of the bone saw is cut off through the relay.
In some embodiments, the plane equation for the plane α of the bone saw blade is given by the following equation: a. the1x+B1y+C1z+D10; the plane equation for the osteotomy plane β is given by: e1x+F1y+G1z+H10; wherein A is1、B1、C1Is the coefficient of the plane alpha plane equation of the saw blade of the bone saw, D1Being constant terms of the plane alpha plane equation of the saw blade of a bone saw, E1、F1、G1Is the coefficient of the osteotomy plane beta plane equation, H1Is a constant term of the osteotomy plane beta plane equation.
In some embodiments, calculating an angle θ between a plane α of a saw blade and a plane β of an osteotomy in real time comprises: the included angle θ is calculated according to the following formula:
wherein A is1、B1、C1Coefficient of plane alpha plane equation of saw blade of bone saw, E1、F1、G1Are the coefficients of the osteotomy plane beta plane equation.
In some embodiments, all points on the plane α of the saw blade are calculated in real time to reach the osteotomy planeThe maximum distance d of the plane β, comprising: the point (a) is calculated according to the following formulaxi,ayi,azi) Maximum distance d to osteotomy plane β:
wherein E is1、F1、G1、H1Are the coefficients of the osteotomy plane beta plane equation.
In some embodiments, further comprising: and when the included angle theta or the maximum distance d exceeds a threshold value, alarming.
In some embodiments, further comprising: a protective edge is arranged outside the bone sawing plane.
In some embodiments, further comprising: after the protective edge is arranged, when the real plane of the bone saw touches or crosses the protective edge, the bone saw is powered off through the disconnection of the relay.
In addition, the invention also provides a real-time early warning and protecting system for osteotomy, which comprises: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the osteotomy real-time warning and protection method as described above.
After adopting such design, the invention has at least the following advantages:
the pose relationship between the bone saw and the osteotomy plane is calculated in real time, and power supply protection of the bone saw is executed according to the calculated pose relationship, so that accidents in the osteotomy operation are effectively prevented.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1A is a perspective view of an angle between a plane of a bone saw and an osteotomy plane;
FIG. 1B is a schematic plan view of the angle between the plane of the bone saw and the osteotomy plane;
FIG. 2 is a schematic of edge protection;
fig. 3 is a schematic diagram of edge protection.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a real-time early warning and protecting method and a real-time early warning and protecting system for osteotomy, which can track the position of a bone saw used by a user in space in real time in the operation process, calculate the pose relationship between the bone saw and an osteotomy plane alpha and beta in real time, and automatically early warn and execute safety protection measures when the pose relationship exceeds a threshold set by the user.
The linkage device can stretch and contract to pull the bone saw surface to move.
The relay is connected with the workstation and the bone saw for power supply, and the workstation can control the bone saw to supply power and cut off power.
1. Method for calibrating four points on plane through standard needle, and calibrating position conversion matrix [ RT ] between plane where bone saw blade is located and tracking marker on bone saw]1。
2. The optical tracker tracks the space position of the tracking marker on the bone saw in real time, and converts the matrix [ RT ] according to the position]1Calculating to obtain a plane equation of the bone saw blade in the coordinate system of the optical tracker:
α：A1x+B1y+C1z+D1＝0
3. obtaining point cloud and point cloud registration method through standard needle, calibrating position conversion matrix [ RT ] between femur or tibia 1 and tracking marker on femur or tibia 1]2。
4. The optical tracker tracks the space position of the tracking marker on the femur or the tibia 1 in real time, and converts the matrix [ RT ] according to the position]2Calculating a plane equation of the osteotomy plane of the femur or the tibia 1 in an optical tracker coordinate system:
β：E1x+F1y+G1z+H1＝0
the osteotomy plane β may be selected as shown in fig. 3. In fig. 3, the osteotomy plane β is shown by the plane marked by the solid line.
5. And calculating the plane included angle theta between the planes alpha and beta in real time.
Referring to fig. 2, the angle between plane α and plane β, i.e., the angle θ between the normal n1 of plane α and the normal n2 of plane β.
And all points (a) on the real plane alpha of the bone sawxi,ayi,azi) (i ═ 1,2,3,4) to plane β maximum distance d.
6. When theta or d exceeds a threshold value, the relay is disconnected, so that the bone saw is powered off.
7. A protective edge 2 is arranged outside the bone plane of the bone saw of the system, and when the real plane alpha of the bone saw touches or crosses the protective edge 2, the bone saw is powered off through the disconnection of a relay.
Referring to fig. 3, the protection edge 2 is a closed area, and when the saw blade detection point 3 enters the closed area of the protection edge 2, the workstation sends a power-on command to the relay, so that the bone saw is powered on. When any point in the saw blade detection points 3 is outside the closed area of the protective edge 2, the workstation sends a power-off instruction to the relay, and the bone saw is powered off. In fig. 2, the protective edge 2 is determined according to the osteotomy plane β.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (8)
1. A real-time early warning and protecting method for osteotomy is characterized by comprising the following steps:
method for calibrating four points on plane through standard needle, and calibrating position conversion matrix [ RT ] between plane where bone saw blade is located and tracking marker on bone saw]1；
The optical tracker tracks the space position of the tracking marker on the bone saw in real time and then converts the matrix [ RT ] according to the position]1Calculating to obtain a plane equation of the plane alpha of the bone saw blade in the coordinate system of the optical tracker;
obtaining point cloud and point cloud registration method through standard needle, calibrating position conversion matrix [ RT ] between femur or tibia and tracking marker on femur or tibia]2；
The optical tracker tracks the space position of the tracking marker on the femur or the tibia in real time and then converts the matrix [ RT ] according to the position]2Calculating to obtain a plane equation of the osteotomy plane beta of the femur or the tibia in the optical tracker coordinate system;
calculating an included angle theta between a plane alpha of a saw blade of the bone saw and a plane beta of an osteotomy in real time;
calculating the maximum distance d from all points on the plane alpha of the saw blade of the bone saw to the osteotomy plane beta in real time;
and when the included angle theta or the maximum distance d exceeds a threshold value, the power supply of the bone saw is cut off through the relay.
2. The osteotomy real-time warning and protecting method according to claim 1, wherein a plane equation of a plane α of the saw blade of the bone saw is given by the following formula:
A1x+B1y+C1z+D1＝0；
the plane equation for the osteotomy plane β is given by:
E1x+F1y+G1z+H1＝0；
wherein A is1、B1、C1Is the coefficient of the plane alpha plane equation of the saw blade of the bone saw, D1Being constant terms of the plane alpha plane equation of the saw blade of a bone saw, E1、F1、G1Is the coefficient of the osteotomy plane beta plane equation, H1Is a constant term of the osteotomy plane beta plane equation.
3. The osteotomy real-time warning and protecting method of claim 2, wherein calculating an angle θ between a plane α of the saw blade and a plane β of the osteotomy in real time comprises:
the included angle θ is calculated according to the following formula:
wherein A is1、B1、C1Coefficient of plane alpha plane equation of saw blade of bone saw, E1、F1、G1Are the coefficients of the osteotomy plane β plane equation.
4. The real-time osteotomy warning and protecting method of claim 2, wherein the real-time calculation of the maximum distance d from all points on the plane α of the saw blade to the osteotomy plane β comprises:
the point (a) is calculated according to the following formulaxi,ayi,azi) Maximum distance d to osteotomy plane β:
wherein E is1、F1、G1、H1Are the coefficients of the osteotomy plane β plane equation.
5. The osteotomy real-time warning and protecting method of claim 1, further comprising:
and when the included angle theta or the maximum distance d exceeds a threshold value, alarming.
6. The osteotomy real-time warning and protecting method according to claim 1, further comprising:
a protective edge is arranged outside the bone sawing plane.
7. The osteotomy real-time warning and protection method of claim 6, further comprising:
after the protective edge is arranged, when the real plane of the bone saw touches or crosses the protective edge, the bone saw is powered off through the disconnection of the relay.
8. The utility model provides an osteotomy real-time early warning and protection system which characterized in that includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the osteotomy real-time warning and protection method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172230.0A CN114681002A (en) | 2022-02-24 | 2022-02-24 | Real-time early warning and protecting method and system for osteotomy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172230.0A CN114681002A (en) | 2022-02-24 | 2022-02-24 | Real-time early warning and protecting method and system for osteotomy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114681002A true CN114681002A (en) | 2022-07-01 |
Family
ID=82136630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210172230.0A Pending CN114681002A (en) | 2022-02-24 | 2022-02-24 | Real-time early warning and protecting method and system for osteotomy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114681002A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017012457A (en) * | 2015-06-30 | 2017-01-19 | 国立大学法人三重大学 | Osteotomy guide, osteotomy system, and osteotomy device |
| CN110811833A (en) * | 2019-11-21 | 2020-02-21 | 苏州微创畅行机器人有限公司 | Osteotomy checking method, checking tool, readable storage medium and orthopedic surgery system |
| CN111700681A (en) * | 2020-05-27 | 2020-09-25 | 联博智能科技有限公司 | Method, device and terminal device for generating prompt information for safe osteotomy |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| CN114027828A (en) * | 2021-12-15 | 2022-02-11 | 杭州柳叶刀机器人有限公司 | Knee joint clearance measuring method and device, terminal equipment and readable storage medium |
-
2022
- 2022-02-24 CN CN202210172230.0A patent/CN114681002A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017012457A (en) * | 2015-06-30 | 2017-01-19 | 国立大学法人三重大学 | Osteotomy guide, osteotomy system, and osteotomy device |
| CN110811833A (en) * | 2019-11-21 | 2020-02-21 | 苏州微创畅行机器人有限公司 | Osteotomy checking method, checking tool, readable storage medium and orthopedic surgery system |
| CN111700681A (en) * | 2020-05-27 | 2020-09-25 | 联博智能科技有限公司 | Method, device and terminal device for generating prompt information for safe osteotomy |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| US20220022970A1 (en) * | 2020-07-01 | 2022-01-27 | Beijing Hurwa Robot Medical Technology Co.Ltd | Accurate position determining device, method and system for surgical tool |
| CN114027828A (en) * | 2021-12-15 | 2022-02-11 | 杭州柳叶刀机器人有限公司 | Knee joint clearance measuring method and device, terminal equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021063023A1 (en) | Position correction method of osteotomy guide tool, and orthopedic surgery system | |
| CN112370163B (en) | Fibula Grafting Surgical Robot for Mandibular Reconstruction | |
| KR102491909B1 (en) | System and method for controlling a surgical tool during autonomous movement of the surgical tool | |
| Taylor et al. | Taming the bull: safety in a precise surgical robot | |
| US20220031412A1 (en) | Planning a tool path for an end-effector using an environmental map | |
| CN113040920B (en) | System and method for manipulating anatomy | |
| CN115153852A (en) | Surgical robot, control method, system and readable storage medium | |
| Engel et al. | A safe robot system for craniofacial surgery | |
| CN109171965B (en) | Control method and system of robot based on virtual fixture | |
| JP2008502396A (en) | Robotized apparatus and method without using images to guide surgical tools | |
| Bouazza-Marouf et al. | Robotic-assisted internal fixation of femoral fractures | |
| JPH04231034A (en) | Robot system for operation | |
| Korb et al. | Development and first patient trial of a surgical robot for complex trajectory milling | |
| Yan et al. | Optics-guided robotic system for dental implant surgery | |
| Danilchenko et al. | Robotic mastoidectomy | |
| CN107049496A (en) | A kind of Visual servoing control method of multitask operating robot | |
| Xu et al. | A preliminary study on animal experiments of robot-assisted craniotomy | |
| Taylor et al. | Redundant consistency checking in a precise surgical robot | |
| Fu et al. | Indirect visual guided fracture reduction robot based on external markers | |
| CN114681002A (en) | Real-time early warning and protecting method and system for osteotomy | |
| Xu et al. | Research on spatial motion safety constraints and cooperative control of robot‐assisted craniotomy: Beagle model experiment verification | |
| Lin et al. | Advances in robot-assisted surgery for facial bone contouring surgery | |
| Jin et al. | Design and kinematic analysis of a pedicle screws surgical robot | |
| Aung et al. | Model experimental study of man-machine interactive robot-assisted craniotomy | |
| Bian et al. | Robotic automatic drilling for craniotomy: Algorithms and in vitro animal experiments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |