阅读说明：本技术 医疗机器人导航系统中截骨导板的标定方法 (Calibration method of bone cutting guide plate in medical robot navigation system ) 是由 杜思傲 许靖 乔天 文理为 荣健 董旭亮 甘博涵 于 2020-06-02 设计创作，主要内容包括：本申请提供了一种医疗机器人导航系统中截骨导板的标定方法,所述方法应用于医疗机器人导航系统,所述医疗机器人导航系统包括：机器人、截骨导板和三维定位装置,所述三维定位装置包括：数据采集探针尖端。本申请提供的技术方案具有成本低的优点,操作简单、学习成本低、精准等特点。(The application provides a calibration method of a bone cutting guide plate in a medical robot navigation system, which is applied to the medical robot navigation system, and the medical robot navigation system comprises: the robot, cut bone baffle and three-dimensional positioner, three-dimensional positioner includes: a data acquisition probe tip. The technical scheme provided by the application has the advantages of low cost, simple operation, low learning cost, accuracy and the like.)

1. A calibration method of an osteotomy guide plate in a medical robot navigation system is characterized in that the method is applied to the medical robot navigation system, and the medical robot navigation system comprises the following steps: the robot, cut bone baffle and three-dimensional positioner, three-dimensional positioner includes: a data acquisition probe tip; the method comprises the following steps:

s301, relatively fixing the positions of the three-dimensional positioning device and the robot, calibrating the conversion relation between the three-dimensional positioning device and the robot coordinate system, and obtaining the conversion relation between the three-dimensional positioning device and the robot coordinate system^N _BTrans；

Step S302, installing the osteotomy guide plate on a flange at the tail end of the robot, and adjusting the robot to a passive mode; sequentially acquiring the marking points on the surface of the osteotomy guide plate n times in sequence by using a data acquisition probe tip of the three-dimensional positioning device to obtain an acquired data set T ═ T { (T })₁、T₂、…T_n}；

Step S303, when the marker point data is collected once, the robot end pose data R of each position at each collection time is recorded as { R ═ R { (R) } R { (R) } at each collection time₁、R₂、…R_n}；

Step S304, set T to { T ═ T₁、T₂、…T_nThrough a conversion matrix^N _BTrans and R ═ R₁、R₂、…R_nConverting to a terminal flange coordinate system to obtain a new terminal flange coordinate system data set T^F＝{T^F ₁、T^F ₂…T^F _nGet T out of^F＝{T^F ₁、T^F ₂…T^F _nAnd a data set M of n marking points of the bone cutting guide plate (M ═ M)₁、M₂、…M_nPoint set matching is carried out, and pose data of the guide plate relative to the flange are obtained^G _fTrans；

And n is an integer greater than or equal to 4.

2. The method of claim 1, wherein the data acquisition probe tip of the three-dimensional positioning device is used to acquire the marking points on the surface of the osteotomy guide n times, resulting in an acquired data set T ═ { T ═ T { (T }₁、T₂、…T_nThe method specifically comprises the following steps:

the bone cutting guide plate moves once freely along with the robot, the data of the marking points corresponding to the times on the surface of the bone cutting guide plate are collected by using the data collecting probe tip of the three-dimensional positioning device, and the process is repeated for n times until all the marking points are collected, so that a collected data set T ═ T is obtained₁、T₂、…T_n}。

3. The method of claim 1, wherein the converting T ═ { T ═ T₁、T₂、…T_nThrough a conversion matrix^N _BTrans and R ═ R₁、R₂、…R_nConverting to a terminal flange coordinate system to obtain a new terminal flange coordinate system data set T^F＝{T^F ₁、T^F ₂…T^F _nThe method specifically comprises the following steps:

will T₁And conversion matrix and R1 converting T₁Mapping into the end flange coordinate system to obtain T^F ₁Will beT_nAnd the conversion matrix and R_nWill T_nMapping into the end flange coordinate system to obtain T^F _n。

4. The method of claim 1, wherein the bone-cutting guide comprises: the robot flange comprises a mounting flange, a guide plate and a guide plate guide groove, wherein the mounting flange is matched with the robot flange and can rotate along with the robot flange, one end of the guide plate is fixed with the mounting flange, the other end of the guide plate is fixed with the guide plate guide groove, and the guide plate guide groove are provided with n mark points.

5. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-4.

Technical Field

The application relates to the field of medical instruments, in particular to a calibration method of a bone cutting guide plate in a medical robot navigation system.

Background

The osteotomy guide plate is an important tool in orthopedic surgery and can help a doctor to provide a stable cutting plane, the traditional osteotomy guide plate is usually matched with an auxiliary measuring tool to calculate and obtain the position and the angle of the osteotomy plane, for example, in total knee joint replacement, the front end of a tibial extramedullary positioning rod is the osteotomy guide plate, and the section of a tibial plateau is determined through a tibial structure; most often the determination of the osteotomy plane requires the surgeon to empirically determine the osteotomy location. Therefore, the existing method has high requirements on doctors, increases the (learning) cost of doctors, and has inaccurate osteotomy positions.

Disclosure of Invention

The invention aims to provide a calibration method and a calibration device for an osteotomy guide plate in a medical robot navigation system.

In a first aspect, a calibration method for an osteotomy guide in a medical robot navigation system is provided, where the method is applied to the medical robot navigation system, and the medical robot navigation system includes: the robot, cut bone baffle and three-dimensional positioner, three-dimensional positioner includes: a data acquisition probe tip; the method comprises the following steps:

s301, relatively fixing the positions of the three-dimensional positioning device and the robot, calibrating the conversion relation between the three-dimensional positioning device and the robot coordinate system, and obtaining the conversion relation between the three-dimensional positioning device and the robot coordinate system^N _BTrans；

Step S302, installing the osteotomy guide plate on a flange at the tail end of the robot, and adjusting the robot to a passive mode; acquiring the marking points on the surface of the osteotomy guide plate n times by using the data acquisition probe tip of the three-dimensional positioning device to obtain an acquired data set T ═ T { (T })₁、T₂、…T_n}；

Step S303, when the marking point data is collected once, the terminal pose data of the robot at each position during each collection is recordedR＝{R₁、R₂、…R_n}；

Step S304, set T to { T ═ T₁、T₂、…T_nThrough a conversion matrix^N _BTrans and R ═ R₁、R₂、…R_nConverting to a terminal flange coordinate system to obtain a new terminal flange coordinate system data set T^F＝{T^F ₁、T^F ₂…T^F _nGet T out of^F＝{T^F ₁、T^F ₂…T^F _nAnd a data set M of n marking points of the bone cutting guide plate (M ═ M)₁、M₂、…M_nPoint set matching is carried out, and pose data of the guide plate relative to the flange are obtained^G _fTrans；

N is an integer greater than or equal to 4, and is determined by the number of the marker points on the surface of the guide plate.

In a second aspect, a computer-readable storage medium storing a computer program for electronic data exchange is provided, wherein the computer program causes a computer to perform the method provided in the first aspect.

The technical scheme provided by the application has the advantage of improving the coordinate registration precision of the robot, and further has the advantage of improving the operation precision of the medical robot.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a medical robot navigation system according to the present invention.

Fig. 2 is a schematic structural view of the osteotomy guide provided by the present invention.

FIG. 3 is a schematic flow chart of a calibration method suitable for the osteotomy guide provided by the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The existing guide plate is difficult to determine the pose of the existing osteotomy guide plate relative to the skeleton in an operation environment with high precision requirement.

In order to solve the problem that the existing bone cutting guide plate is inaccurate in positioning, the method for acquiring the pose of the bone cutting guide plate relative to the flange at the tail end of the robot is provided, after the pose of the bone cutting guide plate relative to the flange is acquired, the pose of the bone cutting guide plate relative to the skeleton can be acquired through coordinate system conversion, the guide groove surface and the skeleton can be subjected to visualization processing, the pose of the bone cutting guide plate is adjusted by means of the high-precision characteristics of the robot, and the effect of accurately positioning the cutting surface is achieved.

Aiming at the condition that the bone cutting guide plate is used as a tail end tool of a robot, the invention provides a calibration method suitable for the bone cutting guide plate, which comprises the following steps: the three-dimensional positioning device and the robot are relatively fixed, and the three-dimensional positioning device takes a Vega three-dimensional motion capture system of NDI company as an example, and refer to figure 1; calibrating the three-dimensional positioning device and the robot coordinate system to obtain the replacement of the three-dimensional positioning device coordinate system and the robot base coordinate system^N _BTrans; the bone cutting guide plate is arranged on a flange at the tail end of the robot, and the robot is adjusted to a manual mode, so that a sampling point is conveniently dragged; using a data acquisition probe of the three-dimensional positioning device, acquiring mark points on the surface of the osteotomy guide plate, and recording data T ═ T of the probe in the three-dimensional positioning device every time of acquisition₁、T₂、…T_nAnd robot end pose data R ═ R₁、R₂、…R_n}; parameter M ═ { M ] by guide plate mark points₁、M₂、…M_n}、T＝{T₁、T₂、…T_nR ═ R₁、R₂、…R_nThe pose data of the guide plate relative to the flange can be calculated^G _fTrans。

Referring to fig. 1, the medical robot navigation system includes: the robot 1, cut bone conduction board 2 and three-dimensional positioner 3, three-dimensional positioner includes: a data acquisition probe tip 31; the specific operation steps are shown in fig. 3, and include the following steps:

s301, relatively fixing the positions of the three-dimensional positioning device and the robot, calibrating the conversion relation between the three-dimensional positioning device and the robot coordinate system, and obtaining the conversion relation between the three-dimensional positioning device and the robot coordinate system^N _BTrans；

Step S302, installing the osteotomy guide plate on the bone cutting guide plateThe robot tail end flange is used for adjusting the robot to a passive mode; acquiring the marking points on the surface of the osteotomy guide plate n times by using the data acquisition probe tip of the three-dimensional positioning device to obtain an acquired data set T ═ T { (T })₁、T₂、…T_nDuring the acquisition of n times, the robot can freely move n times, and each movement ensures that the probe tip of the data acquisition probe can smoothly acquire the data of the marking points;

the implementation method of the step S302 may specifically include:

the robot moves freely once, the data acquisition probe tip of the three-dimensional positioning device is used for acquiring the data of the marking points on the surface of the screenshot guide plate corresponding to the times, and the operation is repeated for n times until all the marking points are acquired.

As shown in fig. 2, the following description will be made by taking a practical example, where n is 4, the first movement is to acquire coordinate data of a first marker point on the surface of the osteotomy guide plate using the data acquisition probe tip of the three-dimensional positioning device, and similarly, the second movement is to acquire coordinate data of a second marker point on the surface of the osteotomy guide plate using the data acquisition probe tip of the three-dimensional positioning device, the third movement is to acquire coordinate data of a third marker point on the surface of the osteotomy guide plate using the data acquisition probe tip of the three-dimensional positioning device, and the fourth movement is to acquire coordinate data of a fourth marker point on the surface of the osteotomy guide plate using the data acquisition probe tip of the three-dimensional positioning device.

N is an integer of 4 or more.

Step S303, when the marker point data is collected once, the robot end pose data R of each position at each collection time is recorded as { R ═ R { (R) } R { (R) } at each collection time₁、R₂、…R_n}；

Step S304, set T to { T ═ T₁、T₂、…T_nThrough a conversion matrix^N _BTrans and R ═ R₁、R₂、…R_nConverting to a terminal flange coordinate system to obtain a new terminal flange coordinate system data set T^F＝{T^F ₁、T^F ₂…T^F _nGet T out of^F＝{T^F ₁、T^F ₂…T^F _nAnd a data set M of n marking points of the bone cutting guide plate (M ═ M)₁、M₂、…M_nPoint set matching is carried out, and pose data of the guide plate relative to the flange are obtained^G _fTrans。

In an alternative embodiment, the matching of the point set may be performed by SVD decomposition, which is described in the Baidu library (Olga Sorkine.Least-Square Rigid Motion Using SVD).

The data set of the n marking points can be coordinate data of the n marking points in a bone cutting guide coordinate system. (n is determined by the number of marker points on the surface of the guide plate).

The calibration method of the application takes the bone cutting guide plate in fig. 2 as an example.

Referring to fig. 2, as shown in fig. 2, the bone cutting guide includes: the robot flange comprises a mounting flange 20, a guide plate 21 and a guide plate guide groove 22, wherein the mounting flange 20 is mounted in a matched mode with the robot flange 11, the mounting flange 20 can rotate along with the robot flange 11, one end of the guide plate 21 is fixed to the mounting flange 20, the other end of the guide plate 21 is fixed to the guide plate guide groove 22, the guide plate 21 and the guide plate guide groove 22 are provided with n mark points 25, and n is an integer larger than or equal to 4.

The application provides a calibration method suitable for a bone cutting guide plate, which comprises the following specific steps: the three-dimensional positioning device and the robot are relatively fixed, and the three-dimensional positioning device takes a Vega three-dimensional motion capture system of NDI company as an example, and refer to figure 1; calibrating the three-dimensional positioning device and the robot coordinate system to obtain the replacement of the three-dimensional positioning device coordinate system and the robot base coordinate system^N _BTrans; the bone cutting guide plate is arranged on a flange at the tail end of the robot, and the robot is adjusted to a manual mode, so that a sampling point is conveniently dragged; using a data acquisition probe of the three-dimensional positioning device, acquiring mark points on the surface of the osteotomy guide plate, and recording data T ═ T of the probe in the three-dimensional positioning device every time of acquisition₁、T₂、…T_nAnd robot end pose data R ═ R₁、R₂、…R_n}; parameter M ═ { M ] by guide plate mark points₁、M₂、…M_n}、T＝{T₁、T₂、…T_nR ═ R₁、R₂、…R_nThe pose data of the guide plate relative to the flange can be calculated^G _fTrans; thus can pass through^G _fThe automatic calibration of the osteotomy guide plate is realized by the Trans, medical personnel do not need to confirm according to experience, the experience requirements of the medical personnel are reduced, the (learning) cost is reduced, and the accuracy is improved.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.