TW202222269A - Method and system for register operating space - Google Patents

Abstract

A system for registering operating space includes a back bracing, a computer system and a robotic arm. The back bracing includes positioning marks which can be imaged in a computer tomography (CT) image, and the back bracing is used to be worn on a patient. The computer system computes image coordinates of the positioning marks in an image space. A base of the robotic arm is connected to the back bracing in an operating space after the CT image is generated. The robotic arm contacts the positioning marks in the operating space and the computer system obtains robotic arm coordinates of the robotic arm in a robotic arm space at this time. The computer system generates conversion models among the image space, the operating space, and the robot arm space according to the image coordinates and the robot arm coordinates.

Description

Surgical space registration system and method

This disclosure relates to systems and methods for registering surgical space, image space, and robotic arm space.

With the increase in the proportion of the aging population, coupled with the influence of modern life characteristics, such as obesity, sedentary, etc., the proportion of spinal lesions has increased year by year; after conservative treatment fails, it is often necessary to rely on implants to assist the spine to reduce pain and reduce pain. Basic functionality is maintained. The spine is responsible for the basic function of protecting the central nervous system, but the site where the implants can be applied is quite narrow, such as pedicle screws, which may damage the central nervous system. Although there are already minimally invasive orthopaedic surgeries on the market, since the position of the spine will change with the posture of the person, how to accurately track the position of the spine during surgery is a topic of concern to those skilled in the art.

Embodiments of the present disclosure provide a surgical space registration system, including a back frame, a computer system, and a robotic arm. The back frame includes a plurality of locating markers that can be imaged in a computed tomography image, and the back frame is intended to be worn on the patient. The computer system is used for identifying the positioning markers in the computed tomography image, and calculating a plurality of image coordinates of the positioning markers in the image space. The robotic arm includes a base for connecting to the back frame in the surgical space after the computed tomography image is generated. The robotic arm is used for contacting the positioning mark in the surgical space, and the computer system is used for obtaining a plurality of robotic arm coordinates in a robotic arm space when the robotic arm contacts the positioning mark. The computer system is used for generating at least one transformation model between the image space, the operation space and the robotic arm space according to the image coordinates and the robot arm coordinates.

In some embodiments, the back frame includes a plurality of straps for attaching to the patient's body part, each of the locating markers being disposed on one of the straps.

In some embodiments, the back frame further includes a rigid structure for connecting to the base.

In some embodiments, the computer system is used for providing a navigation interface, converting the real-time arm position of the robot arm in the robot arm space into the real-time image position in the image space according to the conversion model, and displaying information about the real-time image position in the navigation interface according to the real-time image position. A virtual object of a robotic arm.

In some embodiments, the surgical space registration system further includes a camera, spine location markers, and arm location markers. The spine positioning mark is used for fixing on the patient's spine, and the arm positioning mark is used for fixing on the mechanical arm. The camera is used to capture images, and the computer system is used to identify the spine positioning marks and the arm positioning marks in the images to calculate the position of the spine positioning marks relative to the robotic arm in the operation space.

From another perspective, an embodiment of the present disclosure provides a surgical space registration method, which is suitable for a surgical space registration system, and the surgical space registration system includes a computer system. The surgical space registration method includes: acquiring a computed tomography image, identifying a plurality of positioning marks in the computed tomography image, and calculating a plurality of image coordinates of the positioning marks in the image space, wherein the positioning marks are arranged on a back frame, and the back frame is used for wearing On the patient; control the robotic arm to contact the positioning mark in the surgical space, and obtain multiple coordinates of the robotic arm in the robotic arm space when the robotic arm contacts the positioning mark, wherein the robotic arm includes a base, and the robotic arm contacts after the computed tomography image is generated. The positioning mark front base is connected to the back frame in the operation space; and a transformation model between the image space, the operation space and the robot arm space is generated according to the image coordinates and the robot arm coordinates.

In some embodiments, the above-mentioned surgical space registration method further includes: providing a navigation interface; converting the real-time arm position of the robotic arm in the robotic arm space to the real-time image position in the image space according to the conversion model; The live image position shows virtual objects about the robotic arm.

In some embodiments, the surgical space registration system further includes a camera, spine location markers, and arm location markers. The spine positioning mark is used for fixing on the patient's spine, the arm positioning mark is used for fixing on the mechanical arm, and the camera is used for capturing images. The surgical space registration method further includes: identifying the spine positioning mark and the arm positioning mark in the image to calculate the position of the spine positioning mark relative to the mechanical arm in the surgical space.

In the system and method described above, the space registration procedure can be simplified through the use of the backpack.

In this disclosure, a surgical space registration system is proposed, which includes a computer system, a robotic arm and a back frame. The back frame is used for wearing on the patient. The back frame includes a plurality of positioning marks. Quickly calculate the transformation model between different spaces.

FIG. 1 is a schematic diagram illustrating a back frame according to an embodiment. FIG. 2 is a flowchart illustrating a surgical space registration method according to an embodiment. Referring to FIGS. 1 and 2 , in step 201 , the back frame 100 is worn by the patient. In the embodiment of FIG. 1 , the back frame 100 includes a plurality of straps 110 and 120 , and the straps 110 and 120 are used to bind the patient's The body part, in this embodiment, is tied to the torso, but in other embodiments, it can also be tied to the patient's hands, feet and other parts. The belts 110 and 120 are provided with a plurality of positioning marks 130 , and the material of the positioning marks 130 includes, for example, metal, which can be imaged in a computed tomography image. The locations of the positioning markers 130 are, for example, four corners of the torso to avoid obscuring the spine in the computed tomography image. However, the back frame 100 in FIG. 1 is only an example. In other embodiments, the back frame 100 can have any material, shape, and/or structure as required, and the present disclosure does not limit the number and position of the positioning marks 130 . After the patient puts on the back frame 100, the relative position between the positioning mark 130 and the patient is fixed. In some embodiments, the brace 100 has a rigid frame that can assist in immobilizing or supporting the patient's spine. In some embodiments, the back frame 100 is deformable, and the position of the positioning markers 130 changes when the patient's posture changes. In other words, the position of the spine can be calculated by detecting the position of the positioning marker 130 .

In step 202, a computed tomography image is taken by the patient wearing the back frame. Next, the computer system identifies the positioning markers 130 in the computed tomography image, and calculates a plurality of image coordinates of the positioning markers 130 in an image space. Hereinafter, these image coordinates are represented by X , where X is a vector. Here, the computer system can identify the positioning mark 130 in the CT image through any image processing or computer vision method. For example, the shape of the positioning mark 130 is known, so the computer system can identify the positioning mark 130 in the computer according to a preset pattern. Find the positioning marks in the tomographic images, and record their positions as the above-mentioned image coordinates.

In step 203, the back frame is connected to the robotic arm. Please refer to FIG. 2 and FIG. 3 . FIG. 3 is a schematic diagram illustrating a surgical space registration system according to an embodiment. The surgical space registration system 300 includes a computer system 310 , a display 320 and a robotic arm 330 . An implement such as a drill, file, scraper, saw, screwdriver or other commonly used in surgical operations can be provided on the robotic arm 330 to repair or remove anatomical parts by drilling, grinding, cutting or scraping part of the organization tool. The robotic arm 330 may include, but is not limited to, rotational joints, sliding joints, ball joints, universal joints, barrel joints, or any combination thereof to obtain the required degrees of freedom. The doctor can control the robotic arm 330 to perform surgery through a suitable device (eg, a controller with 6 degrees of freedom). The robotic arm 330 includes a base 331 for connecting to the back frame in the surgical space. For example, the back frame includes a rigid structure 140 that can be connected to the base 331 . In this way, the relative position between the back frame and the robotic arm 330 will be fixed.

Next, in step 204, the robotic arm is controlled to contact the positioning mark in the surgical space. In this embodiment, the robotic arm 330 has a tip 332 , the operator can control the robotic arm 330 to make the tip 332 contact each positioning mark 130 , and the computer system 310 will obtain the robotic arm in the robotic arm space when the robotic arm 330 contacts the positioning mark 130 . coordinates, hereinafter denoted as vector Y .

In step 205, a transformation model between the image space, the operation space and the robotic arm space is generated according to the above-mentioned image coordinates and the robot arm coordinates. Please refer to FIG. 4 , which is a schematic diagram illustrating a plurality of spaces according to an embodiment. In this embodiment, there are three spaces, namely an image space 410 , a robotic arm space 420 and an operation space 430 . The above-mentioned image coordinate X is in the image space 410 , and the above-mentioned robot arm coordinate Y is in the robot arm space 420 . The surgical space 430 is also a real-world space, and the coordinates of the positioning marker 130 in the surgical space 430 are represented as a vector Z . First, by pairing the image coordinate X and the robot arm coordinate Y , the transformation model between the image space 410 and the robot arm space 420 can be calculated, which is expressed as a matrix T _CR , and can also be expressed as the following equation 1. [Mathematical formula 1]

On the other hand, since the back frame 100 is connected to the robotic arm 330 through the rigid structure 140, the position of the positioning mark 130 on the back frame 100 is fixed. Since the positions of the positioning marks 130 on the back frame 100 are known, a suitable reference point can be set as the origin of the real space 430, for example, but not limited to, the position of the centroid of the four positioning marks 130 is taken as the origin , whereby the coordinate Z of the positioning mark 130 in the real space 430 can be calculated. When the robotic arm 330 contacts the positioning mark 130, the transformation model between the robotic arm space 420 and the surgical space 430 can be calculated according to the following equation 2, which is represented as a matrix T _RH . [Mathematical formula 2]

Substituting Equation 2 into Equation 1, the conversion model between the image space 410 and the surgical space 430 can be obtained, which is expressed as a matrix T _HC , as shown in Equation 3 below. [Mathematical formula 3]

In this way, the coordinates between the image space 410 , the robotic arm space 420 and the operation space 430 can be arbitrarily converted. Referring to FIGS. 3 and 4 , the computer system 310 can generate a navigation interface according to the above-mentioned transformation model. Here, any virtual reality, augmented reality, alternate reality or mixed reality technology can be used to generate the navigation interface. , this disclosure is not limited thereto. In this embodiment the navigation interface is displayed on the display 320, but in other embodiments the navigation interface may be displayed on any head mounted device, tablet computer, or transparent display. For example, the computer system can segment the spine in the computed tomography image according to the image processing technology to generate a virtual object about the spine, and display the virtual object in the navigation interface. The computer system 310 can convert the real-time arm position of the robot arm 330 in the robot arm space 420 into a real-time image position in the image space 410 according to the conversion model T _CR , and then display the virtual object about the robot arm 330 in the navigation interface according to the real-time image position 321. In this way, when the instrument on the robotic arm enters the human body, the doctor can know the position of the instrument in the human body through the navigation interface on the display 320 . In this embodiment, since the back frame 100 fixes the patient's posture, and the back frame 100 is connected to the robotic arm 330 through the rigid structure 140 , the patient's spine is not easily moved, and the position of the spine can be accurately displayed in the navigation interface.

FIG. 5 is a schematic diagram illustrating a surgical space registration system according to an embodiment. In the embodiment of FIG. 5 , the system further includes a camera 510 , an arm location marker 520 and a spine location marker 530 . The spine positioning marks 520 are used to be fixed on the patient's spine. For example, the spine positioning marks 530 are set on the vertebrae to be operated on. The arm positioning mark 520 is fixed on the robotic arm 330 . The camera 510 is used for capturing images. In some embodiments, the camera 510 may include an infrared transmitter, an infrared sensor, a dual camera, a structured light sensing device, or any device that can sense the depth of a scene. The computer system 310 is used for identifying the spine positioning mark 530 and the arm positioning mark 520 in the image to calculate the position of the spine positioning mark 530 relative to the robotic arm 330 in the operation space. In this way, the computer system 310 can also display a virtual object related to the spine positioning mark 520 on the display 320 . In some embodiments, the back frame 100 (not shown in FIG. 5 for simplicity) is deformable. In the embodiment of FIG. 5 , the camera 510 also captures the positioning marks 130 on the back frame 100 . The computer system 310 can recognize the positioning markers 130 in the image, thereby recalibrating the position of the spine. For example, the computer system 310 can recognize the displacement of the positioning marker 130 , thereby deforming the computed tomography image accordingly, so that the computed tomography image can also be adjusted based on the posture of the patient.

In the above example the surgical space registration system is used for spinal surgery, but in other embodiments it can also be used for thoracic surgery or other suitable firsts. In other words, other steps may also be added between the steps of FIG. 2 above.

In the above system and method, the space to which the robot arm, the computed tomography image and the patient's body belong can be conveniently registered to provide a navigation system, and the registration procedure can be simplified through the use of the backpack.

Although the present invention has been disclosed above by the embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the scope of the appended patent application.

100: Back frame 110, 120: Straps 130: Positioning markers 140: Rigid structure 201~205: Step 300: Surgical space registration system 310: Computer system 320: Display 321: Virtual object 330: Robot arm 331: Base 332: Tip 410 : Image space 420: Robotic arm space 430: Surgery space T _CR , T _RH , T _HC : Matrix 510: Camera 520: Arm positioning mark 530: Spine positioning mark

In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows. FIG. 1 is a schematic diagram illustrating a back frame according to an embodiment. FIG. 2 is a flowchart illustrating a surgical space registration method according to an embodiment. FIG. 3 is a schematic diagram illustrating a surgical space registration system according to an embodiment. FIG. 4 is a schematic diagram illustrating a plurality of spaces according to an embodiment. FIG. 5 is a schematic diagram illustrating a surgical space registration system according to an embodiment.

130: Orientation Marker

140: Rigid Structure

300: Surgical Space Registration System

310: Computer Systems

320: Display

321: Virtual Objects

330: Robotic Arm

331: Pedestal

332: tip

Claims (10)

A surgical space registration system comprising: a back frame, including a plurality of positioning marks, the positioning marks can be imaged in a computed tomography image, the back frame is used for wearing on a patient; a computer system for identifying the positioning markers in the computed tomography image, and calculating a plurality of image coordinates of the positioning markers in an image space; and a robotic arm including a base for connecting to the back frame in a surgical space after the computed tomography image is generated, the robotic arm for contacting the positioning markers in the surgical space, wherein the computer The system is used to obtain a plurality of robot arm coordinates in a robot arm space when the robot arm contacts the positioning marks, Wherein the computer system is used for generating at least one transformation model between the image space, the operation space and the robot arm space according to the image coordinates and the robot arm coordinates. The surgical space registration system as claimed in claim 1, wherein the back frame includes a plurality of straps, the straps are used to bind a body part of the patient, and each of the positioning marks is disposed on the straps of the straps. one of them. The surgical space registration system of claim 1, wherein the back frame further includes a rigid structure for connecting to the base. The surgical space registration system as claimed in claim 1, wherein the computer system is used to provide a navigation interface for converting a real-time arm position of the robot arm in the robot arm space to a real-time arm position in the image space according to the at least one conversion model A real-time image position, and a virtual object about the robotic arm is displayed in the navigation interface according to the real-time image position. The surgical space registration system according to claim 1, further comprising a camera, a spine positioning mark and an arm positioning mark, the spine positioning mark is used for fixing on a spine of the patient, the arm positioning mark is used for fixing on the On the robotic arm, the camera is used to capture an image, and the computer system is used to identify the spine positioning mark and the arm positioning mark in the image to calculate the position of the spine positioning mark relative to the robotic arm in the surgical space . A surgical space registration method is applicable to a surgical space registration system, the surgical space registration system includes a computer system, and the surgical space registration method includes: Obtain a computed tomography image, identify a plurality of positioning marks in the computed tomography image, and calculate a plurality of image coordinates of the positioning marks in an image space, wherein the positioning marks are arranged on a back frame, and the back frame uses to be worn on a patient; Controlling a robotic arm to contact the positioning marks in a surgical space, obtaining a plurality of robotic arm coordinates in a robotic arm space when the robotic arm contacts the positioning marks, wherein the robotic arm includes a base, and when generating the computer the base is connected to the back frame in the surgical space after the tomography and before the robotic arm contacts the positioning markers; and At least one transformation model among the image space, the operation space and the robotic arm space is generated according to the image coordinates and the robot arm coordinates. The surgical space registration method as claimed in claim 6, wherein the back frame includes a plurality of straps, the straps are used to bind a body part of the patient, and each of the positioning marks is provided on the straps. one of them. The surgical space registration method of claim 6, wherein the back frame further comprises a rigid structure for connecting to the base. The surgical space registration method as described in claim 6, further comprising: provide a navigation interface; Convert a real-time arm position of the robotic arm in the robotic arm space to a real-time image position in the image space according to the at least one conversion model; and A virtual object about the robotic arm is displayed in the navigation interface according to the real-time image position. According to the surgical space registration method described in claim 6, the surgical space registration system further comprises a camera, a spine positioning mark and an arm positioning mark, the spine positioning mark is used to be fixed on a spine of the patient, and the arm positioning mark The mark is used to be fixed on the robotic arm, the camera is used to capture an image, and the surgical space registration method further includes: Identifying the spine location marker and the arm location marker in the image to calculate the position of the spine location marker relative to the robotic arm in the surgical space.

Images