CN114869444A - Automatic intramedullary nail inserting device and method - Google Patents

Abstract

The invention discloses an automatic nail-inserting device and method for an intramedullary nail, wherein the device comprises: the system comprises a surgical operation control platform, a surgical visualization module, a depth camera, a magnetic positioning module, a computing unit, a driving unit and a mechanical arm module; the method comprises the following steps: step 1, executing a pre-nailing process of a main nail to realize the autonomous matching of the expected nailing pose; and 2, after the main nail position is determined, performing a nail inserting process of the head nail to realize the independent insertion and adjustment of the intramedullary nail. The invention does not depend on the pure manual operation of doctors, realizes the precision and automation of the intramedullary nail implantation operation by means of the magnetic positioning technology and the automatic nail feeding device, reduces the difficulty of the operation, simplifies the steps of the operation and leads the operation result to be more ideal.

Description

Translated fromChinese

一种髓内钉的自主入钉装置及方法Intramedullary nail autonomous device and method

技术领域technical field

本发明涉及手术导航技术领域，尤其是一种髓内钉的自主入钉装置及方法。The invention relates to the technical field of surgical navigation, in particular to an autonomous nailing device and method for intramedullary nails.

背景技术Background technique

髓内钉植入作为一种外科手术常见金属植入物，在解决骨折特别是长骨骨折方面发挥出不可比拟的优势。髓内钉的植入主要通过植入手术来完成，手术有助于骨折部位的前期恢复，防止二次损伤。Intramedullary nail implantation, as a common metal implant in surgery, has played an incomparable advantage in solving fractures, especially long bone fractures. The implantation of intramedullary nails is mainly done through implantation surgery, which helps the early recovery of the fracture site and prevents secondary damage.

髓内钉植入手术主要分为术前髓内钉位置匹配，术前规划以及手术过程三部分：在术前位置匹配阶段，通常需要获取病人骨折部位的影像数据(如CT)，医师根据这些病人的影像数据进行综合研判：首先评估骨折程度，然后根据骨内皮质具体情况大致确定头钉和主钉的理想位置；在术前规划阶段，基于头钉和主钉的位置，利用3D打印的骨模型进行多次手工实验，熟悉手术过程并最终确定最优的入钉深度和位置；最后在具体手术过程中，医生需手工控制入钉的深度和角度，然后对植入钉的位置进行粗调和细调，然而对植入钉进行细调时会出现类似于深度过深、角度有略微偏差等不可避免的情况，而在进行该手术时应尽量减少该情况的发生，所以该手术对医生的操作熟练度要求较高，往往极度依赖主刀医师的经验。因此传统的髓内钉植入手术过程并不能达到期望的精度和理想的效果。Intramedullary nail implantation is mainly divided into three parts: preoperative intramedullary nail position matching, preoperative planning and surgical process: in the preoperative position matching stage, it is usually necessary to obtain image data (such as CT) of the patient's fracture site. The patient's image data is comprehensively judged: first evaluate the degree of fracture, and then roughly determine the ideal position of the head nail and main nail according to the specific situation of the endosteal cortex; in the preoperative planning stage, based on the position of the head nail and the main nail, use 3D printing The bone model has undergone many manual experiments to familiarize itself with the surgical process and finally determine the optimal depth and position of the screw; finally, during the specific surgical process, the doctor needs to manually control the depth and angle of the screw, and then rough the position of the screw. However, during the fine adjustment of the implanted nails, there will be inevitable situations such as too deep depth and slight deviation of the angle, and the occurrence of this situation should be minimized during the operation, so the operation is very important to the doctor. The operating proficiency requirements of the surgeon are relatively high, and they often rely heavily on the experience of the chief surgeon. Therefore, the traditional intramedullary nail implantation procedure cannot achieve the desired precision and ideal effect.

发明内容SUMMARY OF THE INVENTION

本发明所要解决的技术问题在于，提供一种髓内钉的自主入钉装置及方法，不依赖于医生的纯手工操作，借助磁定位技术和自主入钉装置，实现髓内钉植入手术的精准化和自动化。The technical problem to be solved by the present invention is to provide an autonomous nailing device and method for intramedullary nails, which does not depend on the pure manual operation of doctors, and realizes the intramedullary nail implantation operation with the help of magnetic positioning technology and autonomous nailing device. Precision and automation.

为解决上述技术问题，本发明提供一种髓内钉的自主入钉装置，包括：手术操作控制平台、手术可视化模块、深度相机、磁定位模块、计算单元、驱动单元和机械臂模块；定义若干手术关键位置，根据关键位置得出相应参数送至手术操作控制平台，深度相机获取机械臂及手术台相关位置数据送至手术操作控制平台，手术操作控制平台处理数据后下发相应控制信号计算单元，计算单元分析并处理数据提供运动轨迹给驱动单元，经驱动单元部署后，机械臂模块协同运动实现具体手术操作，磁定位模块将实时采集到的医疗器械位姿信息送至手术可视化模块，手术可视化模块处理实时信息后实现手术过程的可视化。In order to solve the above technical problems, the present invention provides an autonomous nailing device for intramedullary nails, including: a surgical operation control platform, a surgical visualization module, a depth camera, a magnetic positioning module, a computing unit, a driving unit and a robotic arm module; The key position of the operation, the corresponding parameters are obtained according to the key position and sent to the operation control platform. The depth camera obtains the relevant position data of the robotic arm and the operation table and sends it to the operation control platform. After processing the data, the operation control platform sends the corresponding control signal to the calculation unit , the computing unit analyzes and processes the data to provide the motion trajectory to the drive unit. After the drive unit is deployed, the robotic arm module moves in coordination to realize specific surgical operations. The magnetic positioning module sends the real-time collected medical device pose information to the surgical visualization module. The visualization module realizes the visualization of the surgical process after processing the real-time information.

优选的，磁定位模块包括电磁发生器和电磁定位附件，电磁发生器持续生成电磁感应磁场，电磁定位附件嵌入医疗器械中，电磁定位附件接触到该静态电磁感应磁场后实时返回其位置信息和姿态信息。Preferably, the magnetic positioning module includes an electromagnetic generator and an electromagnetic positioning accessory, the electromagnetic generator continuously generates an electromagnetic induction magnetic field, the electromagnetic positioning accessory is embedded in the medical device, and the electromagnetic positioning accessory returns its position information and attitude in real time after contacting the static electromagnetic induction magnetic field information.

优选的，机械臂模块包括机械联动模块和末端指定模块；机械联动模块为六自由度，由三个空间移动单元和一个旋转单元组成，每个空间移动单元包括一个机械关节，分别实现在空间x,y,z轴三个方向的平移操作，旋转单元由三个耦合在一起的机械关节组成，实现在空间x,y,z轴三个方向的旋转操作；末端指定模块由可拆卸的医疗器械组成，根据手术需求更换手术器械，满足不同手术阶段的器械需求。Preferably, the robotic arm module includes a mechanical linkage module and an end designation module; the mechanical linkage module has six degrees of freedom and is composed of three spatial moving units and a rotating unit, each spatial moving unit includes a mechanical joint, which is respectively realized in the space x , y, z axis translation operation in three directions, the rotation unit is composed of three coupled mechanical joints, realizes the rotation operation in the three directions of the space x, y, z axis; the end designation module is composed of detachable medical equipment It can replace the surgical instruments according to the surgical needs to meet the needs of instruments in different surgical stages.

相应的，一种髓内钉的自主入钉方法，包括如下步骤：Correspondingly, a method for autonomously inserting intramedullary nails includes the following steps:

步骤1、执行主钉的预入钉过程，实现期望入钉位姿的自主匹配；Step 1. Execute the pre-pinning process of the main pin to achieve autonomous matching of the desired pinning posture;

步骤2、主钉位置确定后，进行头钉的入钉过程，实现髓内钉的自主插入和调整。Step 2. After the position of the main nail is determined, the nailing process of the head nail is performed to realize the autonomous insertion and adjustment of the intramedullary nail.

优选的，步骤1中，执行主钉的预入钉过程具体包括如下步骤：Preferably, in step 1, the process of performing the pre-insertion of the main nail specifically includes the following steps:

步骤11、将经过配准后的骨模型和医疗器械模型导入手术操作控制平台，求出虚拟环境中模型{V}和实际部位{G}的转换矩阵

然后在虚拟环境中定义主钉/头钉主轴的入钉位姿，手术操作控制平台将其转化为矢量^VP＝{x_fin,y_fin,z_fin}_V，经

转换后得出实际操作中医疗器械期望入钉位点矢量，此时末态^TP＝^GP；Step 11. Import the registered bone model and medical device model into the surgical operation control platform, and obtain the transformation matrix of the model {V} and the actual part {G} in the virtual environment

Then define the nailing posture of the main nail/head nail spindle in the virtual environment, and the surgical operation control platform converts it into a vector_VP ={x_fin , y_fin , z_fin }^V ,

After the conversion, the expected nailing site vector of the medical device in the actual operation is obtained, at this time, the final state^T P =^G P;

步骤12、深度相机采集空间任意一点，返回其在腕部坐标系{W}、基部坐标系{B}、工具端坐标系{T}以及工作台坐标系{S}各坐标系下的坐标{x_p,y_p,z_p}至手术操作控制平台，得出在各坐标系下的矢量^BP,^WP,^TP,^SP；Step 12. The depth camera collects any point in the space, and returns its coordinates in the wrist coordinate system {W}, base coordinate system {B}, tool end coordinate system {T} and table coordinate system {S} under each coordinate system{ x_p , y_p ,^z_p } to the surgical operation control platform, and obtain the vectors^BP ,^WP , TP,^SP under each coordinate system;

步骤13、计算单元获取原矢量后，通过计算得出相应转换矩阵

并进一步求解初态位姿

Step 13: After the calculation unit obtains the original vector, the corresponding transformation matrix is obtained by calculation

And further solve the initial state pose

步骤14、工作台坐标系{S}基于基部坐标系{B}定义，工具端坐标系{T}基于腕部坐标系{T}定义，鉴于其转换矩阵

具有不变性，利用其不变性，通过期望矢量和各坐标系间的位姿关系求解末态位姿

Step 14. The worktable coordinate system {S} is defined based on the base coordinate system {B}, and the tool end coordinate system {T} is defined based on the wrist coordinate system {T}. In view of its transformation matrix

It has invariance, and by using its invariance, the final state pose is solved through the pose relationship between the expected vector and each coordinate system

步骤15、以初态位姿和末态位姿作为输入，计算单元通过逆运动学即可得出初态和末态时各机械关节角度{θ_init1-θ_init6}与{θ_fin1-θ_fin6}Step 15. Taking the initial state pose and the final state pose as input, the calculation unit can obtain the initial state and final state of each mechanical joint angle {θ_init1 -θ_init6 } and {θ_fin1 -θ_fin6 } through inverse kinematics

步骤16、以各机械关节初态和末态角度为输入，为了使各机械关节的运动尽量平滑，分别对关节角施加四个限制条件：①0时刻关节角为初态角度；②t_fin时刻关节角为末态角度；③0时刻关节角速度为0；④t_fin时刻关节角速度为0，计算单元在限制条件下生成每个机械关节角的三次多项式即轨迹曲线，经驱动单元部署后，工具端即医疗器械端自动调整其位姿至目标位置。Step 16. Taking the initial state and final state angle of each mechanical joint as the input, in order to make the motion of each mechanical joint as smooth as possible, four constraints are imposed on the joint angle: ① the joint angle attime 0 is the initial state angle; ② the joint angle at time t_fin is the final state angle; ③ the joint angular velocity is 0 attime 0; ④ the joint angular velocity is 0 at t_fin , the calculation unit generates a cubic polynomial of each mechanical joint angle under the constraints, that is, the trajectory curve. After the drive unit is deployed, the tool end is the medical device. The end automatically adjusts its pose to the target position.

优选的，步骤2中，主钉位置确定后，进行头钉的入钉过程具体包括如下步骤：Preferably, in step 2, after the position of the main nail is determined, the nailing process of the head nail specifically includes the following steps:

步骤21、由配准后的骨模型导出主钉期望入钉深度d_m-exp和入钉期望矢量^GQ_m，计算单元将期望矢量^GQ_m和预入钉末态矢量^GP_m作为输入联合求解其位姿：预入钉末态位姿已知，利用矢量间转换关系获取初始入钉位姿，然后计算单元将两位姿作为输入即可求解机械臂运动轨迹，最后完成初始入钉；Step 21: Deriving the desired nailing depth_dm-exp of the main nail and the desired nailing vector^GQm from the_registered bone model, and the computing unit takes the expected vector_GQm and the pre-^{insertion final state vector GPm}_as input Jointly solve its pose: the position and pose of the pre-drilling end state is known, and the initial nailing pose is obtained by using the conversion relationship between the vectors, and then the computing unit uses the two poses as input to solve the motion trajectory of the robotic arm, and finally completes the initial nailing. ;

步骤22、初始入钉结束后，由磁定位模块导出实际入钉深度d_m-r，按照实际入钉深度d_m-r和期望入钉深度d_m-exp的差值Δd_m进行主钉入钉深度上的微调；Step 22. After the initial nailing is completed, the actual nailing depth d_mr is derived by the magnetic positioning module, and the main nailing depth is calculated according to the difference Δdm between the actual nailing depth_dmr and the expected nailing depth_dm-exp . fine-tuning;

步骤23、由配准后的骨模型导出主钉实际位置的角度α_m-r与理想位置的角度α_m-exp，根据其角度差Δα_m，进行角度上的微调；Step 23, derive the angle α_mr of the actual position of the main nail and the angle α_m-exp of the ideal position from the registered bone model, and fine-tune the angle according to the angle difference Δα_m ;

步骤24、由配准后的骨模型导出头钉期望入钉深度d_h-exp和入钉期望矢量^GQ_h，计算单元根据期望矢量^GQ_h和预入钉末态矢量^GP_h联合求解机械臂运动轨迹，完成初始入钉，此时头钉角度已经确定，头钉和主钉在近端交锁；Step 24: Deriving the expected screw penetration depth d_h-exp of the head screw and the expected screw penetration vector^G Q_h from the registered bone model, and the computing unit jointly solves it according to the expected vector^G Q_h and the pre-loaded screw final state vector^G P_h The trajectory of the robotic arm is completed, and the initial nailing is completed. At this time, the angle of the head nail has been determined, and the head nail and the main nail are interlocked at the proximal end;

步骤25、由磁定位模块导出实际入钉深度d_h-r，按照实际入钉深度d_h-r和期望入钉深度d_h-exp的差异Δd_h进行头钉入钉深度上的微调，完成此操作后即完成实入钉操作。Step 25: The actual nailing depth d_hr is derived from the magnetic positioning module, and the fine-tuning of the head nailing depth is performed according to the difference Δd_h between the actual nailing depth d_hr and the expected nailing depth d_h-exp . Complete the actual pinning operation.

本发明的有益效果为：本发明不依赖于医生的纯手工操作，借助磁定位技术和自主入钉装置，实现髓内钉植入手术的精准化和自动化，降低了手术的难度、简化了手术的步骤，使手术结果更理想。The beneficial effects of the present invention are as follows: the present invention does not depend on the pure manual operation of the doctor, realizes the precision and automation of the intramedullary nail implantation operation by means of the magnetic positioning technology and the autonomous nailing device, reduces the difficulty of the operation and simplifies the operation steps to make the surgical outcome better.

附图说明Description of drawings

图1为本发明的自主入钉装置坐标系示意图。FIG. 1 is a schematic diagram of the coordinate system of the autonomous nailing device of the present invention.

图2为本发明的自主入钉装置结构示意图。FIG. 2 is a schematic structural diagram of the autonomous nailing device of the present invention.

图3为本发明的预入钉操作流程示意图。FIG. 3 is a schematic diagram of the pre-stapling operation flow of the present invention.

图4为本发明的实入钉操作流程示意图。FIG. 4 is a schematic diagram of the actual nailing operation flow of the present invention.

具体实施方式Detailed ways

如图1和图2所示，一种髓内钉的自主入钉装置，包括：手术操作控制平台、手术可视化模块、深度相机、磁定位模块、计算单元、驱动单元和机械臂模块；定义若干手术关键位置，根据关键位置得出相应参数送至手术操作控制平台，深度相机获取机械臂及手术台相关位置数据送至手术操作控制平台，手术操作控制平台处理数据后下发相应控制信号计算单元，计算单元分析并处理数据提供运动轨迹给驱动单元，经驱动单元部署后，机械臂模块协同运动实现具体手术操作，磁定位模块将实时采集到的医疗器械位姿信息送至手术可视化模块，手术可视化模块处理实时信息后实现手术过程的可视化。As shown in Figures 1 and 2, an autonomous nailing device for intramedullary nails includes: a surgical operation control platform, a surgical visualization module, a depth camera, a magnetic positioning module, a computing unit, a driving unit and a robotic arm module; The key position of the operation, the corresponding parameters are obtained according to the key position and sent to the operation control platform. The depth camera obtains the relevant position data of the robotic arm and the operation table and sends it to the operation control platform. After processing the data, the operation control platform sends the corresponding control signal to the calculation unit , the computing unit analyzes and processes the data to provide the motion trajectory to the drive unit. After the drive unit is deployed, the robotic arm module moves in coordination to realize specific surgical operations. The magnetic positioning module sends the real-time collected medical device pose information to the surgical visualization module. The visualization module realizes the visualization of the surgical process after processing the real-time information.

磁定位模块包括电磁发生器和电磁定位附件，电磁发生器持续生成电磁感应磁场，电磁定位附件嵌入医疗器械中，电磁定位附件接触到该静态电磁感应磁场后实时返回其位置信息和姿态信息。The magnetic positioning module includes an electromagnetic generator and an electromagnetic positioning accessory. The electromagnetic generator continuously generates an electromagnetic induction magnetic field. The electromagnetic positioning accessory is embedded in the medical device. After the electromagnetic positioning accessory contacts the static electromagnetic induction magnetic field, it returns its position information and attitude information in real time.

机械臂模块包括机械联动模块和末端指定模块；机械联动模块为六自由度，由三个空间移动单元和一个旋转单元组成，每个空间移动单元包括一个机械关节，分别实现在空间x,y,z轴三个方向的平移操作，旋转单元由三个耦合在一起的机械关节组成，实现在空间x,y,z轴三个方向的旋转操作；末端指定模块由可拆卸的医疗器械组成，根据手术需求更换手术器械，满足不同手术阶段的器械需求。The robotic arm module includes a mechanical linkage module and an end-designated module; the mechanical linkage module has six degrees of freedom and consists of three spatial movement units and a rotation unit. The translation operation in the three directions of the z-axis, the rotation unit is composed of three mechanical joints coupled together, and realizes the rotation operation in the three directions of the x, y, and z axes of the space; the end designation module is composed of detachable medical instruments, according to the Surgical needs Replace surgical instruments to meet the needs of instruments in different surgical stages.

相应的，一种髓内钉的自主入钉方法，包括如下步骤：Correspondingly, a method for autonomously inserting intramedullary nails includes the following steps:

步骤1、执行主钉的预入钉过程，实现期望入钉位姿的自主匹配；Step 1. Execute the pre-pinning process of the main pin to achieve autonomous matching of the desired pinning posture;

步骤2、主钉位置确定后，进行头钉的入钉过程，实现髓内钉的自主插入和调整。Step 2. After the position of the main nail is determined, the nailing process of the head nail is performed to realize the autonomous insertion and adjustment of the intramedullary nail.

如图3所示，步骤1中，执行主钉的预入钉过程具体包括如下步骤：As shown in Figure 3, in step 1, the process of performing the pre-insertion of the main nail specifically includes the following steps:

步骤11、将经过配准后的骨模型和医疗器械模型导入手术操作控制平台，求出虚拟环境中模型{V}和实际部位{G}的转换矩阵

然后在虚拟环境中定义主钉/头钉主轴的入钉位姿，手术操作控制平台将其转化为矢量^VP＝{x_fin,y_fin,z_fin}_V，经

转换后得出实际操作中医疗器械期望入钉位点矢量，此时末态^TP＝^GP；Step 11. Import the registered bone model and medical device model into the surgical operation control platform, and obtain the transformation matrix of the model {V} and the actual part {G} in the virtual environment

Then define the nailing posture of the main nail/head nail spindle in the virtual environment, and the surgical operation control platform converts it into a vector_VP ={x_fin , y_fin , z_fin }^V ,

After the conversion, the vector of the expected nail insertion site of the medical device in the actual operation is obtained, at this time, the final state^T P =^G P;

步骤12、深度相机采集空间任意一点，返回其在腕部坐标系{W}、基部坐标系{B}、工具端坐标系{T}以及工作台坐标系{S}各坐标系下的坐标{x_p,y_p,z_p}至手术操作控制平台，得出在各坐标系下的矢量^BP,^WP,^TP,^SP；Step 12. The depth camera collects any point in the space, and returns its coordinates in the wrist coordinate system {W}, base coordinate system {B}, tool end coordinate system {T} and table coordinate system {S} under each coordinate system{ x_p , y_p ,^z_p } to the surgical operation control platform, and obtain the vectors^BP ,^WP , TP,^SP under each coordinate system;

步骤13、计算单元获取原矢量后，通过计算得出相应转换矩阵

并进一步求解初态位姿

Step 13: After the calculation unit obtains the original vector, the corresponding transformation matrix is obtained by calculation

And further solve the initial state pose

步骤14、工作台坐标系{S}基于基部坐标系{B}定义，工具端坐标系{T}基于腕部坐标系{T}定义，鉴于其转换矩阵

具有不变性，利用其不变性，通过期望矢量和各坐标系间的位姿关系求解末态位姿

Step 14. The worktable coordinate system {S} is defined based on the base coordinate system {B}, and the tool end coordinate system {T} is defined based on the wrist coordinate system {T}. In view of its transformation matrix

It has invariance, and by using its invariance, the final state pose is solved through the pose relationship between the expected vector and each coordinate system

步骤15、以初态位姿和末态位姿作为输入，计算单元通过逆运动学即可得出初态和末态时各机械关节角度{θ_init1-θ_init6}与{θ_fin1-θ_fin6}；Step 15. Taking the initial state pose and the final state pose as input, the calculation unit can obtain the initial state and final state of each mechanical joint angle {θ_init1 -θ_init6 } and {θ_fin1 -θ_fin6 } through inverse kinematics ;

步骤16、以各机械关节初态和末态角度为输入，为了使各机械关节的运动尽量平滑，分别对关节角施加四个限制条件：①0时刻关节角为初态角度；②t_fin时刻关节角为末态角度；③0时刻关节角速度为0；④t_fin时刻关节角速度为0，计算单元在限制条件下生成每个机械关节角的三次多项式即轨迹曲线，经驱动单元部署后，工具端即医疗器械端自动调整其位姿至目标位置。Step 16. Taking the initial state and final state angle of each mechanical joint as the input, in order to make the motion of each mechanical joint as smooth as possible, four constraints are imposed on the joint angle: ① the joint angle attime 0 is the initial state angle; ② the joint angle at time t_fin is the final state angle; ③ the joint angular velocity is 0 attime 0; ④ the joint angular velocity is 0 at t_fin , the calculation unit generates a cubic polynomial of each mechanical joint angle under the constraints, that is, the trajectory curve. After the drive unit is deployed, the tool end is the medical device. The end automatically adjusts its pose to the target position.

如图4所示，步骤2中，主钉位置确定后，进行头钉的入钉过程具体包括如下步骤：As shown in Figure 4, in step 2, after the position of the main nail is determined, the nailing process of the head nail specifically includes the following steps:

步骤21、由配准后的骨模型导出主钉期望入钉深度d_m-exp和入钉期望矢量^GQ_m，计算单元将期望矢量^GQ_m和预入钉末态矢量^GP_m作为输入联合求解其位姿：预入钉末态位姿已知，利用矢量间转换关系获取初始入钉位姿，然后计算单元将两位姿作为输入即可求解机械臂运动轨迹，最后完成初始入钉；Step 21: Deriving the desired nailing depth_dm-exp of the main nail and the desired nailing vector^GQm from the_registered bone model, and the computing unit takes the expected vector_GQm and the pre-^{insertion final state vector GPm}_as input Jointly solve its pose: the position and pose of the pre-drilling end state is known, and the initial nailing pose is obtained by using the conversion relationship between vectors, and then the computing unit uses the two poses as input to solve the motion trajectory of the robotic arm, and finally completes the initial nailing ;

步骤22、初始入钉结束后，由磁定位模块导出实际入钉深度d_m-r，按照实际入钉深度d_m-r和期望入钉深度d_m-exp的差值Δd_m进行主钉入钉深度上的微调；Step 22. After the initial nailing is completed, the actual nailing depth d_mr is derived by the magnetic positioning module, and the main nailing depth is calculated according to the difference Δdm between the actual nailing depth_dmr and the expected nailing depth_dm-exp . fine-tuning;

步骤23、由配准后的骨模型导出主钉实际位置的角度α_m-r与理想位置的角度α_m-exp，根据其角度差Δα_m，进行角度上的微调；Step 23, derive the angle α_mr of the actual position of the main nail and the angle α_m-exp of the ideal position from the registered bone model, and fine-tune the angle according to the angle difference Δα_m ;

步骤24、由配准后的骨模型导出头钉期望入钉深度d_h-exp和入钉期望矢量^GQ_h，计算单元根据期望矢量^GQ_h和预入钉末态矢量^GP_h联合求解机械臂运动轨迹，完成初始入钉，此时头钉角度已经确定，头钉和主钉在近端交锁；Step 24: Deriving the expected screw penetration depth d_h-exp of the head screw and the expected screw penetration vector^G Q_h from the registered bone model, and the computing unit jointly solves it according to the expected vector^G Q_h and the pre-loaded screw final state vector^G P_h The trajectory of the robotic arm is completed, and the initial nailing is completed. At this time, the angle of the head nail has been determined, and the head nail and the main nail are interlocked at the proximal end;

步骤25、由磁定位模块导出实际入钉深度d_h-r，按照实际入钉深度d_h-r和期望入钉深度d_h-exp的差异Δd_h进行头钉入钉深度上的微调，完成此操作后即完成实入钉操作。Step 25: The actual nailing depth d_hr is derived from the magnetic positioning module, and the fine-tuning of the head nailing depth is performed according to the difference Δd_h between the actual nailing depth d_hr and the expected nailing depth d_h-exp . Complete the actual pinning operation.

本发明不依赖于医生的纯手工操作，借助磁定位技术和自主入钉装置，实现髓内钉植入手术的精准化和自动化，降低了手术的难度、简化了手术的步骤，使手术结果更理想。The invention does not depend on the pure manual operation of the doctor, and realizes the precision and automation of the intramedullary nail implantation operation by means of the magnetic positioning technology and the autonomous nailing device, reduces the difficulty of the operation, simplifies the operation steps, and improves the operation results. ideal.

Claims (6)

Translated fromChinese

1.一种髓内钉的自主入钉装置，其特征在于，包括：手术操作控制平台、手术可视化模块、深度相机、磁定位模块、计算单元、驱动单元和机械臂模块；定义若干手术关键位置，根据关键位置得出相应参数送至手术操作控制平台，深度相机获取机械臂及手术台相关位置数据送至手术操作控制平台，手术操作控制平台处理数据后下发相应控制信号计算单元，计算单元分析并处理数据提供运动轨迹给驱动单元，经驱动单元部署后，机械臂模块协同运动实现具体手术操作，磁定位模块将实时采集到的医疗器械位姿信息送至手术可视化模块，手术可视化模块处理实时信息后实现手术过程的可视化。1. An autonomous nailing device for intramedullary nails, characterized in that it comprises: a surgical operation control platform, a surgical visualization module, a depth camera, a magnetic positioning module, a computing unit, a driving unit and a robotic arm module; defining several key surgical positions The corresponding parameters are obtained according to the key positions and sent to the surgical operation control platform. The depth camera obtains the relevant position data of the robotic arm and the operating table and sends them to the surgical operation control platform. After processing the data, the surgical operation control platform sends the corresponding control signal to the calculation unit. Analyze and process the data to provide the motion trajectory to the drive unit. After the drive unit is deployed, the robotic arm module moves in coordination to realize specific surgical operations. The magnetic positioning module sends the real-time collected medical device pose information to the surgical visualization module, and the surgical visualization module processes it. The visualization of the surgical process is realized after real-time information.2.如权利要求1所述的髓内钉的自主入钉装置，其特征在于，磁定位模块包括电磁发生器和电磁定位附件，电磁发生器持续生成电磁感应磁场，电磁定位附件嵌入医疗器械中，电磁定位附件接触到该静态电磁感应磁场后实时返回其位置信息和姿态信息。2. The device for autonomous nailing of intramedullary nails according to claim 1, wherein the magnetic positioning module comprises an electromagnetic generator and an electromagnetic positioning accessory, the electromagnetic generator continuously generates an electromagnetic induction magnetic field, and the electromagnetic positioning accessory is embedded in the medical device , the electromagnetic positioning accessory returns its position information and attitude information in real time after contacting the static electromagnetic induction magnetic field.3.如权利要求1所述的髓内钉的自主入钉装置，其特征在于，机械臂模块包括机械联动模块和末端指定模块；机械联动模块为六自由度，由三个空间移动单元和一个旋转单元组成，每个空间移动单元包括一个机械关节，分别实现在空间x,y,z轴三个方向的平移操作，旋转单元由三个耦合在一起的机械关节组成，实现在空间x,y,z轴三个方向的旋转操作；末端指定模块由可拆卸的医疗器械组成，根据手术需求更换手术器械，满足不同手术阶段的器械需求。3. The device for autonomous nailing of intramedullary nails according to claim 1, wherein the robotic arm module comprises a mechanical linkage module and a terminal designation module; the mechanical linkage module has six degrees of freedom, consisting of three spatial moving units and one It consists of a rotation unit. Each space moving unit includes a mechanical joint, which realizes translation operations in the three directions of the x, y, and z axes of the space. , Rotation operation in three directions of the z-axis; the end-designated module is composed of detachable medical instruments, and the surgical instruments can be replaced according to the surgical needs to meet the needs of instruments in different surgical stages.4.一种如权利要求1所述的髓内钉的自主入钉装置的入钉方法，其特征在于，包括如下步骤：4. A method for inserting an intramedullary nail into an autonomous nailing device according to claim 1, characterized in that it comprises the following steps:步骤1、执行主钉的预入钉过程，实现期望入钉位姿的自主匹配；Step 1. Execute the pre-pinning process of the main pin to achieve autonomous matching of the desired pinning posture;步骤2、主钉位置确定后，进行头钉的入钉过程，实现髓内钉的自主插入和调整。Step 2. After the position of the main nail is determined, the nailing process of the head nail is performed to realize the autonomous insertion and adjustment of the intramedullary nail.5.如权利要求4所述的髓内钉的自主入钉方法，其特征在于，步骤1中，执行主钉的预入钉过程具体包括如下步骤：5 . The method for autonomous insertion of an intramedullary nail according to claim 4 , wherein, in step 1, the process of performing the pre-insertion of the main nail specifically includes the following steps: 6 .步骤11、将经过配准后的骨模型和医疗器械模型导入手术操作控制平台，求出虚拟环境中模型{V}和实际部位{G}的转换矩阵

然后在虚拟环境中定义主钉/头钉主轴的入钉位姿，手术操作控制平台将其转化为矢量^VP＝{x_fin,y_fin,z_fin}_V，经

转换后得出实际操作中医疗器械期望入钉位点矢量，此时末态^TP＝^GP；Step 11. Import the registered bone model and medical device model into the surgical operation control platform, and obtain the transformation matrix of the model {V} and the actual part {G} in the virtual environment

Then define the nailing posture of the main nail/head nail spindle in the virtual environment, and the surgical operation control platform converts it into a vector_VP ={x_fin , y_fin , z_fin }^V ,

After the conversion, the vector of the expected nail insertion site of the medical device in the actual operation is obtained, at this time, the final state^T P =^G P;步骤12、深度相机采集空间任意一点，返回其在腕部坐标系{W}、基部坐标系{B}、工具端坐标系{T}以及工作台坐标系{S}各坐标系下的坐标{x_p,y_p,z_p}至手术操作控制平台，得出在各坐标系下的矢量^BP,^WP,^TP,^SP；Step 12. The depth camera collects any point in the space, and returns its coordinates in the wrist coordinate system {W}, base coordinate system {B}, tool end coordinate system {T} and table coordinate system {S} under each coordinate system{ x_p , y_p ,^z_p } to the surgical operation control platform, and obtain the vectors^BP ,^WP , TP,^SP under each coordinate system;步骤13、计算单元获取原矢量后，通过计算得出相应转换矩阵

并进一步求解初态位姿

Step 13: After the calculation unit obtains the original vector, the corresponding transformation matrix is obtained by calculation

And further solve the initial state pose

步骤14、工作台坐标系{S}基于基部坐标系{B}定义，工具端坐标系{T}基于腕部坐标系{T}定义，鉴于其转换矩阵

具有不变性，利用其不变性，通过期望矢量和各坐标系间的位姿关系求解末态位姿

Step 14. The worktable coordinate system {S} is defined based on the base coordinate system {B}, and the tool end coordinate system {T} is defined based on the wrist coordinate system {T}. In view of its transformation matrix

It has invariance, and by using its invariance, the final state pose is solved through the pose relationship between the expected vector and each coordinate system

步骤15、以初态位姿和末态位姿作为输入，计算单元通过逆运动学即可得出初态和末态时各机械关节角度{θ_init1-θ_init6}与{θ_fin1-θ_fin6}；Step 15. Taking the initial state pose and the final state pose as input, the calculation unit can obtain the initial state and final state of each mechanical joint angle {θ_init1 -θ_init6 } and {θ_fin1 -θ_fin6 } through inverse kinematics ;步骤16、以各机械关节初态和末态角度为输入，为了使各机械关节的运动尽量平滑，分别对关节角施加四个限制条件：①0时刻关节角为初态角度；②t_fin时刻关节角为末态角度；③0时刻关节角速度为0；④t_fin时刻关节角速度为0，计算单元在限制条件下生成每个机械关节角的三次多项式即轨迹曲线，经驱动单元部署后，工具端即医疗器械端自动调整其位姿至目标位置。Step 16. Taking the initial state and final state angle of each mechanical joint as the input, in order to make the motion of each mechanical joint as smooth as possible, four constraints are imposed on the joint angle: ① the joint angle at time 0 is the initial state angle; ② the joint angle at time t_fin is the final state angle; ③ the joint angular velocity is 0 at time 0; ④ the joint angular velocity is 0 at t_fin , the calculation unit generates a cubic polynomial of each mechanical joint angle under the constraints, that is, the trajectory curve. After the drive unit is deployed, the tool end is the medical device. The end automatically adjusts its pose to the target position.6.如权利要求4所述的髓内钉的自主入钉方法，其特征在于，步骤2中，主钉位置确定后，进行头钉的入钉过程具体包括如下步骤：6. The method for autonomously inserting an intramedullary nail according to claim 4, wherein in step 2, after the position of the main nail is determined, the process of inserting the head nail specifically includes the following steps:步骤21、由配准后的骨模型导出主钉期望入钉深度d_m-exp和入钉期望矢量^GQ_m，计算单元将期望矢量^GQ_m和预入钉末态矢量^GP_m作为输入联合求解其位姿：预入钉末态位姿已知，利用矢量间转换关系获取初始入钉位姿，然后计算单元将两位姿作为输入即可求解机械臂运动轨迹，最后完成初始入钉；Step 21: Deriving the desired nailing depth_dm-exp of the main nail and the desired nailing vector^GQm from the_registered bone model, and the computing unit takes the expected vector_GQm and the pre-^{insertion final state vector GPm}_as input Jointly solve its pose: the position and pose of the pre-drilling end state is known, and the initial nailing pose is obtained by using the conversion relationship between vectors, and then the computing unit uses the two poses as input to solve the motion trajectory of the robotic arm, and finally completes the initial nailing ;步骤22、初始入钉结束后，由磁定位模块导出实际入钉深度d_m-r，按照实际入钉深度d_m-r和期望入钉深度d_m-exp的差值Δd_m进行主钉入钉深度上的微调；Step 22. After the initial nailing is completed, the actual nailing depth d_mr is derived by the magnetic positioning module, and the main nailing depth is calculated according to the difference Δdm between the actual nailing depth_dmr and the expected nailing depth_dm-exp . fine-tuning;步骤23、由配准后的骨模型导出主钉实际位置的角度α_m-r与理想位置的角度α_m-exp，根据其角度差Δα_m，进行角度上的微调；Step 23, derive the angle α_mr of the actual position of the main nail and the angle α_m-exp of the ideal position from the registered bone model, and fine-tune the angle according to the angle difference Δα_m ;步骤24、由配准后的骨模型导出头钉期望入钉深度d_h-exp和入钉期望矢量^GQ_h，计算单元根据期望矢量^GQ_h和预入钉末态矢量^GP_h联合求解机械臂运动轨迹，完成初始入钉，此时头钉角度已经确定，头钉和主钉在近端交锁；Step 24: Deriving the expected screw penetration depth d_h-exp of the head screw and the expected screw penetration vector^G Q_h from the registered bone model, and the computing unit jointly solves it according to the expected vector^G Q_h and the pre-loaded screw final state vector^G P_h The trajectory of the robotic arm is completed, and the initial nailing is completed. At this time, the angle of the head nail has been determined, and the head nail and the main nail are interlocked at the proximal end;步骤25、由磁定位模块导出实际入钉深度d_h-r，按照实际入钉深度d_h-r和期望入钉深度d_h-exp的差异Δd_h进行头钉入钉深度上的微调，完成此操作后即完成实入钉操作。Step 25: The actual nailing depth d_hr is derived from the magnetic positioning module, and the fine-tuning of the head nailing depth is performed according to the difference Δd_h between the actual nailing depth d_hr and the expected nailing depth d_h-exp . Complete the actual pinning operation.

Images