Registration navigation method based on skeleton three-dimensional point cloud

Abstract

The invention relates to a registration and navigation method based on a three-dimensional point cloud of bones, which is characterized in that: based on DICOM data images, a virtual coordinate system of X, Y, and Z three-dimensional point clouds is formed. At the same time, the robot can pass through the probe to achieve balanced data collection on both sides of the bone, and establish the X, Y, Z three-dimensional midpoint cloud world coordinate system. In the X, Y, Z three-dimensional point cloud virtual coordinate system and the world coordinate system dynamic fast registration navigation calculation, including acceleration for rigid registration and flexible registration. Finally, the parameters such as navigation position and angle are corrected. As a result, the robot can realize dynamic registration and navigation of X, Y, and Z three-dimensional point clouds, solve the current problems of unsatisfactory registration accuracy and excessive ray exposure, improve navigation accuracy and efficiency, and make the registration and navigation accuracy of orthopedic robots ≤ 0.5 mm, can avoid radiation exposure and further improve navigation accuracy. The method provided by the invention can be realized by cooperating with software programming, which meets the requirement of automatic implementation and adjustment.

Description

technical field [0001] The invention relates to a robot operation navigation method, in particular to a registration navigation method based on a skeleton three-dimensional midpoint cloud. Background technique [0002] As far as the development of the existing orthopedic surgery robots is concerned, apart from the structural factors of the robot itself, one of the most important reasons is that there are still certain problems in the navigation technology, which is due to: [0003] 1. The bone tissue structure is complex and lacks reliable anatomical landmarks. [0004] The shape of the vertebrae is irregular, and the internal structure is relatively complex. There are soft tissues such as muscle periosteum on the surface of the vertebrae, and it is difficult to accurately locate due to factors such as bleeding and exposure range. At present, the orthopedic surgical robot is not ideal for high-precision surgery. Cervical pedicle screw placement, nerve decompression, etc. ha...

AI Technical Summary

Problems solved by technology

[0003] 1. The bone tissue structure is complex and lacks reliable anatomical positioning marks

[0004] The shape of the vertebrae is irregular, and the internal structure is relatively complex. There are soft tissues such as muscle periosteum on the surface of the vertebrae, and it is difficult to accurately locate due to factors such as bleeding and exposure range. At present, the orthopedic surgical robot is not ideal for high-precision surgery. Cervical pedicle screw placement, nerve decompression, etc. have affected the clinical application of orthopedic surgery robotics

[0005] 2. The scope of surgical exposure is limited

[0007] 3. Micro-movement of the vertebrae of the surgical target will affect the positioning and operation accuracy

[0008] Due to the small size of the human spine, limited bone mass, and the possibility of osteoporosis and other factors, it is difficult to implement "rigid fixation" with thick steel nails to keep it still, which affects the accuracy of registration and navigation

[0009] 4. The image quality is not ideal enough to affect the navigation accuracy

[0036] To sum up, the existing orthopedic surgery robot navigation technology at home and abroad, regardless of X-Ray-dependent or non-X-Ray-dependent navigation technology, has the bottleneck problem of unsatisfactory navigation accuracy and difficult dynamic registration.

Images