CN113720359B - Precision testing method for navigation system of hip joint operation - Google Patents
Precision testing method for navigation system of hip joint operation Download PDFInfo
- Publication number
- CN113720359B CN113720359B CN202111119178.4A CN202111119178A CN113720359B CN 113720359 B CN113720359 B CN 113720359B CN 202111119178 A CN202111119178 A CN 202111119178A CN 113720359 B CN113720359 B CN 113720359B
- Authority
- CN
- China
- Prior art keywords
- planning
- target ball
- execution
- coordinates
- navigation system
- 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.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 66
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 22
- 238000005498 polishing Methods 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000001356 surgical procedure Methods 0.000 claims abstract description 18
- 238000002474 experimental method Methods 0.000 claims abstract description 9
- 210000001624 hip Anatomy 0.000 claims description 13
- 210000000588 acetabulum Anatomy 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 6
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000003190 augmentative effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The application discloses a precision testing method of a navigation system for hip joint surgery. The method includes the steps of providing equipment and testing experiments. The equipment providing step comprises the steps of providing a laser tracker system, a testing tool, a planning tool and a polishing tool. The test experiment step includes determining planning coordinates, determining execution coordinates and measuring errors. The technical scheme provided by the application can test the operation precision of the handheld hip joint operation navigation system.
Description
Technical Field
The application relates to the technical field of surgical navigation robots, in particular to a precision testing method of a hip joint surgical navigation system.
Background
In the existing orthopedic surgery navigation system based on the augmented reality technology (hereinafter referred to as surgery navigation system), the principle is as follows: obtaining image data by CT scanning of a patient; then, the computer carries out three-dimensional reconstruction on the image data to obtain a patient virtual model; and (3) obtaining the relation between the virtual model and the patient in the coordinate system of the optical tracking equipment by using a registration algorithm and the optical tracking equipment, registering the virtual model and the patient, forming a navigation graph by using the system after successful registration, and performing operation by using the operation navigation robot based on the navigation graph.
The operation navigation system can be applied to hip joint operation, wherein the hand-held hip joint operation navigation system is adopted in the hip joint operation, the acetabulum is ground and ground by adopting the hand-held instrument, the operation precision of the hand-held hip joint operation navigation system is critical to the success rate of the operation, but a method for checking the precision of the hand-held hip joint operation navigation system does not exist yet.
Disclosure of Invention
The application provides a precision testing method of a hip joint operation navigation system, which can test the operation precision of a handheld hip joint operation navigation system.
The invention provides a precision testing method of a hip joint operation navigation system, which comprises the following steps:
providing an apparatus comprising:
providing a laser tracker system;
providing a test tool, wherein a spherical groove is formed on the surface of the test tool and used for simulating an acetabulum, and performing three-dimensional reconstruction and registration on the test tool;
providing a planning tool which is provided with a first simulated acetabular file and a planning target ball, wherein the first simulated acetabular file is used for simulating the acetabular file and is positioned in the spherical groove;
providing a polishing tool, wherein the polishing tool is provided with a second simulated acetabular file, an execution target ball and a registration reflecting part, and the second simulated acetabular file is used for simulating the acetabular file and is matched with the spherical groove;
a test experiment comprising:
determining planning coordinates, positioning a first simulated acetabular file in a spherical groove, measuring the space coordinates of a planning target ball through a laser tracker system, and determining the planning coordinates;
determining an execution coordinate, placing a second simulated acetabular file in the spherical groove, adjusting the gesture of the polishing tool according to the coordination of the laser tracker system and the registration reflecting part and based on the planning coordinate, measuring the space coordinate of the execution target ball through the laser tracker system, and determining the execution coordinate; and
and measuring errors, and performing error calculation according to the planning coordinates and the execution coordinates.
In the implementation process, the precision testing method of the hip joint operation navigation system is used for testing errors of the actual arrival position and the planning position of the handheld instrument under the navigation system. And positioning the first simulated acetabular file in the planning tool in the spherical groove to determine an accurate planning position. And measuring and planning the space coordinates of the target ball by a laser tracker system, and determining the planning coordinates of the current planning position. The polishing tool simulates a handheld instrument used in hip joint operation, simulates operation, places a second simulated acetabular file into a spherical groove, performs image registration through a registration reflecting part, adjusts the posture of the polishing tool based on planning coordinates under the prompt of a navigation system until the navigation system prompts to be adjusted in place, and at the moment, measures and measures the space coordinates of an execution target ball through a laser tracker system to determine the current execution coordinates. And calculating errors of the planning coordinates and the execution coordinates to determine the navigation system accuracy.
In an alternative embodiment, a first positioning part is formed in the spherical groove, a second positioning part is formed in the first simulated acetabular file, and the planning tool is matched with the first positioning part to be positioned in the spherical groove through the second positioning part.
In the process of the implementation, the planning tool can be effectively positioned in the spherical groove through the cooperation of the first positioning part and the second positioning part, so that the validity and the accuracy of the planning position are ensured, and an accurate reference target is provided for adjusting the polishing tool in the step of determining the execution coordinates.
In an alternative embodiment, the first positioning portion comprises a first set of pin holes, the first set of pin holes comprising two first pin holes;
the second positioning part comprises a second pin hole group, and the second pin hole group comprises two second pin holes;
the second set of pin holes corresponds to the first set of pin holes, and the first simulated acetabular file is positioned in the spherical recess by a pin passing through the second pin holes and the first set of pin holes.
In the process of the implementation, when the step of determining the planned coordinates is executed, the first simulated acetabular bone file of the planning tool is placed in the spherical groove, and the two first pin holes in the first pin hole group are aligned with the two second pin holes and fixed by pins, so that the positioning and fixing of the first simulated acetabular bone file are realized, and the accuracy of the planned coordinates is ensured.
In an alternative embodiment, the number of the first positioning parts is a plurality, the plurality of first positioning parts are formed on the spherical groove at intervals, and the first positioning parts are configured to be alternatively matched with the second positioning parts;
the test experiment step further comprises:
and repeating the steps, wherein the repeating step comprises repeating the steps of determining the planned coordinates, determining the performed coordinates and measuring errors, and the second positioning part is matched with the different first positioning parts when the step of determining the planned coordinates is repeatedly performed.
In the implementation process, the planning tool can determine a plurality of planning positions in the test tool by arranging the plurality of first positioning parts, namely, a plurality of planning coordinates are determined, a plurality of groups of data are provided for the test of the precision of the hip operation navigation system, and the precision of the measurement structure is improved.
In an alternative embodiment, the polishing tool further comprises a body, a slide bar, a sleeve and a connecting rod;
the execution target ball and the registration reflecting part are arranged on the body, the sliding rod is connected with the body, one end of the connecting rod is connected with the sleeve, the other end of the connecting rod is connected with the second simulated acetabular file, and the sleeve is slidably connected with the sliding rod.
In the implementation process, when the coordinate execution step is executed, the angle of the polishing tool is adjusted to the angle of the planning position by adjusting the angle of the polishing tool; and then, the relative position between the sleeve and the sliding rod is adjusted to enable the registering reflecting part to lift, so that the polishing depth of the second simulation acetabular file is simulated until the navigation system prompts to be adjusted in place.
In an alternative embodiment, the planning target sphere includes a first planning target sphere and a second planning target sphere, the first planning target sphere and the second planning target sphere being spaced apart;
the execution target ball comprises a first execution target ball and a second execution target ball, and the first execution target ball and the second execution target ball are arranged at intervals.
In the implementation process, the planning coordinates and the execution coordinates can be accurately obtained by arranging the two planning target balls and the two execution target balls, so that the accuracy of a measurement structure is ensured.
In an alternative embodiment, in the step of determining the planned coordinates, a planned straight line is determined by the spatial coordinates of the first planned target sphere and the second planned target sphere; determining a planning point through the space coordinates of the first planning target sphere or the second planning target sphere;
in the executing coordinate step, determining an executing straight line through the space coordinates of the first executing target ball and the second executing target ball; determining an execution point through the space coordinates of the first execution target ball or the second execution target ball;
in the error measurement step, errors of the planned straight line and the execution straight line are calculated, and errors of the planned point and the execution point are calculated.
In the implementation process, the polishing angle error of the navigation system can be determined by calculating the errors of the planning straight line and the execution straight line; by calculating the errors of the planning point and the execution point, the grinding depth position error of the navigation system can be confirmed.
In an alternative embodiment, when the planned straight line and the execution straight line are spatially out-of-plane straight lines, the planned straight line and the execution straight line calculate the error by projection.
In an alternative embodiment, the surface of the test fixture is provided with a plurality of registration points.
In an alternative embodiment, the registration reflector includes a plurality of reflector balls.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a test fixture in this embodiment;
fig. 2 is a schematic diagram of a planning tool in the present embodiment;
fig. 3 is a schematic diagram of a polishing tool in this embodiment;
FIG. 4 is a partial cross-sectional view of the grinding tool in this embodiment;
FIG. 5 is a schematic diagram of the assembly of the planning tool and the testing tool in the present embodiment;
FIG. 6 is a schematic diagram of the polishing tool and the testing tool in the present embodiment;
fig. 7 is a schematic diagram of error calculation of planning straight lines and executing straight lines in the present embodiment.
Icon: 10-testing a tool; 11-spherical grooves; 12-registration point; 13-a first set of pin holes; 14-first pin holes;
20-planning a tool; 21-a first simulated acetabular file; 22-planning a target sphere; 23-a second set of pin holes; 24-second pin holes;
30-polishing the tool; 31-a second simulated acetabular file; 32-executing a target ball; 33-registering the reflector; 34-body; 35-a slide bar; 36-sleeve; 37-connecting rod.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present application, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the application.
In the description of the embodiments of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
The technical solutions in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a precision testing method for a hip joint surgery navigation system, which can test the operation precision of a handheld hip joint surgery navigation system.
The precision testing method of the hip joint operation navigation system comprises the following steps: providing an equipment step and a test experiment step.
The equipment providing step comprises the following steps: a laser tracker system, a test fixture 10, a planning fixture 20 and a polishing fixture 30 are provided.
Referring to fig. 1-3, fig. 1 is a schematic diagram of a test tool 10 in the present embodiment, fig. 2 is a schematic diagram of a planning tool 20 in the present embodiment, and fig. 3 is a schematic diagram of a polishing tool 30 in the present embodiment.
Referring to fig. 1, a spherical groove 11 is formed on the surface of a test fixture 10, and is used for simulating an acetabulum, performing three-dimensional reconstruction on the test fixture 10, and performing registration. The surface of the test fixture 10 is formed with a spherical recess 11 for simulating an acetabulum. The surface of the test fixture 10 is provided with a plurality of registration points 12. And carrying out three-dimensional reconstruction and registration on the test fixture 10.
Referring to fig. 2, the planning tool 20 has a first simulated acetabular file 21 and a planning target ball 22, the first simulated acetabular file 21 being used to simulate an acetabular file, positioned in the spherical recess 11. Referring to fig. 3, the grinding tool 30 has a second simulated acetabular file 31, an execution target ball 32 and a registration reflection portion 33, and the second simulated acetabular file 31 is used to simulate an acetabular file and is engaged with the spherical recess 11.
It should be explained that the laser tracking measurement system is the prior art, and basically consists of a laser tracking head (tracker), a controller, a user computer, a reflector (target mirror), a measurement accessory and the like. The basic principle of the laser tracking measurement system is that a reflector is arranged on a target point, laser emitted by a tracking head is reflected on the reflector and returns to the tracking head, and when the target moves, the tracking head adjusts the direction of a light beam to aim at the target. Meanwhile, the returned light beam is received by the detection system and is used for measuring and calculating the space position of the target. In short, the problem to be solved by a laser tracking measurement system is to track a point moving in space, either statically or dynamically, while determining the spatial coordinates of the target point.
It should be noted that the grinding tool 30 simulates a hand-held instrument in a hand-held hip surgery navigation system, which is controlled by the hand-held hip surgery navigation system.
The test experiment steps comprise: determining planning coordinates, determining execution coordinates and measuring errors.
Determining planning coordinates: the first simulated acetabular file 21 is positioned in the spherical recess 11 and the planned coordinates are determined by measuring the spatial coordinates of the planned target sphere 22 with a laser tracker system.
Determining execution coordinates: the second simulated acetabular file 31 is placed in the spherical recess 11, the posture of the grinding tool 30 is adjusted according to the cooperation of the laser tracker system and the registration reflecting portion 33 and based on the planned coordinates, the space coordinates of the execution target ball 32 are measured by the laser tracker system, and the execution coordinates are determined.
Measurement error: and performing error calculation according to the planning coordinates and the execution coordinates.
The precision testing method of the hip joint operation navigation system is used for testing errors of actual arrival positions and planned positions of the handheld instrument under the navigation system. The first simulated acetabular file 21 in the planning tool 20 is positioned in the spherical recess 11 to determine the exact planning position. The planned coordinates of the current planned position are determined by measuring the spatial coordinates of the planned target sphere 22 with a laser tracker system. The polishing tool 30 simulates a hand-held instrument used in a hip joint operation, simulates operation, places the second simulated acetabular file 31 into the spherical groove 11, performs image registration through the registration reflection part 33, adjusts the posture of the polishing tool 30 based on the planned coordinates under the prompt of the navigation system until the navigation system prompt is adjusted in place, and at this time, measures the space coordinates of the execution target ball 32 through the laser tracker system to determine the current execution coordinates. And calculating errors of the planning coordinates and the execution coordinates to determine the navigation system accuracy.
Optionally, referring to fig. 1, a first positioning portion is formed in the spherical recess 11, and a second positioning portion is formed in the first simulated acetabular file 21, and the planning tool 20 is positioned in the spherical recess 11 by matching the second positioning portion with the first positioning portion.
Through the cooperation of first location portion and second location portion, can be effectively with planning frock 20 location in spherical recess 11 to guarantee the validity and the accuracy of planning the position, guarantee to provide accurate reference target for adjustment frock 30 of polishing in determining the execution coordinate step. It should be noted that, in other embodiments, the first positioning portion may be disposed on the surface of the test tool 10, and when the planning tool 20 is positioned with the first positioning portion by the second positioning portion, the first simulated acetabular file 21 can be positioned in the spherical recess 11.
The first positioning portion comprises a first set of pin holes 13, the first set of pin holes 13 comprising two first pin holes 14. Referring to fig. 2, the second positioning portion includes a second pin hole group 23, and the second pin hole group 23 includes two second pin holes 24; the second set of pin holes 23 corresponds to the first set of pin holes 13 and the first simulated acetabular file 21 is positioned in the spherical recess 11 by pins passing through the second pin holes 24 and the first set of pin holes 13. It should be noted that the first pin hole 14 is formed with a sidewall of the spherical recess 11, and the second pin hole 24 is formed on a sidewall of the first simulated acetabular file 21 to ensure effective positioning of the first simulated acetabular file 21 and the spherical recess 11. It should be noted that, in other embodiments, the first positioning portion and the second positioning portion may further include a protrusion and a groove structure capable of being matched with each other.
When the step of determining the planned coordinates is performed, the first simulated acetabular file 21 of the planning tool 20 is placed in the spherical groove 11, and the two first pin holes 14 and the two second pin holes 24 in the first pin hole group 13 are aligned and fixed by pins, so that the positioning and fixing of the first simulated acetabular file 21 are realized, and the accuracy of the planned coordinates is ensured.
Alternatively, the number of the first positioning portions is plural, and the plural first positioning portions are formed at intervals in the spherical groove 11, and the first positioning portions are configured to be alternatively engaged with the second positioning portions. That is, the plurality of first pin hole groups 13 are formed at intervals on the side wall of the spherical recess 11, and correspondingly, the plurality of second pin hole groups 23 are provided at intervals on the side wall of the first simulated acetabular file 21.
Based on the plurality of first positioning portions and the plurality of positioning portions, a plurality of planned positions may be determined, and thus, the testing experiment step may further include repeating the steps.
The repeating step includes repeating the steps of determining the planned coordinates, determining the performed coordinates, and measuring the error, wherein the second positioning portion cooperates with a different first positioning portion when the step of determining the planned coordinates is repeated.
Through setting up a plurality of first location portions for planning frock 20 can confirm a plurality of planning positions in test fixture 10, confirm a plurality of planning coordinates promptly, provide multiunit data for the test of hip joint operation navigation system precision, improve the precision of measurement structure. In this embodiment, the number of the first positioning portions is three, i.e. three sets of planning positions are provided.
Alternatively, referring to fig. 3 in combination with fig. 4, fig. 4 is a partial cross-sectional view of the grinding tool 30 in this embodiment. The grinding tool 30 further comprises a body 34, a slide bar 35, a sleeve 36 and a connecting rod 37.
The execution target ball 32 and the registration reflecting portion 33 are arranged on the body 34, the slide rod 35 is connected with the body 34, one end of the connecting rod 37 is connected with the sleeve 36, the other end of the connecting rod 37 is connected with the second simulated acetabular file 31, and the sleeve 36 is slidably connected with the slide rod 35. Note that, the registration light reflecting portion 33 includes a plurality of light reflecting balls, and the light reflecting balls include NDI light reflecting balls for registration.
When the step of determining the execution coordinates is performed, the polishing tool 30 is adjusted to the angle at which the planned position is located by adjusting the angle of the polishing tool 30 (i.e., deflecting the polishing tool 30 such that the second simulated acetabular file 31 rotates); the registration reflector 33 is then raised and lowered by adjusting the relative position between the sleeve 36 and the slide bar 35 to simulate the depth of sanding of the second simulated acetabular file 31 until the navigation system prompts the adjustment in place.
Alternatively, referring back to fig. 2 and 3, the planned target ball 22 includes a first planned target ball 22 and a second planned target ball 22, the first planned target ball 22 and the second planned target ball 22 being spaced apart. The execution target ball 32 includes a first execution target ball 32 and a second execution target ball 32, the first execution target ball 32 and the second execution target ball 32 being spaced apart. By providing two planning target balls 22 and two execution target balls 32, the planning coordinates and the execution coordinates can be accurately obtained, and the accuracy of the measurement structure can be ensured.
Optionally, referring to fig. 5, fig. 5 is a schematic diagram of the planning tool 20 and the test tool 10 in the present embodiment.
In the step of determining the planned coordinates, a planned straight Line (Line 1) is determined by the spatial coordinates of the first planned target ball 22 and the second planned target ball 22, which is indicated by an arrow plus "a" in fig. 5; the planned Point (Point 1) is determined by the spatial coordinates of the first planned target sphere 22 or the second planned target sphere 22, indicated by the arrow plus "B" in fig. 5.
Referring to fig. 6, fig. 6 is a schematic diagram of the polishing tool 30 and the test tool 10 in the present embodiment.
In the execution coordinate step, an execution straight Line (Line 2) is determined by the spatial coordinates of the first execution target ball 32 and the second execution target ball 32, which is indicated by an arrow plus "C" in fig. 6; the execution Point (Point 2) is determined by the spatial coordinates of the first execution target ball 32 or the second execution target ball 32, indicated by an arrow plus "D" in fig. 6.
In the error measurement step, errors of the planned straight line and the execution straight line are calculated, and errors of the planned point and the execution point are calculated.
In the implementation process, the polishing angle error of the navigation system can be determined by calculating the errors of the planning straight line and the execution straight line; by calculating the errors of the planning point and the execution point, the grinding depth position error of the navigation system can be confirmed.
Alternatively, when the planning straight line and the execution straight line are spatially out-of-plane straight lines, the planning straight line and the execution straight line calculate the error by projection. Referring to fig. 7, fig. 7 is a schematic diagram of error calculation for planning a straight line and executing the straight line in the present embodiment.
The calculation process can comprise the following steps: a perpendicular bisector (Line 3, indicated at "E" in fig. 7) between the planned straight Line (Line 1, indicated at "a" in fig. 7) and the execution straight Line (Line 2, indicated at "C" in fig. 7) is determined, and a space Plane (Plane 3, indicated at "F" in fig. 7) is made perpendicular to this perpendicular bisector (Line 3). Wherein, the planning straight Line (Line 1) is on the space plane (Palne 3), the execution straight Line (Line 2) is on the space plane (Palne 3) to project the Line (Line 4, the arrow mark is shown as 2 in the figure, and the included angle between the planning straight Line (Line 1) and the projection Line (Line 4), namely the angle error, is calculated.
In some embodiments of the present application, optionally, the method for testing precision of a hip surgery navigation system may include the steps of:
1. providing equipment, including providing a laser tracker system, a test fixture 10, a planning fixture 20, and a polishing fixture 30. The spherical groove 11 simulates the acetabulum, is consistent with the actual surgical procedure, and carries out three-dimensional reconstruction and registration on the test fixture 10.
2. The first simulated acetabular file 21 of the planning tool 20 is placed into the spherical recess 11 of the test tool 10, and the first pin hole 14 and the second pin hole 24 are aligned and pinned in one of three sets of planning positions.
3. The laser tracker system measures the coordinates of two planning target balls 22 on the planning tool 20:
3.1, combining with fig. 5, determining a planning straight Line (Line 1);
and 3.2, selecting the coordinate of one of the planning target balls 22, determining a planning Point (Point 1), and simulating a grinding stopping Point.
4. The planning tool 20 is taken out and the second simulated acetabular file 31 of the grinding tool 30 is placed into the spherical recess 11. The laser tracker system monitors the attitude of the grinding tool 30 through the registration reflector 33. According to the prompting of the handheld hip surgery navigation system, the body 34 of the grinding tool 30 is manually rotated until the system prompts that the second simulated acetabular file 31 has reached the planned angle within the spherical recess 11. The laser tracker system measures the coordinates of the two execution targets 32 on the sanding tool 30 to determine the execution Line (Line 2). The polishing tool 30 is ensured to have inconvenient angle, the slide rod 35 is slid until the software prompt reaches the specified depth position, at which time, the coordinate Point of the execution target ball 32 corresponding to the planning Point (Point 1) is determined as the execution Point (Point 2).
5. In the data processing software, the error is measured:
5.1, calculating errors of the planning Point (Point 1) and the execution Point (Point 2);
5.2, calculating errors of the planning straight Line (Line 1) and the execution straight Line (Line 2);
and 5.3, if the planning straight Line (Line 1) and the execution straight Line (Line 2) are space different-plane straight lines, calculating errors of the planning straight Line and the execution straight Line by projection.
6. And repeating the steps 2-5 according to the two remaining positions in the three groups of planning positions.
Through the calculation structure, errors of the actual arrival linear position and the planned space linear position of the handheld instrument under the navigation system can be tested, and the errors of the polishing angle of the navigation system can be confirmed; the method can test the accuracy of the actual position of the end instrument of the navigation system, namely the position error between a certain test point on the end instrument and a planned point, so as to confirm the position error of the grinding depth of the navigation system.
The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. The precision testing method of the hip joint operation navigation system is characterized by comprising the following steps of:
providing an apparatus comprising:
providing a laser tracker system;
providing a test tool, wherein a spherical groove is formed on the surface of the test tool and is used for simulating an acetabulum, performing three-dimensional reconstruction on the test tool and registering;
providing a planning tool having a first simulated acetabular file for simulating an acetabular file and a planning target ball, positioned in the spherical recess;
providing a polishing tool, wherein the polishing tool is provided with a second simulation acetabular file, an execution target ball and a registration reflecting part, the second simulation acetabular file is used for simulating the acetabular file and is matched with the spherical groove, and the polishing tool further comprises a body, a sliding rod, a sleeve and a connecting rod; the execution target ball and the registration reflecting part are arranged on the body, the sliding rod is connected with the body, one end of the connecting rod is connected with a sleeve, the other end of the connecting rod is connected with the second simulated acetabular file, and the sleeve is slidably connected with the sliding rod;
a test experiment comprising:
determining planning coordinates, positioning the first simulated acetabular file in the spherical groove, measuring the space coordinates of the planning target sphere through the laser tracker system, and determining the planning coordinates;
determining an execution coordinate, placing the second simulated acetabular file in the spherical groove, adjusting the gesture of the polishing tool according to the cooperation of the laser tracker system and the registration reflecting part and based on the planning coordinate, lifting the registration reflecting part by adjusting the relative position between a sleeve and the sliding rod, thereby simulating the polishing depth of the second simulated acetabular file, measuring the space coordinate of the execution target ball by the laser tracker system, and determining the execution coordinate; and
and measuring errors, and calculating errors according to the planning coordinates and the execution coordinates.
2. The method for testing the precision of the navigation system for the hip surgery according to claim 1, wherein,
the first locating part is formed in the spherical groove, the second locating part is formed in the first simulated acetabular file, and the planning tool is matched with the first locating part through the second locating part so as to be located in the spherical groove.
3. The method for testing the precision of the navigation system for hip surgery according to claim 2, wherein,
the first positioning part comprises a first pin hole group, and the first pin hole group comprises two first pin holes;
the second positioning part comprises a second pin hole group, and the second pin hole group comprises two second pin holes;
the second set of pin holes corresponds to the first set of pin holes, and the first simulated acetabular file is positioned in the spherical recess by a pin passing through the second pin holes and the first set of pin holes.
4. The method for testing the precision of the navigation system for hip surgery according to claim 3, wherein,
the number of the first positioning parts is a plurality, the first positioning parts are formed in the spherical groove at intervals, and the first positioning parts are configured to be alternatively matched with the second positioning parts;
the test experiment step further comprises:
and repeating the steps, wherein the repeating step comprises repeating the steps of determining the planned coordinates, determining the performed coordinates and measuring the errors, and the second positioning part is matched with the different first positioning parts when the step of determining the planned coordinates is repeatedly performed.
5. The method for testing the precision of the navigation system for the hip surgery according to claim 1, wherein,
the planning target ball comprises a first planning target ball and a second planning target ball, and the first planning target ball and the second planning target ball are arranged at intervals;
the execution target ball comprises a first execution target ball and a second execution target ball, and the first execution target ball and the second execution target ball are arranged at intervals.
6. The method for testing the accuracy of the navigation system for hip surgery according to claim 5, wherein,
in the step of determining the planning coordinates, a planning straight line is determined through the space coordinates of the first planning target ball and the second planning target ball; determining a planning point through the space coordinates of the first planning target sphere or the second planning target sphere;
in the executing coordinate step, determining an executing straight line through the space coordinates of the first executing target ball and the second executing target ball; determining an execution point through the space coordinates of the first execution target ball or the second execution target ball;
in the measuring error step, errors of the planning straight line and the execution straight line are calculated, and errors of the planning point and the execution point are calculated.
7. The method for testing the accuracy of the navigation system for hip surgery according to claim 6, wherein,
and when the planning straight line and the executing straight line are space different-plane straight lines, calculating errors by projection through the planning straight line and the executing straight line.
8. The method for testing the accuracy of the navigation system for hip surgery according to any one of claims 1 to 7,
the surface of the test tool is provided with a plurality of registration points.
9. The method for testing the accuracy of the navigation system for hip surgery according to any one of claims 1 to 7,
the registration reflector includes a plurality of reflector balls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119178.4A CN113720359B (en) | 2021-09-24 | 2021-09-24 | Precision testing method for navigation system of hip joint operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119178.4A CN113720359B (en) | 2021-09-24 | 2021-09-24 | Precision testing method for navigation system of hip joint operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113720359A CN113720359A (en) | 2021-11-30 |
| CN113720359B true CN113720359B (en) | 2024-04-05 |
Family
ID=78684705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111119178.4A Active CN113720359B (en) | 2021-09-24 | 2021-09-24 | Precision testing method for navigation system of hip joint operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113720359B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204106119U (en) * | 2014-09-28 | 2015-01-21 | 昆明市中医医院 | Reamer for hip arthroplasty,acetabulum is guide locating device provided |
| CN110370314A (en) * | 2019-06-11 | 2019-10-25 | 杭州亿恒科技有限公司 | Tow-armed robot performance measurement method based on more laser trackers |
| EP3584533A1 (en) * | 2018-06-19 | 2019-12-25 | Apodius GmbH | Coordinate measurement system |
| CN112998852A (en) * | 2021-02-19 | 2021-06-22 | 杭州柳叶刀机器人有限公司 | Method, device, terminal and storage medium for verifying precision |
| CN113017834A (en) * | 2021-02-26 | 2021-06-25 | 杭州柳叶刀机器人有限公司 | Joint replacement surgery navigation device and method |
| CN113199510A (en) * | 2021-06-09 | 2021-08-03 | 杭州柳叶刀机器人有限公司 | Precision inspection method for surgical navigation robot |
-
2021
- 2021-09-24 CN CN202111119178.4A patent/CN113720359B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204106119U (en) * | 2014-09-28 | 2015-01-21 | 昆明市中医医院 | Reamer for hip arthroplasty,acetabulum is guide locating device provided |
| EP3584533A1 (en) * | 2018-06-19 | 2019-12-25 | Apodius GmbH | Coordinate measurement system |
| CN110370314A (en) * | 2019-06-11 | 2019-10-25 | 杭州亿恒科技有限公司 | Tow-armed robot performance measurement method based on more laser trackers |
| CN112998852A (en) * | 2021-02-19 | 2021-06-22 | 杭州柳叶刀机器人有限公司 | Method, device, terminal and storage medium for verifying precision |
| CN113017834A (en) * | 2021-02-26 | 2021-06-25 | 杭州柳叶刀机器人有限公司 | Joint replacement surgery navigation device and method |
| CN113199510A (en) * | 2021-06-09 | 2021-08-03 | 杭州柳叶刀机器人有限公司 | Precision inspection method for surgical navigation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113720359A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113199510B (en) | Precision inspection method for surgical navigation robot | |
| EP0700506B1 (en) | Method for geometry measurement | |
| EP1893942B1 (en) | Apparatus and method for relocating an articulating-arm coordinate measuring machine | |
| CN111110351B (en) | Components and methods for testing the accuracy of a robotic system for joint replacement surgery | |
| CA2604619C (en) | Method and apparatus for calibrating circular objects using a computer tracking system | |
| CN110811832B (en) | Osteotomy checking method, checking equipment, readable storage medium and orthopedic surgery system | |
| US8457790B2 (en) | Robotic calibration method | |
| US5446548A (en) | Patient positioning and monitoring system | |
| US7079885B2 (en) | Method and device for instrument, bone segment, tissue and organ navigation | |
| KR101119699B1 (en) | Method for calibrating the geometry of a multi-axis metrology system | |
| CN110811834A (en) | Checking method and checking system of osteotomy guiding tool and detection target | |
| CN111134841B (en) | Method and tool for registering pelvis in hip replacement | |
| US7222431B1 (en) | Alignment correction system and methods of use thereof | |
| US20200273178A1 (en) | Systems and methods for tracker characterization and verification | |
| CN116457158A (en) | Method and device for calibrating parallel kinematic mechanisms | |
| CN116793334A (en) | Precision test system and test method of bone surgery navigation system | |
| CN113720359B (en) | Precision testing method for navigation system of hip joint operation | |
| EP3693697B1 (en) | Method for calibrating a 3d measurement arrangement and 3d measurement arrangement | |
| JPH05501006A (en) | Calibration of measuring equipment | |
| CN115363769A (en) | Method and device for measuring precision of surgical robot, storage medium and processor | |
| Tseng et al. | Image‐guided robotic navigation system for neurosurgery | |
| Sultan et al. | Simplified theodolite calibration for robot metrology | |
| CN118163099B (en) | Precision testing system and method for spine robot cutting path | |
| EP3745223B1 (en) | Method for self-verification of mechatronic systems | |
| CN120241256A (en) | Surgical robot accuracy inspection method and surgical robot accuracy inspection system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |