CN113143466A - Intraoperative planning adjustment method and system based on integrated surgical robot - Google Patents
Intraoperative planning adjustment method and system based on integrated surgical robot Download PDFInfo
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Abstract
The invention discloses an intraoperative planning adjustment method and system based on an integrated surgical robot, which can acquire image data obtained by three-dimensional scanning reconstruction, send control signals to the robot and receive real-time feedback data by integrally designing a movable flat C arm of a three-dimensional imaging device and the surgical robot in a software and hardware combination mode, do not need a scale to calibrate two systems before and during surgery after system registration is completed, and can stably achieve higher positioning execution precision. In the operation execution process, need not additionally to install infrared tracer on patient, only need through scanning many two-dimentional perspective images to patient, utilize bone structure and surgical instruments's rigid structure, register to three-dimensional image on, the actual deviation of target bone structure when just can planning revises, suggestion and supplementary doctor adjust surgical instruments's spatial position and gesture, improve the accuracy of operation, reduce the injury to the patient.
Description
Technical Field
The invention belongs to the field of orthopedic surgery robots, and particularly relates to an intraoperative planning and adjusting method and system based on an integrated surgical robot.
Background
In recent years, the incidence of orthopedic diseases is gradually improved globally, and accurate treatment becomes the future development direction of orthopedic surgery. With the progress of medical imaging and instrument technology, the surgical robot based on the mechanical arm technology is increasingly combined with medical imaging data to participate in the surgical process of assisting doctors together, so that the operation of the doctors is facilitated, and the surgical precision is improved. Because the traditional surgical robot auxiliary system and the medical imaging equipment are respectively a set of complete system, a ruler needs to be placed near the diseased part of a patient for intraoperative three-dimensional scanning, and the coordinate registration of the traditional surgical robot auxiliary system and the medical imaging equipment is convenient to realize a planned surgical navigation scheme. This scheme can effectively integrate medical image and operation robot, and the more safe accurate orthopedic operation of accomplishing of supplementary doctor, like screw internal fixation can reduce operation physical demands, reaches the effect of the high difficult operation security, complicated operation simplification, conventional operation wicresoft.
However, under the existing system solution, the operation of the surgical robot on the patient in the operation needs to be performed under the control of the doctor, once the surgical site is displaced, or the actual intervention angle and position of the surgical instrument have errors with the actual situation, the surgical accuracy is greatly affected, and higher requirements are provided for the doctor to operate the surgical robot. In addition, in the conventional surgical navigation system, an infrared tracer is required to be installed on the patient, and in order to ensure the stability of the relative displacement, the infrared tracer is generally fixed on the bone structure (such as vertebra) of the patient in an invasive manner, which causes additional injury to the patient.
Therefore, an integrated medical imaging orthopaedic surgery robot assisting method and system are needed to reduce the complexity and difficulty of the operation system and enable error correction in the surgical execution process, which is a focus of attention of researchers.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intraoperative planning and adjusting system and method based on an integrated surgical robot, which can reduce the complexity and difficulty of an operating system, reduce the occupation of clinical space, increase the imaging visual field and the available information content, correct errors in the operation execution process in a non-invasive mode, and improve the accuracy, stability and maintenance cost of the system.
In order to achieve the above object, the present invention provides an intraoperative planning adjustment method based on an integrated surgical robot, which specifically comprises the following steps:
s1, before operation, three-dimensional scanning is carried out on the operation position of the patient to obtain a 3D image; customizing a preoperative planning scheme according to the 3D image, and determining the position and the direction of a nail of a surgical instrument;
s2, in the operation implementation process, implanting the surgical instrument into the body of the patient according to the planned nail placing position and the planned nail placing direction, and performing perspective scanning of different angles on the same operation position of the patient and the surgical instrument in the body to obtain 2D perspective images of different angles; then, registering the 2D fluoroscopic image onto the 3D image;
s3, after registration, calculating an offset rotation matrix and a translation amount between the actual nail placing direction of the surgical instrument and the planned nail placing direction;
and S4, determining the angle and the position of the mechanical arm tip surgical instrument to be adjusted based on the offset rotation matrix and the translation amount, and updating the surgical planning scheme in real time.
Preferably, the S1 is specifically:
s1.1, before operation is carried out, three-dimensional scanning is carried out on the operation part of a patient by adopting a movable three-dimensional C arm of an integrated operation robot, and a 3D image is reconstructed;
s1.2, customizing a preoperative planning scheme according to the 3D image, marking an interest point, and determining a nail inserting point and a nail inserting direction of a surgical instrument.
Preferably, the S2 is specifically:
s2.1, in the operation implementation process, implanting the surgical instrument into the body of the patient according to the planned nail placing position and direction;
s2.2, carrying out low-dose two-dimensional perspective scanning on the same surgical position of the patient and surgical instruments in the body at different angles by adopting a movable three-dimensional C arm of the integrated surgical robot to obtain 2D perspective images at different angles;
s2.2, carrying out image reconstruction on the 2D perspective images at different angles, and identifying the bone block to be operated and the rigid structure of a surgical instrument;
s2.3, registering the 2D perspective image to the 3D image based on the rigid structure.
Preferably, S2.3 is specifically:
and projecting the 3D image planned before the operation to generate a plurality of 2D images, and registering the 2D perspective image and the 2D image by adopting an interpolation method or a neural network algorithm to obtain the imaging angle and position information of the 2D perspective image.
Preferably, the S3 is specifically:
s3.1, finding out the actual position of the tip of the surgical instrument and a certain point position on the axial line of the surgical instrument, and calculating the actual nail inserting direction of the surgical instrument;
s3.2, comparing the actual nail inserting direction of the surgical instrument with the planned nail inserting direction, and calculating an offset rotation matrix between the actual nail inserting direction and the planned nail inserting direction;
s3.3, verifying whether the nail inserting point of the surgical instrument during planning is in the actual nail inserting direction; if not, the translation amount between the planned nailing point and the actual nailing point is calculated.
Preferably, the position of the surgical instrument relative to the 2D scan image is calculated when the surgical instrument is implanted or not implanted in the patient, provided that the surgical machine is within the 2D scan imaging range.
Preferably, the method for calculating the position of the surgical instrument relative to the 2D scan image includes:
determining the position of the detector under the infrared coordinate of the central point according to the actual position and angle of the C arm identified by the infrared device; and the actual positions of the tip of the surgical instrument and a certain point on the central axis under the infrared coordinate system are calculated by combining the position of the tail end surgical instrument fed back by the mechanical arm and the position of the tail end surgical instrument fed back by the mechanical arm through the position of the tail end of the mechanical arm or the infrared detector of the base, and the position of the corresponding point under the image coordinate system is calculated at the same time.
An intraoperative planning adjustment system based on an integrated surgical robot, comprising: the system comprises a mobile three-dimensional C-arm integrated surgical robot, a mechanical arm real-time motion control and feedback module, a planning compensation module and a user operation center;
the mobile three-dimensional C-arm integrated surgical robot is used for taking charge of two-dimensional/three-dimensional CT image scanning, reconstruction and registration of the whole medical image system, image three-dimensional coordinates, intraoperative three-dimensional coordinate conversion and control of the surgical robot; the motion control and feedback module is used for controlling the mechanical arm in real time and feeding back the current state of the mechanical arm; the planning compensation module is used for reconstructing a two-dimensional CT image, registering the two-dimensional CT image with a preoperative three-dimensional CT reconstructed image, calculating an offset, formulating a planning compensation scheme of an intraoperative target point and dynamically compensating the position of the mechanical arm in time; and the user operation center is used for parameter configuration, data management and interaction of the whole system.
Preferably, the real-time motion control and feedback module of the mechanical arm transmits the current state of the mechanical arm through a TCP/IP protocol, where the state includes: angles of all joints, tool center contact point pose, moving speed, acceleration and safe voltage and current limit values.
Compared with the prior art, the invention has the beneficial effects that:
1. based on the integrated surgical robot, the invention increases the links of planning and adjusting in the operation, reduces the error and difficulty of the operation in the operation and can help doctors to perform more accurate real-time operation;
2. the invention does not need an infrared calibration system to carry out auxiliary medical treatment under the normal condition (namely, under the condition of scanning the surgical instrument into the 2D perspective image), and does not need to install an infrared calibrator on the patient, thereby reducing the additional injury to the patient. The invention also provides a condition that an NDI infrared tracking system is needed under special conditions (under the condition that the surgical instrument is not scanned into the 2D perspective image), the relative position of the surgical instrument to the scanning area can be calculated and obtained, and then the registered image is used for updating the surgical plan.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a plan view of the present invention prior to surgery;
FIG. 3 is a schematic view of the actual direction of driving in the present invention;
FIG. 4 is a schematic view of the present invention with an infrared tracer mounted on the C-arm detector, the end of the robot arm, or the base of the robot arm; wherein, (a) is a schematic diagram of installing an infrared tracer on a C-arm detector; (b) a schematic diagram of an infrared tracer installed at the tail end of a mechanical arm; (c) a schematic diagram of an infrared tracer installed on a mechanical arm base is shown;
FIG. 5 is a schematic diagram of the relationship between the C-arm imaging area and the detector position;
FIG. 6 is a block diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
Referring to fig. 1, the invention provides an intraoperative planning adjustment method based on an integrated surgical robot, which specifically comprises the following steps:
s1, before operation, three-dimensional scanning is carried out on the operation position of the patient to obtain a 3D image; customizing a preoperative planning scheme according to the 3D image, and determining the position and the direction of a nail of a surgical instrument;
the invention adopts the movable three-dimensional C arm of the movable three-dimensional C arm integrated operation robot (medical imaging equipment) to carry out three-dimensional scanning on the part of the patient needing operation, and reconstructs a 3D image according to three-dimensional scanning data; then, preoperative planning is carried out according to the reconstructed 3D image, and an interest point P is markedInterestAnd determining the nail inserting point P of the surgical instrumentEntryAnd the determined nailing direction VEntryAs shown in fig. 2. Wherein the nailing direction VEntryIs formed by the point of interest PInterestNail feeding point PEntryThe connection decision of (2) is shown as equation (1):
VEntry＝PInterest-PEntry (1)
s2, in the operation implementation process, implanting the surgical instrument into the human body according to the planned nail placing position and direction, and then performing perspective scanning of different angles on the same operation part of the patient to obtain 2D perspective images of different angles; then registering the 2D fluoroscopic image onto the 3D image;
in the operation implementation process, after surgical instruments are put in place or implanted into a human body according to planned nail inserting points and nail inserting directions, the movable three-dimensional C arm of the movable three-dimensional C arm integrated surgical robot is used for carrying out low-dose perspective scanning on the same diseased part at different angles (at least two angles), 2D perspective images at different angles are obtained (the surgical instruments are also scanned into the 2D perspective images), then the 2D perspective images are subjected to image reconstruction, and then rigid structures such as bone blocks and surgical instruments for operation are identified. Then, based on these rigid structures, the 2D fluoroscopic images are registered onto the 3D images scanned at the time of surgical planning.
The rigid structure-based registration algorithm from the 2D perspective image to the 3D image specifically comprises the following steps:
and projecting the 3D image planned before the operation to generate a plurality of 2D images, and registering the 2D perspective images and the 2D images to obtain information such as imaging angles and positions of the 2D perspective images. The registration is performed by using key points of the anatomical structure, wherein the information of the imaging angle, the position, etc. of the 2D fluoroscopic image obtained by fluoroscopy can be achieved by an interpolation method, and can also be achieved by a neural network, etc.
S3, calculating an offset rotation matrix and a translation amount between the actual nail placing direction of the surgical instrument and the planned nail placing direction;
as shown in FIG. 3, the actual position P of the tip of the surgical instrument is foundHeadAnd a certain point position P on the axial line of the surgical instrumentBodyCalculating the actual nail feeding direction V 'of the surgical instrument'EntryAs shown in formula (2):
V′Entry＝PHead-PBody (2)
comparing the actual nailing direction V'EntryAnd planning the nailing direction VEntryCalculating an offset rotation matrix T between the two according to equation (3)rotate。
VEntry＝Trotate·V′Entry (3)
In addition, the nail penetration point P at the time of planning is checkedEntryWhether the current nail driving direction is in the actual nail driving direction or not, namely whether the equation (4) has the solution k or not is verified.
PEntry＝PHead+k·V′Entry (4)
If k has no solution, the position of the surgical instrument at the tip of the mechanical arm needs to be translated, and the translation amount PPanIs according to the rule driven into the nail point PEntryIn the actual nail driving direction V'EntryProjected coordinate P ofProjectionTo calculate, namely:
PPan＝PProjection-PEntry (5)
s4, rotating the matrix T according to the offsetrotateAnd the amount of translation PPanCalculating the angle and position of the mechanical arm to be adjusted, updating the operation planning scheme, and moving the tip P of the surgical instrumentHeadTo the target position PTargetThe relation between the target position and the position of the tail end of the surgical instrument fixed on the mechanical arm is as follows:
PTarget＝T·PHead (6)
wherein T is the position PHead before the tip of the surgical instrument moves and the position P after the tip of the surgical instrument movesTargetIn the form of a coordinate transformation relation of
TrotateIs an Euler angle rotation matrix obtained by rotating around each coordinate axis respectively, PPanIs a translation parameter from the starting coordinate system to the target coordinate system.
TrotateIs characterized in that a rotation matrix R of the mechanical arm around the x axis, the y axis and the z axis of the mechanical arm can be calculated through an Euler angle rotation matrix expression as shown in a formula (7)x、Ry、Rz。
TRotate＝Rx·Ry·Rz (7)
Wherein, Rx, Ry and Rz are respectively:
according to the formulas (7) and (8), the rotation angles psi, phi and theta of the mechanical arm required to be sequentially wound around the self z axis, the self y axis and the self x axis can be calculated (the rotation sequence around the self rotation axis can be changed, for example, the rotation sequence around the self rotation axis firstly, then around the self y axis and finally around the self z axis needs to be correspondingly adjusted to adjust Rx、Ry、RzThe multiplication sequence in equation (7). Combined translation amount PPanAnd the angle and position parameters of the mechanical arm to be adjusted are formed.
According to different stages of the implantation of the surgical instrument (before formal implantation, during implantation and after implantation), a doctor decides whether to continue the surgical instrument deep in the current direction.
Next, in step S2, if the surgical instrument is not scanned in the two-dimensional image, and the relative position of the surgical instrument with respect to the scanning area cannot be known because the left-right rotation angle of the C-arm is unknown, the registered image cannot be used to update the surgical plan. At this point, the present invention introduces an infrared calibration system, mounting infrared tracers on both the C-arm detector and the end (or base) of the robotic arm, as shown in fig. 4. The position of the surgical instrument at the end of the robotic arm relative to the two-dimensional scan image is calculated from the infrared device, and the surgical plan is updated and implemented according to S3 and S4.
The application principle of the infrared device is as follows:
since the relative position of the C-arm scan area and its detector is fixed, as shown in FIG. 5, the detector center point PDetectorFirst point P at the upper left corner of position and scanning imaging areaFirstRelative displacement P ofOffsetFixed, as shown in equation 9:
POffset＝PDetector-PFirst (9)
as long as the detector center point P is knownDetectorPosition, and any point P in spaceAnyRelative to the detector center point PDetectorOffset amount P ofAny_OffsetAs shown in formula (10):
PAny-Offset＝PDetector-PAny (10)
the actual position P of the point in the image coordinate system can be calculatedImageAs shown in formula (11):
PImage＝POffset+PAny_Offset (11)
determining the position P of the detector under the infrared coordinate of the central point according to the actual position and angle of the C-arm identified by the infrared deviceDetector(ii) a Similarly, the actual position P of the tip of the surgical instrument and a certain point on the central axis under the infrared coordinate system is calculated by the position of the infrared detector at the tail end (or the base) of the mechanical arm and the position of the surgical instrument at the tail end fed back by the mechanical armHead_InfraredAnd PBody_InfraredCalculating the position P of the corresponding point in the image coordinate system by the formulas (10) and (11)HeadAnd PBodyThe remaining steps are the same as S3 and S4, and the surgical planning plan is finally updated and implemented.
At the moment, matching a specific interest point on the interest bone structure segmented by the image with a specific interest point coordinate in the three-dimensional reconstruction model, if no displacement occurs, updating the operation plan is not needed, and the mechanical arm continues to execute the instruction according to the original path; if certain displacement is found to be generated, the planning compensation scheme resolves a displacement matrix and a rotation matrix, the operation plan is updated, the planning path is regenerated, and the planning path is converted into a mechanical arm execution instruction.
In addition, referring to fig. 6, the present invention further provides an intraoperative planning and adjusting system based on an integrated surgical robot, including: the system comprises a mobile three-dimensional C-arm integrated surgical robot, a mechanical arm real-time motion control and feedback module, a planning compensation module and a user operation center;
the mobile three-dimensional C-arm integrated surgical robot is used for taking charge of two-dimensional/three-dimensional CT image scanning, reconstruction and registration of the whole medical image system, image three-dimensional coordinates, intraoperative three-dimensional coordinate conversion and control of the surgical robot; the motion control and feedback module is used for controlling the mechanical arm in real time and feeding back the current state of the mechanical arm; the planning compensation module is used for reconstructing a two-dimensional CT image, registering the two-dimensional CT image with a preoperative three-dimensional CT reconstructed image, calculating an offset, formulating a planning compensation scheme of an intraoperative target point and dynamically compensating the position of the mechanical arm in time; and the user operation center is used for parameter configuration, data management and interaction of the whole system.
(1) Movable three-dimensional C-arm integrated surgical robot
The movable three-dimensional C-arm integrated surgical robot module is responsible for two-dimensional/three-dimensional image scanning, reconstruction and registration of the whole medical image system, image three-dimensional coordinate and intraoperative three-dimensional coordinate conversion, control of a surgical robot and the like.
(2) Real-time control and state feedback module of mechanical arm
The mechanical arm real-time control and state feedback is responsible for controlling the mechanical arm in real time, particularly the tail end position and the posture of the mechanical arm, so that the surgical instrument can reach a specified position and keep a certain posture. Meanwhile, the current state of the mechanical arm, including angles of all joints, poses of Tool Center contact points (TCP), moving speed, acceleration, safety voltage and current limit values and the like, is transmitted through a communication port by a TCP/IP protocol. The user can monitor the state feedback data of the mechanical arm in real time, and the constraint and the limitation are carried out according to the scene requirements in the operation process, so that the use safety is ensured.
(3) Planning compensation module
The planning compensation module is responsible for two-dimensional CT reconstructed images in the operation, and is registered with three-dimensional CT reconstructed images before the operation, the offset is calculated, a planning compensation scheme of target points in the operation is formulated, and dynamic compensation is carried out on the position of the mechanical arm in time.
(4) User control center
1. One-stop interactive interface
The medical image and the robot parameters are uploaded to the user center in real time, and a CT image obtained by two-dimensional/three-dimensional reconstruction can be read and displayed, such as a two-dimensional image in three directions of a transverse coronal vector passing through a certain selected site; a rendering model for realizing three-dimensional reconstruction; and adjusting the angles of all joints of the robot, the position and the posture of the TCP.
2. Device parameter configuration
The control center can respectively configure the related parameters of the imaging equipment and the mechanical arm, implement operation planning and simulation, and effectively improve the use efficiency.
3. Data management
Uploading and calling related local data, historical scanning records and the like can be realized according to actual needs or user instructions. Remote control at different places and data sharing in the local area network are realized.
The planning compensation principle is as follows:
bones of a human body and surgical instruments (such as Kirschner wires, bone nails and the like) belong to rigid structures, and the CT tomographic image scanning results do not deform in different states. The surgical plan can be updated and compensated in the operation by considering the factors of the displacement of the operation site, operation error and the like in the operation.
In summary, the technical scheme of the invention is as follows:
preoperative scanning: the medical imaging equipment mobile C arm is used for three-dimensional scanning of the part of the patient needing the operation, and a three-dimensional model and target point coordinates are reconstructed according to imaging data.
The operation implementation process comprises the following steps: after the surgical instrument is in place or in the interventional process, low-dose scanning is carried out on the same part at different angles (at least two angles) to obtain a two-dimensional projection image. At the moment, matching a specific interest point on the interest bone structure segmented by the image with a specific interest point coordinate in the three-dimensional reconstruction model, if no displacement occurs, updating the operation plan is not needed, and the mechanical arm continues to execute the instruction according to the original path; if certain displacement is found to be generated, the planning compensation scheme resolves a displacement matrix and a rotation matrix, the operation plan is updated, the planning path is regenerated, and the planning path is converted into a mechanical arm execution instruction.
The key points of the invention are a rigid connecting structure of the integrated design of the robot and the imaging system, a coordinate registration algorithm of the imaging system and the mechanical arm system, and an updating method for realizing the operation planning path through the registration of two-dimensional images and three-dimensional volume data.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (9)
1. An intraoperative planning adjustment method based on an integrated surgical robot is characterized by comprising the following steps:
s1, before operation, three-dimensional scanning is carried out on the operation position of the patient to obtain a 3D image; customizing a preoperative planning scheme according to the 3D image, and determining the position and the direction of a nail of a surgical instrument;
s2, in the operation implementation process, implanting the surgical instrument into the body of the patient according to the planned nail placing position and the planned nail placing direction, and performing perspective scanning of different angles on the same operation position of the patient and the surgical instrument in the body to obtain 2D perspective images of different angles; then, registering the 2D fluoroscopic image onto the 3D image;
s3, after registration, calculating an offset rotation matrix and a translation amount between the actual nail placing direction of the surgical instrument and the planned nail placing direction;
and S4, determining the angle and the position of the mechanical arm tip surgical instrument to be adjusted based on the offset rotation matrix and the translation amount, and updating the surgical planning scheme in real time.
2. The intraoperative planning adjustment method based on the integrated surgical robot according to claim 1, wherein the S1 is specifically:
s1.1, before operation is carried out, three-dimensional scanning is carried out on the operation part of a patient by adopting a movable three-dimensional C arm of an integrated operation robot, and a 3D image is reconstructed;
s1.2, customizing a preoperative planning scheme according to the 3D image, marking an interest point, and determining a nail inserting point and a nail inserting direction of a surgical instrument.
3. The intraoperative planning adjustment method based on the integrated surgical robot according to claim 1, wherein the S2 is specifically:
s2.1, in the operation implementation process, implanting the surgical instrument into the body of the patient according to the planned nail placing position and direction;
s2.2, carrying out low-dose two-dimensional perspective scanning on the same surgical position of the patient and surgical instruments in the body at different angles by adopting a movable three-dimensional C arm of the integrated surgical robot to obtain 2D perspective images at different angles;
s2.2, carrying out image reconstruction on the 2D perspective images at different angles, and identifying the bone block to be operated and the rigid structure of a surgical instrument;
s2.3, registering the 2D perspective image to the 3D image based on the rigid structure.
4. The intraoperative planning adjustment method based on the integrated surgical robot according to claim 3, wherein S2.3 specifically is:
and projecting the 3D image planned before the operation to generate a plurality of 2D images, and registering the 2D perspective image and the 2D image by adopting an interpolation method or a neural network algorithm to obtain the imaging angle and position information of the 2D perspective image.
5. The intraoperative planning adjustment method based on the integrated surgical robot according to claim 2, wherein the S3 is specifically:
s3.1, finding out the actual position of the tip of the surgical instrument and a certain point position on the axial line of the surgical instrument, and calculating the actual nail inserting direction of the surgical instrument;
s3.2, comparing the actual nail inserting direction of the surgical instrument with the planned nail inserting direction, and calculating an offset rotation matrix between the actual nail inserting direction and the planned nail inserting direction;
s3.3, verifying whether the nail inserting point of the surgical instrument during planning is in the actual nail inserting direction; if not, the translation amount between the planned nailing point and the actual nailing point is calculated.
6. The integrated surgical robot-based intraoperative planning adjustment method according to claim 3, wherein the position of the surgical instrument relative to the 2D scan image can be calculated as long as the surgical machine is within the 2D scan imaging range when the surgical instrument is implanted or not implanted in the patient.
7. The intraoperative planning adjustment method based on an integrated surgical robot according to claim 6, characterized in that the method of calculating the position of the surgical instrument relative to the 2D scan image is specifically:
determining the position of the detector under the infrared coordinate of the central point according to the actual position and angle of the C arm identified by the infrared device; and the actual positions of the tip of the surgical instrument and a certain point on the central axis under the infrared coordinate system are calculated by combining the position of the tail end surgical instrument fed back by the mechanical arm and the position of the tail end surgical instrument fed back by the mechanical arm through the position of the tail end of the mechanical arm or the infrared detector of the base, and the position of the corresponding point under the image coordinate system is calculated at the same time.
8. An intraoperative planning adjustment system based on an integrated surgical robot, comprising: the system comprises a mobile three-dimensional C-arm integrated surgical robot, a mechanical arm real-time motion control and feedback module, a planning compensation module and a user operation center;
the mobile three-dimensional C-arm integrated surgical robot is used for taking charge of two-dimensional/three-dimensional CT image scanning, reconstruction and registration of the whole medical image system, image three-dimensional coordinates, intraoperative three-dimensional coordinate conversion and control of the surgical robot; the motion control and feedback module is used for controlling the mechanical arm in real time and feeding back the current state of the mechanical arm; the planning compensation module is used for reconstructing a two-dimensional CT image, registering the two-dimensional CT image with a preoperative three-dimensional CT reconstructed image, calculating an offset, formulating a planning compensation scheme of an intraoperative target point and dynamically compensating the position of the mechanical arm in time; and the user operation center is used for parameter configuration, data management and interaction of the whole system.
9. The integrated surgical robot-based intraoperative planning adjustment system of claim 8,
the real-time motion control and feedback module of the mechanical arm transmits the current state of the mechanical arm through a TCP/IP protocol, and the state comprises the following steps: angles of all joints, tool center contact point pose, moving speed, acceleration and safe voltage and current limit values.
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