33results about How to "Improve surgical precision" patented technology

The invention provides a steam ablation system which comprises a steam executing mechanism, an image planning module and a motion control module. The steam needle assembly can conduct linear motion in the axial direction, rotary motion in a cross section perpendicular to the axial direction, stretching motion of a needle head from an outlet of the steam needle to a treatment site in the direction approximately transverse to the axial direction, and ejection motion of steam from a steam outlet needle hole of the steam needle. The image planning module is used for determining planning parameters, the planning parameters comprise a preset number of needle withdrawing point positions and preset parameters of each needle withdrawing point position, and the preset parameters of each needle withdrawing point position comprise a preset needle withdrawing position, a preset needle withdrawing angle, a preset needle withdrawing length and a preset steam action range; and the motion control module is used for converting the planning parameters of the image planning module into execution parameters and driving and controlling the steam needle assembly to act according to the execution parameters, so that the operation precision and efficiency are improved.

The invention discloses an intelligent auxiliary system for microsurgery in the field of medical auxiliary systems, which is characterized in that a sensor and an image recognition device are integrated to monitor the action posture of medical personnel, and the medical imaging technology and the sensor technology are utilized to monitor the information of the surgical site of a patient; based on a machine learning algorithm and a big data analysis technology, learning action posture data of the medical staff in a historical operation process, and establishing an operation action posture model of the medical staff; according to monitored medical staff action posture information and patient operation site information, combined with the established model, the operation action posture needed by medical staff is predicted, real-time response is achieved, and the supporting device and the operation instrument are automatically adjusted through the controller. The system has the advantages of improving operation precision and efficiency, relieving burden of medical staff, enhancing operation safety, improving operation collaboration, promoting medical technology innovation and development and the like, and intelligent auxiliary operation can be conveniently carried out during microsurgery.

The invention discloses a plasma tissue dissociation knife, and relates to the technical field of medical instruments. In order to solve the problems that when an existing endoscopic surgery relates to a plurality of instruments, the instruments need to be frequently switched for surgical operation, and the surgical efficiency is reduced, the following technical scheme is provided: the endoscopic surgical instrument comprises a tool bit, a tool bar, a handle and a cable which are connected in sequence; the cutter head comprises a blade telescopic assembly arranged on the head portion, an endoscope guide tube and a cutter head telescopic control mechanism are arranged in the handle, and the cutter head telescopic control mechanism drives a blade in the blade telescopic assembly to stretch out and draw back through a transmission piece. The positive cable extends to the tool bit to be connected with the blade telescopic assembly, the negative steel pipe is connected with the negative cable, and double-frequency emitter cutting is formed at the blade; the suction channel arranged in the cutter bar is used for flushing the surgical field and sucking turbid liquid in the operation. Compared with a traditional cold instrument, cutting efficiency, bleeding amount control, clear surgical field, cutter bar size optimization, cutting flexibility, sealing performance, operation convenience and the like are remarkably improved.

The embodiment of the utility model discloses an ultrasonic scalpel rod, an ultrasonic scalpel handle and an ultrasonic surgical instrument, the ultrasonic scalpel rod transmits ultrasonic waves from the bottom end to the top end, and the top end of the ultrasonic scalpel rod corresponds to the maximum amplitude point of the ultrasonic waves; the length of the ultrasonic scalpel rod is a preset integral multiple of the half-wavelength of ultrasonic waves, and the preset integral multiple is larger than or equal to 5 times and smaller than or equal to 11 times; the area of the cross section of the energy output end of the ultrasonic scalpel rod is gradually reduced from the bottom to the top end. According to the embodiment of the invention, the overall mechanical strength of the cutter bar can be higher, the risk of breakage is reduced, ultrasonic waves can be output with maximum energy, and the surgical effect is improved.

The invention discloses an auxiliary positioning device for minimally invasive spine surgery, and particularly relates to the technical field of medical instruments, the auxiliary positioning device comprises a B positioning needle, a positioning rod, a depth limiting sleeve, a positioner fixing frame, a positioner adjusting frame, a positioning needle guide rod, an A positioning needle, a guide wire and a hollow positioning rod. According to the invention, all the components cooperate with each other, so that the field-of-view area intersection point of the surgical instrument and the endoscope can be quickly and accurately found. All the components are tightly connected, functions are integrated, meanwhile, the advantages of precise positioning, stable supporting and reliable protection are achieved, the number of times of fluoroscopy is reduced, X-ray harm to doctors and patients is reduced, the precision of minimally invasive spine surgery is effectively improved, tissue damage of the patients is reduced, surgical risks are reduced, surgical efficiency is improved, and meanwhile postoperative recovery of the patients is facilitated.

The invention provides a dental bur, an implant handpiece and a dental drilling device. The dental bur comprises a sleeve, and the axial first end of the sleeve is configured to be in driving connection with a driving part of the implant handpiece so as to be driven by the driving part to rotate; the first axial end of the cutting rod is located in the sleeve, the cutting rod is telescopically arranged relative to the sleeve in the axial direction, and the cutting rod is configured to have a synchronous rotation state with the sleeve; and the cutting part is connected to the second axial end of the cutting rod, and the cutting part is close to or far away from the second axial end of the sleeve along with the telescopic movement of the cutting rod relative to the sleeve.

The present invention discloses a bone grinding file component, a control method and an application capable of adaptively optimizing cutting temperature; the present invention relates to the technical field of surgical instruments for artificial joint replacement; the invention comprises a housing and a transmission component built therein and driven to rotate based on an external rotating member, wherein the transmission component converts a rotational action into a feeding action and drives a bone file for grinding bones to perform swing feeding; an input variable Input is input into a single-output PID neural network SPIDNN; a current population is subjected to operations such as crossover and mutation based on a degree value DV through a differential evolution algorithm to generate a new population; torsional vibration force is generated in the form of reverse same frequency during the feeding and retraction of the bone file, and the magnitude of the cutting force is effectively reduced through the superposition effect of vibration, thereby achieving the cooling of the cutting temperature; the artificial intelligence technology (single-output PID neural network SPIDNN) adopted realizes a mechanism for adaptively adjusting the frequency, which can ensure that the optimal cutting state is always maintained during the cutting process.

This invention relates to a titanium alloy artificial joint with a high-toughness, ultra-wear-resistant ceramic coating and its preparation method. The titanium alloy artificial joint includes a titanium alloy artificial joint substrate fabricated by 3D printing. The joint surface of the titanium alloy artificial joint substrate is coated with an alumina-based ceramic coating. The alumina-based ceramic coating is obtained by plasma spraying of a mixed powder of alumina, zirconium oxide, and rare earth oxides, and then polished to a surface roughness Ra of no more than 0.05 μm. The bone-bonding surface of the titanium alloy artificial joint is formed into a porous structure layer by 3D printing. Compared with the prior art, the titanium alloy artificial joint of this invention has excellent wear resistance and toughness, and can be personalized based on precise imaging data of the patient's bones.

The invention discloses a tumor ablation image fusion modeling method based on deep learning, and relates to the technical field of intelligent medicine, and the method comprises the steps: obtaining a plurality of preoperative tumor images of a tumor patient before an ablation treatment puncture operation is carried out on a tumor; performing image fusion on the first ultrasonic tumor image, the first CT tumor image and the first MRI tumor image to obtain a preoperative fusion tumor image; the method comprises the following steps of: acquiring a plurality of intraoperative tumor images of a tumor patient in the process of performing ablation therapy puncture operation on the tumor; obtaining an intraoperative fusion tumor image for the second ultrasonic tumor image, the second CT tumor image and the second MR I tumor image; and according to the extracted spatial mode data and deep learning training data, constructing a deep learning model, and carrying out training optimization on the constructed deep learning model to obtain a tumor ablation image fusion model. According to the invention, the treatment effect of the ablation treatment puncture operation can be accurately evaluated based on the tumor ablation image.

This invention discloses an anti-fog and heat-insulating puncture device for thoracoscopic surgery, belonging to the field of medical device technology. Its key technical features include: an outer sheath, with a puncture assembly on its inner wall, the puncture assembly including a puncture needle core that slides through the inner wall of the outer sheath, a needle core handle fixedly connected to the upper end of the puncture needle core, a needle tip fixedly connected to the lower end of the puncture needle core, an outer sheath seat fixedly connected to the upper outer wall of the outer sheath, a fixing handle fixedly connected to the outer wall of the outer sheath seat, and a sealing assembly on the outer wall of the outer sheath seat. This invention achieves heat insulation through a double-layer structure formed by the outer and inner sheaths; gas circulation is formed through the cooperation of the air inlet and outlet holes, effectively expelling fog from the inner wall of the inner sheath and ensuring a clear surgical field; the sealing valve and sealing sleeve achieve internal sealing of the outer sheath to prevent gas leakage; the sealing ring is precisely positioned by positioning pins and positioning holes, and the sealing cap is stably installed by locking blocks and protruding pins, providing double sealing to prevent gas leakage and impurity entry, reducing the risk of infection.

The invention discloses a plasma scalpel in the technical field of medical instruments. The plasma scalpel comprises a handle and a scalpel body. The cutter body comprises a metal tube, and the middle section and the front end of the metal tube are each rotationally provided with an adjusting shifting piece through an adjusting rotating shaft; the middle part of the handle is rotatably connected with a rotary drum, and a middle adjusting dial wheel and an end adjusting dial wheel are rotatably mounted in the rotary drum in an up-down staggered manner; a reversing wheel is arranged in the handle; the side wall of the handle is fixedly connected with a stabilizing piece, and the side face of the stabilizing piece is provided with an end control key, a middle control key and a rotating key used for controlling the cutter body to rotate. The bending degree and direction of the metal tube are controlled, so that the metal tube can reach the wounded part more accurately; the bend at the end of the metal tube can be better aligned with an affected part, the bend in the middle can adapt to the structure of a human body, the scalpel head can rotate to any position without rotating the handle, the operation process is greatly simplified, the operation accuracy and operability are improved, and pain of a patient is relieved.

This invention provides an anti-displacement fixator for endoscopic surgery. Through designs including fixed-end directional constraint, multi-axis adjuster for flexible adjustment, positioning pin locking, and adaptable elastic fastening components, the fixed end restricts the endoscope's movement along its central axis via a sleeve. Combined with an elastic strip and fastening nut, temporary intraoperative fixation is achieved to prevent unintended displacement. The positioning pin and arc-shaped block on the ball sleeve can fix single-axis movement during intraoperative observation and pausing, offering convenient operation and reliable locking. The snap-on installation facilitates disassembly, and the elastic sleeve diameter is adjustable to accommodate different types (colonoscopes / gastroscopes) and diameters of endoscopes. This effectively solves problems such as unstable operation, limited adjustment, and poor compatibility in existing endoscopic surgeries, improving surgical precision and safety. This application can reduce surgical manpower, allowing a single surgeon to perform precise operations without needing to use their right hand for support, freeing up their right hand for easier scalpel control, and eliminating the need for another surgeon to hold the endoscope, thus saving the manpower of one surgeon.

A position adjustment mechanism and a surgical robot, wherein the position adjustment mechanism comprises a fixed base, which is relatively statically mounted on the operating arm of the surgical robot and has a fixed operating surface, wherein the fixed operating surface has a driving circumference with the center of the fixed base as the center; a driving portion, comprising at least three groups of driving components, wherein the driving components include at least two driving branches connected in parallel, wherein the first ends of the driving branches are movably mounted on the driving circumference, and the first ends of the driving branches of at least three groups of driving components are alternately arranged; a dynamic base, wherein the first side of the dynamic base has a passive circumference with the center of the dynamic base as the center, the second end of the driving branch is mounted on the passive circumference, the second side of the dynamic base is connected to the surgical terminal, and the dynamic base has a dynamic operating surface; a plurality of power sources are mounted on the fixed base, wherein the power sources drive the corresponding driving branches to extend or contract synchronously to keep the lengths of a group of driving branches the same, and the driving portion drives the dynamic base to move relative to the fixed base while keeping the fixed operating surface and the dynamic operating surface parallel.

The utility model discloses a disposable sterile universal box spanner which comprises a handle, a connecting rod fixedly connected with the handle, a connecting block fixedly connected to the connecting rod and a spanner head movably connected with the connecting block. The positioning assembly is used for positioning the wrench head and comprises a positioning handle and a sleeve fixedly connected to the positioning handle. According to the utility model, the universal structural design is adopted, the structure is simple, the handle part can be adjusted at multiple angles, the use is convenient, and the device is suitable for various operation scenes.

This invention proposes a visual human tissue rotary cutting device and its shell opening and closing control method, belonging to the field of shell medical device technology. The visual human tissue rotary cutting device includes a scalpel sheath, a blade, a ductoscope, an electrocoagulation hemostatic needle, a sampling chamber, and a puncture shell. The scalpel sheath is capable of axial feeding movement. The blade is installed in the scalpel sheath. The ductoscope is fixedly installed on the outer wall of the scalpel sheath. The electrocoagulation hemostatic needle is installed on the outer wall of the scalpel sheath and located on the opposite side of the ductoscope. The sampling chamber is connected to the scalpel sheath and an external vacuum device. The puncture shell includes a first half-shell and a second half-shell, which can be connected at their tail ends and open at their front ends, forming a bullet shape when combined. The lesion tissue is removed by rotating the blade, which completes axial cutting with the axial feeding of the scalpel sheath. The ductoscope provides the surgeon with a surgical field, which improves surgical accuracy and reduces recurrence. The electrocoagulation hemostatic needle is used to handle large-scale active bleeding.

The utility model discloses an aneurysm embolism device which comprises a micro catheter, a micro guide wire and a spring ring, the micro guide wire is inserted into a catheter cavity of the micro catheter in a penetrating mode, and the micro guide wire conveys and guides the micro catheter so as to guide the micro catheter to be inserted into an aneurysm. The spring ring is pushed into the aneurysm from a tube cavity of the micro catheter, the embolism device further comprises a flow velocity sensor used for measuring the flow velocity of blood flow in the aneurysm, and the flow velocity sensor is arranged on the micro catheter or the micro guide wire and located at the end, close to the aneurysm, of the micro catheter or the micro guide wire. According to the aneurysm embolization device, in the process of embolizing the spring ring, the blood flow speed in the aneurysm can be monitored through the flow speed sensor, so that a doctor is assisted in judging whether the spring ring needs to be continuously embolized or not and evaluating the placing effect of the spring ring, it is guaranteed that the aneurysm is effectively treated, meanwhile, excessive treatment can be reduced, and the operation accuracy is improved.

The utility model relates to a kind of anti-clogging double-cavity suction tubes, including the suction tube main body with connector, connector is used to connect with negative pressure source;Suction tube main body includes main pipeline and branch pipeline, main pipeline and branch pipeline are communicated with connector, pipeline switching structure is set on main pipeline and / or branch pipeline, pipeline switching structure is used to open and close according to the pressure variation of main pipeline Branch pipeline.This utility model can open branch pipeline in time when main pipeline is blocked, continue to carry out suction operation, avoid suction tube from being blocked and unable to work normally;Without interrupting operation to dredge or replace suction tube in operation due to suction tube being blocked, reduce operation time, reduce patient anesthesia risk, avoid repeatedly operating to destroy sterile environment simultaneously, reduce infection risk, improve operation accuracy.

The utility model discloses an adjustable three-dimensional uterus suspension device, which relates to the technical field of medical instruments and comprises a suspension rope, a head end movable clamp and a tail end movable clamp. A puncture needle is arranged at the head end of the suspension rope; the section a, close to the puncture needle, of the suspension rope is clamped into the head end movable clamp and used for limiting mutual movement between the section a and the head end movable clamp, and the section b, away from the puncture needle, of the suspension rope is clamped into the tail end movable clamp and used for limiting mutual movement between the section b and the tail end movable clamp. Compared with the prior art, the three-dimensional adjusting device has the advantages that three-dimensional accurate adjustment is achieved, multi-plane angle adjustment is supported, and complex operation requirements are met; 2, the operation is convenient: the suspension rope can be released or locked by pressing with a single hand, so that the operation time is saved; 3, quantitative control: the meter mark design directly reflects the adjusting quantity, and the operation precision is improved; 4, the stability is high, the clamping force of the spring piece is strong, and the tension fluctuation is resisted during the operation;

The invention discloses a multi-dimensional adjustable miniature external fixation support, and relates to the technical field of medical instruments. The multi-dimensional adjustable miniature external fixing support comprises a right main body, a first clamping needle assembly, a ball connecting piece, a left main body and a second clamping needle assembly, a sliding groove, a damping groove and a mounting hole are formed in the right main body, an adjusting screw rod is arranged in the mounting hole, a damper is mounted in the damping groove, and the damper is connected with the adjusting screw rod; the first needle clamping assembly penetrates through the sliding groove and then is connected with the adjusting screw rod. The tail end of the sphere connecting piece is arranged at one end of the right main body; a spherical mounting groove is formed in the left main body, and the ball head end of the ball connecting piece is arranged in the spherical mounting groove; and the second needle clamping assembly is arranged on the left main body.

The application discloses a wearable endoscope system special for animals, and relates to the technical field of medical display, which comprises a wearable glasses device, a signal processing system and a signal interface converter. The wearable glasses device is integrated with a near-eye display module and independent diopter adjustment mechanisms corresponding to left and right eyes respectively. The near-eye display module adopts a free-form surface prism or an optical waveguide scheme to realize perspective display. The application integrates an ambient light sensor and a display brightness automatic adjustment module, an animal stress sound detection module, a head posture sensor, an eye movement tracking module and a wireless dual-frequency transmission module, so that display brightness self-adaptive adjustment, stress sound automatic freezing of a picture, head posture control of the endoscope bending and zooming, eye movement tracking linkage of field movement and double-link seamless switching transmission are realized.

The invention relates to the technical field of medical instruments, in particular to a direct-current portable follow-up negative pressure suction device with illumination, which comprises a mounting box, a suction tube is rotatably connected to the front end of the mounting box, and a connecting tube and a liquid storage tank are sequentially connected to the rear end of the suction tube; a lighting module is installed at the front end of the suction tube. A first rotating mechanism is arranged on the outer side surface of the liquid storage tank; a second rotating mechanism is arranged at the joint of the suction tube and the mounting box; a connecting rod for linkage is arranged between the first rotating mechanism and the second rotating mechanism; the connecting rod is rotationally connected with the front end of the mounting box. A battery pack is arranged outside the mounting box, and a small generator for supplying power to the battery pack is also arranged in the mounting box; a wind wheel is arranged at one end, penetrating through the liquid storage tank, of an input shaft of the small generator; and a plurality of blades are connected to the wind wheel. And the first rotating mechanism and the second rotating mechanism are matched to drive the lighting module to rotate, so that the treated part is displayed more completely, and the treatment safety is improved.

The utility model belongs to the technical field of medical instruments, and relates to a pair of lateral skull base tumor clamping ear forceps which comprises a front handle (1) and a rear handle (2), the rear handle (2) is connected with the rear end of a forceps tube (3), the front handle (1) is connected with the rear end of a push rod (6), the front end of the forceps tube (3) is connected with the rear end of a forceps head (5) through a locking device (4), and the forceps head (5) comprises a fixed forceps body (51), a movable forceps body (52), a fixed forceps sheet (53) and a movable forceps sheet (54). The fixed clamp sheet (53) is fixedly connected with the front end of the fixed clamp body (51), the movable clamp sheet (54) is rotationally connected with the front end of the fixed clamp body (51) and the front end of the movable clamp body (52) through two rotating shafts respectively, and the front end of the push rod (6) is connected with the rear end of the movable clamp body (52). The multi-angle forceps head can be quickly replaced, and the opening direction of the jaw can be randomly adjusted, so that a tumor can be accurately and completely clamped, and the injury to peripheral nerves and blood vessels can be reduced to the greatest extent.

The invention discloses an orthopedic surgery robot calibration device and method, and the method comprises the steps: obtaining the real-time position of a tail end execution mechanism through a position sensor, comparing the obtained real-time position of the tail end execution mechanism with the initial position of the tail end execution mechanism when the tail end execution mechanism leaves a factory, and carrying out the calibration of the real-time position of the tail end execution mechanism, obtaining a calibrated position parameter; the torque sensor is used for collecting torque parameters borne by the tail end executing mechanism, the collected torque parameters are calibrated according to the calibrated position parameters, and the calibrated torque parameters reduce operation errors of surgical instruments; the initial position of the surgical instrument is adjusted according to the calibrated position parameters, the stress condition of the surgical instrument is adjusted according to the calibration data of the torque, the position parameters are corrected firstly, then the torque parameters are corrected in an auxiliary mode through the corrected position parameters, and the surgical precision and safety of the surgical robot are improved.

The utility model discloses an appendix support, including leading in device, moving device and support, the movable moving device is arranged in the leading in device, the output of leading in device is provided with the support, the moving device can drive the support to export outward through leading in device, above all, can prevent the component unexpected and hurt that comes out, can carry out the fine adjustment of support to the support design and fit appendix lumen structure, can better fixed, and the device simple operation realizes the single -handed operation of main knife doctor, and the other hand can operate endoscope, need not auxiliary tool, improve operation efficiency and accuracy.

The application discloses a conformable angle-adjustable deep monopolar electrotome and relates to the technical field of medical instruments.The conformable angle-adjustable deep monopolar electrotome comprises a handle mechanism, the handle mechanism comprises an arm body assembly, the arm body assembly comprises a handle body, the tail end of the handle body is fixedly connected with a tail seat, the head end of the handle body is provided with an angle-adjustable connecting assembly, the arm body assembly is connected with a tool bit assembly through the connecting assembly, the upper and lower sides of the handle body are both provided with grooves, the connecting assembly comprises a spherical sleeve in the shape of a spherical shell, a shift groove is formed in the middle of the side wall of the spherical sleeve, a cover pad is fixedly embedded in the shift groove, a spherical inner ball is arranged in the middle of the interior of the spherical sleeve, ball shafts are fixedly connected to the two sides of the middle of the inner ball, the end heads of the ball shafts are movably inserted into the spherical sleeve, a connecting column adapted to the shift groove is fixedly connected to one side of the middle of the inner ball, and the conformable angle-adjustable deep monopolar electrotome is suitable for different anatomical structures and special positions through angle adjustment.

The present invention provides a prostate transition zone steam ablation planning method and system based on medical images. The method constructs a three-dimensional space by acquiring medical images, divides the prostate transition zone into slices, constructs a coordinate system with the urethra projection center as the origin on each slice, determines the ablation sphere center and the needle tip position; generates an ablation sphere and intersects it with the transition zone, determines whether to retain it based on the intersection ratio; further determines the planned ablation area, completes the ablation planning, and helps guide the ablation gun. The present invention helps achieve accurate positioning of the prostate transition zone and ablation scheme design through precise segmentation of the prostate transition zone and ablation sphere planning technology, improves surgical accuracy and safety, reduces the risk of complications, and has important clinical application value.

The utility model discloses an implantable electrode assembly and system, the implantable electrode assembly comprises an electrode lead, the electrode lead comprises a stimulation end, a connection end and a middle segment connecting the stimulation end and the connection end; the first end of the core tube is inserted into the inner hole of the connecting end of the electrode wire and is in interference fit with the inner hole wall of the connecting end of the electrode wire to realize sealing, so that tissue fluid is prevented from entering the electrode wire through a gap between the inner hole wall of the connecting end of the electrode wire and the core tube; the handle is detachably installed at the second end, opposite to the first end, of the core tube, the handle and the core tube are connected in a sealed mode, and the tissue fluid is prevented from entering the core tube. According to the implantable electrode assembly and the implantable electrode system, liquid can be prevented from permeating into the inner hole of the electrode, and the internal structure of the electrode is protected.

A long knife pushing rod penetrates through a conductive metal ring, the long knife pushing rod comprises an outer insulation section and an outer conductive section which are sequentially arranged from the front end to the rear end, the front end of the outer insulation section is electrically connected with a cutting knife head, the outer portion of the outer insulation section is coated with an insulation layer, the rear end of the outer insulation section is connected with the front end of the outer conductive section, and the rear end of the outer conductive section is connected with the cutting knife head. The rear end of the external conductive section is in insulation connection with the front end of the short push broach rod, the rear end of the short push broach rod is connected with the motor, and when the cutting tool bit is located at the starting point of the feed stroke, the conductive metal ring is in contact with the rear end of the front-end external insulation section in a sleeving mode. And the external conductive section is positioned in the conductive metal ring and is in contact with the conductive metal ring. While tissue is cut, the edges of the cut tissue on the two sides are solidified through radio-frequency current, so that the sealing effect of simultaneous cutting and hemostasis is achieved, multiple defects existing in the prior art are overcome, and the efficiency and safety of a surgical operation are effectively improved.

The embodiment of the application is suitable for the technical field of computer-aided medical treatment and surgical robot, and provides a knee-preserving surgery robot and a control method thereof. The knee-preserving surgery robot comprises: a preoperative planning unit, which is used for determining an osteotomy plane based on a key point of surgery on a three-dimensional model of a patient's skeleton, and planning a correction angle in the case of establishing a target force line; an intraoperative execution unit, which is used for assisting in osteotomy operation according to the osteotomy plane under the assistance of a navigation system, so that the angle after the osteotomy is expanded meets the requirement of the correction angle; and a postoperative evaluation unit, which is used for simulating a postoperative bone image, calculating a force line angle based on the simulated postoperative bone image, and adjusting the correction angle formed by actual osteotomy according to the force line angle. The proximal end and the distal end of the patient's skeleton and the corresponding surgical tools are respectively provided with a tracer, and the navigation system provides position data for the operation performed by the intraoperative execution unit and the postoperative evaluation unit by tracking the position change of the tracer.

The application provides an automatic registration method, a surgical navigation system and a surgical robot system, and the method comprises the following steps: acquiring the number of m registration marker points in a medical image model; acquiring n registration marker points in a world coordinate system; selecting k registration marker points from the model coordinate system and the world coordinate system respectively to perform pairing, calculating a transformation matrix and a registration marker point error under each pairing relationship; and determining a correct point pair pairing relationship according to the registration marker point error under each pairing relationship. The application automatically pairs as many registration marker points in the model coordinate system and the world coordinate system as possible, and automatically determines the correct point pair pairing relationship by calculating and comparing the registration marker point error, so that the registration marker points in the medical model do not need to be one-to-one corresponding to find and collect the marker points, and the work burden of doctors is reduced.