Surgical navigation system, surgical robot system for acetabulum osteotomy and control method of surgical robot system

A technology of surgical robot and surgical navigation, applied in the field of medical equipment

Pending Publication Date: 2020-07-31
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a surgical navigation system, a surgical robot system for acetabular osteotomy and its control in order to overcome the defect that the acetabular rotational osteotomy scheme of the hip joint in the prior art cannot meet the actual use requirements. method

Method used

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  • Surgical navigation system, surgical robot system for acetabulum osteotomy and control method of surgical robot system
  • Surgical navigation system, surgical robot system for acetabulum osteotomy and control method of surgical robot system
  • Surgical navigation system, surgical robot system for acetabulum osteotomy and control method of surgical robot system

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Experimental program
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Embodiment 1

[0100] Such as figure 1 As shown, the surgical navigation system for the hip joint in this embodiment includes a surgical navigation module 1 , a display module 2 , a main control module 3 , a vehicle body structure 4 and a first movable support 5 .

[0101] The surgical navigation module 1 is used for acquiring image data of hip joint images, and establishing a three-dimensional model of the hip joint based on the image data.

[0102] In an optional implementation manner, the surgical navigation module 1 is used to segment the image of the hip joint to obtain multiple segmented images, and establish a three-dimensional model of the hip joint according to the image data corresponding to the multiple segmented images.

[0103] Among them, the image data is a CT (computerized tomography) scan image of the patient's dysplastic acetabulum, specifically including the shape and cross-sectional shape of the pelvis and femur. Based on these data, the three-dimensional model of the hip...

Embodiment 2

[0119] Such as image 3 As shown, the surgical robot system of the acetabular rotary osteotomy of the present embodiment includes the surgical navigation system 100 of the hip joint in Embodiment 1, and the surgical robotic system of the acetabular rotary osteotomy of the present embodiment also includes the optical positioning system 6 and the mechanical Arm system7. The optical positioning system 6 is communicatively connected with the surgical navigation system 100 and the robotic arm system 7 respectively.

[0120] The surgical navigation system 100 is used to generate a sequence of motion commands according to the three-dimensional model of the hip joint, and send the position of the center of the ball and the sequence of motion commands to the optical positioning system 6;

[0121] During the acetabular rotation osteotomy, the optical positioning system 6 is used to convert the position of the center of the sphere into the center point of the patient's acetabulum, and s...

Embodiment 3

[0129] The surgical robot system for rotational osteotomy of the acetabulum of this embodiment is a further improvement on Embodiment 2, specifically:

[0130] The surgical navigation system 100 is used to acquire three-dimensional morphological parameters, force line parameters of the lower limbs, diameter parameters of the acetabular fossa, edge shape parameters of the acetabulum, and orientation parameters of the acetabulum according to the three-dimensional model of the hip joint;

[0131] Among them, the three-dimensional morphological parameters include the acetabular anteversion and abduction angle; the acetabular anteversion angle in imaging is the angle α between the acetabular axis and the coronal plane, and the abduction angle is the acetabular axis on the coronal plane. Angle β between the projection and the vertical axis.

[0132] The surgical navigation system 100 is also used to determine the target size of the end tool according to the three-dimensional morphol...

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Abstract

The invention discloses a surgical navigation system, a surgical robot system for acetabulum osteotomy and a control method of the surgical robot system. The surgical navigation system is used for acquiring image data of a hip joint image and establishing a hip joint three-dimensional model based on the image data, thereby obtaining the center position of a sphere where the acetabular fossa is located. The surgical navigation system, the surgical robot system for acetabulum osteotomy and the control method of the surgical robot system can realize automatic search, move to the center of the acetabular fossa, and control an end tool at the end of a mechanical arm system to carry out rotary osteotomy operation on the acetabulum according to a motion instruction sequence, thereby improving theaccuracy of the operation. The stability of osteotomy surgery is improved by surgical operation based on a mechanical arm. The surgery can be stopped at an edge of a safe area, and thus the safety ofthe surgery is ensured. In addition, the rotary osteotomy surgery can be navigated in real time, and thus the convenience of surgery and the experience of a user are improved.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a surgical navigation system, a surgical robot system for acetabular osteotomy and a control method thereof. Background technique [0002] Dysplasia of the acetabulum (DDH) is a common cause of secondary osteoarthritis of the hip. According to statistics, the incidence rate of acetabular dysplasia in my country is 0.9‰~3.8‰, and artificial hip replacement surgery must be performed in the late stage. It is a more effective treatment method for older patients, but for young and active patients, due to the certain service life of artificial joints, early surgical intervention can be very effective in delaying the progression of osteoarthritis , to avoid or postpone artificial joint replacement surgery. Periacetabular osteotomy (PAO) solves the above problems well by changing the orientation of the acetabulum, increasing the coverage of the acetabulum, and reducing the st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/20A61B34/10
CPCA61B34/20A61B34/30A61B34/10A61B2034/2065A61B2034/2055A61B2034/105A61B2034/108A61B2034/305A61B2034/107
Inventor 潘昕荻朱振中叶震张长青周朝政付亚波凌宇飞李丹
Owner SHANGHAI ELECTRICGROUP CORP
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