Robot for bone joint replacement surgery

Abstract

The invention relates to a robot for bone joint replacement surgery. According to the robot, CT three-dimensional reconstruction, conversion of a three-dimensional model and an actual coordinate system, intraoperative visual servo and a path specification method based on an artificial potential field method are fused into a bone joint surgical robot. According to the invention, a surgical robot which can be used for shoulder joint replacement, hip joint replacement, knee joint replacement or unicompartmental knee replacement is newly provided; compared with an existing bone joint surgical robot, the functions are more comprehensive, the positioning and navigation planning speed is higher, and the accuracy is higher; an augmented reality technology based on three-dimensional visualization and feature point matching is adopted to realize three-dimensional reconstruction of the CT image of the preoperative patient; a six-dimensional force sensor is installed on the wrist of the robot, the contact force measured in real time is used for collision detection and intraoperative safety detection when the mechanical arm searches for the operation position, and the safety of the robot operation is guaranteed in combination with an emergency stop measure; and the invention mainly aims to provide a bone joint replacement surgical robot with a function of completing hip joint and knee joint orthopedic surgery.

Description

technical field [0001] The invention relates to a robot, in particular to a robot used for bone joint replacement surgery. Background technique [0002] The market size potential of the medical robot industry is very large, but in the world, orthopedic robots, as a subdivision of medical robots, have long been monopolized by leading medical devices in the United States (such as Medtronic, Stryker, and Zimmer Biomet) , the only orthopedic robot company from China is Beijing Tianzhihang Medical Technology Co., Ltd., and its main product is officially "Tianji" orthopedic robot. It is the orthopedic robot that can carry out full-segment surgery in the world, but because its use is traumatic fracture surgery, it is not suitable for the bone joint replacement surgery field of the present invention. [0003] Therefore, specialized orthopedic surgery robots have become an inevitable trend in future development. Bone joint surgery robot is the earliest orthopedic robot put into res...

AI Technical Summary

Problems solved by technology

Although the application number 201910161479.X provides a joint replacement surgery robot, this technology can only complete knee joint replacement

[0006] In addition, Tianzhihang Medical Company's application number 202010177303.6, "Robot Assisting System, Control Method and Electronic Equipment for Total Knee Replacement Surgery", can only be used for knee replacement, and it only provides auxiliary systems and auxiliary electronics for robotic surgery. equipment

Images