Orthopedic surgery registration equipment and device and surgical robot system

Abstract

The invention provides orthopedic surgery registration equipment and device and a surgical robot system.The orthopedic surgery registration equipment comprises a processor, the processor is used for executing the following steps that an initial bone three-dimensional model is obtained, and the initial bone three-dimensional model is a three-dimensional model of a preset target bone part; acquiring position information of a plurality of points on the bone surface of the target bone part of the target object; and adjusting the initial bone three-dimensional model by using the position information of a plurality of points on the bone surface of the target bone part of the target object to obtain a target bone three-dimensional model corresponding to the target bone part of the target object. CT scanning does not need to be carried out on the patient in the whole registration process, so that radiation brought to the patient due to bone registration can be avoided; the target bone three-dimensional model is obtained by adjusting the preset initial bone three-dimensional model, reconstruction of the three-dimensional model in the bone registration process is avoided, the method is simple and convenient, the operation process is short, and then the time needed by bone registration is shortened.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular relates to an orthopedic surgery registration device, apparatus, and surgical robot system. Background Art

[0002] With the development of robotics, robots are increasingly being used in surgical treatments, such as the increasingly common robotic-assisted bone surgery systems. In robotic-assisted bone surgery, bone registration and alignment are key to accurately positioning and tracking the patient's bone position changes during surgery. Accurately aligning the patient's real bone model with the virtual 3D model is a crucial step.

[0003] For example, total knee arthroplasty (TKA) has become a commonly used clinical treatment for advanced knee joint disease. By replacing damaged articular cartilage with an artificial prosthesis, it relieves joint pain and improves joint function. Currently, robotic-assisted navigation systems for total knee arthroplasty surgery can assist surgeons in developing personalized osteotomy plans before surgery and provide real-time guidance during surgery based on preoperative planning.

[0004] During a knee replacement procedure using a robotic-assisted knee replacement surgery system, the system requires bone registration and alignment to accurately locate and track changes in the patient's limb position during surgery. Currently, there are two main bone registration and alignment methods for robotic-assisted knee replacement surgery. One method involves performing a computed tomography (CT) scan of the patient's surgical area during surgery to obtain intraoperative CT images, using the intraoperative CT images to perform a three-dimensional reconstruction of the patient's knee joint model, and then performing a surgical planning method based on the reconstructed knee joint model. Finally, the surgeon performs osteotomy on the patient according to the surgical plan and completes prosthesis installation. The other method involves performing a preoperative CT scan on the patient to obtain preoperative CT images, using the preoperative CT images to reconstruct a three-dimensional model of the patient's knee joint and perform a surgical plan. An optical tracking system is then used to locate the patient's actual knee joint position during surgery. Based on the positional feature points in the preoperative surgical plan, the reconstructed three-dimensional knee joint model is registered with the patient's actual knee joint during surgery. After the registration is complete, the surgeon performs osteotomy on the patient according to the surgical plan and completes prosthesis installation.

[0005] Therefore, during orthopedic surgery based on the current robot-assisted bone surgery system, bone registration and alignment often require a CT scan of the patient before or during surgery, which will cause certain radiation to the patient; or alignment based on feature points requires repeated operations, which takes a long time. Summary of the Invention

[0006] The embodiments of the present application provide an orthopedic surgical registration device, apparatus, and surgical robot system. The registration process does not require a CT scan of the patient, thus avoiding radiation exposure to the patient. Moreover, since only the existing initial three-dimensional bone model needs to be adjusted, the operation process is short, which can shorten the bone registration time.

[0007] In a first aspect, an embodiment of the present application provides an orthopedic surgical registration device, comprising: a processor, the processor being configured to perform the following steps: obtaining an initial bone three-dimensional model, the initial bone three-dimensional model being a three-dimensional model of a preset target bone part; obtaining position information of multiple points on the bone surface of a target bone part of a target object; and adjusting the initial bone three-dimensional model using the position information of multiple points on the bone surface of the target bone part of the target object to obtain a target bone three-dimensional model corresponding to the target bone part of the target object.

[0008] The orthopedic surgery registration device in the first aspect uses the position information of multiple points on the bone surface of the target bone part of the target object to adjust the preset initial bone three-dimensional model, thereby obtaining a target bone three-dimensional model corresponding to the target bone part of the target object, and then realizing bone registration of the target bone part; during the entire registration process, the patient does not need to undergo CT scanning, thereby avoiding the radiation brought to the patient due to bone registration; the target bone three-dimensional model is obtained by adjusting the preset initial bone three-dimensional model, thereby avoiding the reconstruction of the three-dimensional model during the bone registration process, the method is simple and the operation process is short, thereby shortening the time required for bone registration.

[0009] In one possible implementation of the first aspect, the bone surface of a target bone portion of a target subject includes multiple key regions. Adjusting the initial three-dimensional bone model includes sequentially coarse adjustment and fine adjustment. The coarse adjustment includes adjusting the posture of the initial three-dimensional bone model, and the fine adjustment includes adjusting multiple regions of the coarsely adjusted initial three-dimensional bone model. Each of the multiple regions of the initial three-dimensional bone model corresponds to a key region on the bone surface of the target bone portion. In this implementation, by dividing the adjustment into coarse and fine adjustments, the accuracy of the adjustment results can be guaranteed.

[0010] In a possible implementation of the first aspect, the multiple points on the bone surface of the target bone part of the target object include multiple points on the contour of each key area in the multiple key areas, and multiple points inside each key area in the multiple key areas; the initial bone three-dimensional model is adjusted using the position information of the multiple points on the bone surface of the target bone part of the target object to obtain the target bone three-dimensional model corresponding to the target bone part of the target object, including: using the position information of the multiple points on the contour of each key area in the multiple key areas to perform rough adjustment; using the position information of the multiple points inside each key area in the multiple key areas to perform fine adjustment.

[0011] In a possible implementation of the first aspect, the target bone part is a knee joint, and the multiple points on the bone surface of the target bone part of the target object include: characteristic points of the knee joint, hip, knee and ankle of the target object, multiple points on the contour of each key area of ​​multiple key areas, and multiple points inside each key area of ​​multiple key areas; using the position information of the multiple points on the bone surface of the target bone part of the target object, the initial bone three-dimensional model is adjusted to obtain the target bone three-dimensional model corresponding to the target bone part of the target object, including: determining the mechanical axis of the knee joint of the target object according to the position information of the characteristic points of the knee joint, hip, knee and ankle of the target object; using the mechanical axis of the knee joint of the target object to perform rough adjustment; using the position information of the multiple points on the contour of each key area, and the position information of the multiple points inside each key area, to perform fine adjustment.

[0012] In one possible implementation of the first aspect, the position information of multiple points on the contour of each key area is obtained by using a detection element in a positioning and navigation device to draw lines along the contour of each key area. In this implementation, the detection element draws lines to obtain the multiple points on the contour of the key area, thereby ensuring the integrity of the contour.

[0013] In one possible implementation of the first aspect, the position information of multiple points within each key area is obtained by repeatedly drawing lines within each key area using a detection element in the positioning and navigation device. In this implementation, the detection element draws lines to obtain multiple points within the key area, ensuring the integrity of the contour.

[0014] In one possible implementation of the first aspect, the device further includes a display module, and the processor further performs the following steps: displaying the target bone 3D model via the display module; receiving, via the display module, a first user operation to fine-tune the target knee joint 3D model; and displaying the fine-tuned target bone 3D model via the display module in response to the first operation. In this implementation, the user is allowed to manually adjust the target bone 3D model, further ensuring the accuracy of the target bone 3D model.

[0015] In a second aspect, an embodiment of the present application provides an orthopedic surgery registration device, characterized in that the device includes a unit for implementing each step executed by the processor in the orthopedic surgery registration device described in any one of the first aspects above.

[0016] In a third aspect, an embodiment of the present application provides a surgical robot system, which includes the orthopedic surgery registration device described in any one of the first aspects above.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps performed by the processor in the orthopedic surgery alignment device as described in any one of the first aspects above.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a server, the server executes the steps executed by the processor in the orthopedic surgery registration device described in any one of the first aspects above.

[0019] In a sixth aspect, an embodiment of the present application provides a chip, comprising: a processor for calling and running a computer program from a memory, so that an electronic device equipped with the chip executes the steps executed by the processor in the orthopedic surgery registration device described in any one of the first aspects above.

[0020] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a schematic structural diagram of a surgical robot system provided in one embodiment of the present application;

[0023] Figure 2 This is a flowchart of an orthopedic surgery registration method provided in one embodiment of the present application;

[0024] Figure 3 This is an example of the anatomical structure of the knee joint;

[0025] Figure 4is a schematic diagram of a process for determining a surgical planning scheme provided in an embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of an interface of an orthopedic surgery registration device provided in one embodiment of the present application that displays a knee joint tibia model that actually corresponds to the patient;

[0027] Figure 6 This is a structural diagram of an orthopedic surgery registration device provided in one embodiment of the present application; DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0029] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0030] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0031] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0032] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0034] During orthopedic surgery based on current robot-assisted bone surgery systems (or surgical robot systems), bone registration and alignment often require a CT scan of the patient before or during surgery, which will cause certain radiation exposure to the patient; or alignment based on feature points requires repeated operations, which takes a long time.

[0035] In order to solve the above technical problems, the present application provides an orthopedic surgical registration device, an apparatus and a surgical robot system. The orthopedic surgical registration device uses the position information of multiple points on the bone surface of the target bone part of the target object to adjust the preset initial bone three-dimensional model, thereby obtaining a target bone three-dimensional model corresponding to the target bone part of the target object, and then realizing bone registration of the target bone part; during the entire registration process, the patient does not need to undergo a CT scan, thereby avoiding the radiation brought to the patient due to bone registration; the target bone three-dimensional model is obtained by adjusting the preset initial bone three-dimensional model, thereby avoiding the reconstruction of the three-dimensional model during the bone registration process. The method is simple and the operation process is short, thereby shortening the time required for bone registration.

[0036] The orthopedic surgery registration equipment, device and surgical robot system provided by this application are exemplarily described below in conjunction with specific embodiments.

[0037] See also Figure 1 FIG. 1 is a schematic diagram of the structure of a surgical robot system provided in one embodiment of the present application. Figure 1 As shown, the surgical robot system in the embodiment of the present application includes: an orthopedic surgery registration device 100, a surgical robot 200 and a positioning navigation device 300. The orthopedic surgery registration device 100 is respectively connected to the surgical robot 200 and the positioning navigation device 300.

[0038] The orthopedic surgery registration device 100 is used to obtain an initial bone three-dimensional model, where the initial bone three-dimensional model is a three-dimensional model of a preset target bone part;

[0039] The positioning navigation device 300 is used to obtain position information of multiple points on the bone surface of the target bone part of the target object and send the position information of the multiple points to the orthopedic surgery registration device 100;

[0040] The orthopedic surgery registration device 100 is used to adjust the initial bone three-dimensional model using the position information of multiple points on the bone surface of the target bone part of the target object to obtain a target bone three-dimensional model corresponding to the target bone part of the target object.

[0041] The surgical robot 200 system in the embodiment of the present application obtains the position information of multiple points on the bone surface of the target bone part of the target object through the positioning navigation device 300 and sends it to the orthopedic surgery registration device 100; the orthopedic surgery registration device 100 obtains an initial bone three-dimensional model; and the orthopedic surgery registration device 100 uses the position information of multiple points on the bone surface of the target bone part of the target object to adjust the initial bone three-dimensional model to obtain a target bone three-dimensional model corresponding to the target bone part of the target object. By adjusting the preset three-dimensional model of the target part, a personalized three-dimensional model of the target bone part of the target object is obtained, so that the bone registration process does not require CT scanning to avoid exposing the target object to radiation, and the process is short, thereby shortening the bone registration time.

[0042] It is understandable that in Figure 1 In the illustrated embodiment, the positioning navigation device 300 and the orthopedic surgery registration apparatus 100 are two separately provided devices. In other embodiments, the positioning navigation device 300 may also be integrated into the orthopedic surgery registration apparatus 100 .

[0043] It should be understood that the positioning and navigation device 300 is mainly used to obtain the position information of multiple points on the bone surface of the target bone part of the target object. The positioning and navigation device 300 can be any one of: an optical positioning (infrared) navigation system, a magnetic positioning and navigation system, and an ultrasonic positioning and navigation system. This application does not limit the specific type of the positioning and navigation device 300.

[0044] For example, an optical positioning (infrared) navigation system may include an infrared tracking device and a probe. The probe is equipped with a reflective ball. The infrared tracking device emits infrared rays and uses the reflection of the infrared rays from the reflective ball on the probe to determine the location information of the point where the probe abuts. The location information may include coordinate information. Specifically, when the probe abuts the bone surface of a target bone of a target subject, the infrared tracking device can obtain the location information of the point where the probe abuts the bone surface.

[0045] For another example, a small reflective ball can be implanted in the target bone of the target object, thereby facilitating the positioning of the target bone of the target object using an infrared tracking device.

[0046] It should be understood that the initial three-dimensional bone model can also be referred to as a standard three-dimensional bone model. There are various ways for the orthopedic surgery registration device 100 to obtain the initial three-dimensional bone model. For example, the orthopedic surgery registration device 100 can have built-in three-dimensional models of various bone sites, and the corresponding three-dimensional bone model can be selected based on the bone site on the target subject requiring orthopedic surgery. Alternatively, the orthopedic surgery registration device 100 can obtain the initial three-dimensional bone model from a three-dimensional model database, which can store three-dimensional models of various bone sites. The orthopedic surgery registration device 100 can then obtain the corresponding three-dimensional bone model from the three-dimensional model database based on the bone site on the target subject requiring orthopedic surgery.

[0047] For example, the specific type of the initial bone 3D model corresponds to the target bone part of the target object that needs to undergo orthopedic surgery. For example, if the orthopedic surgery required by the target object is knee replacement, then the initial bone 3D model is a knee joint 3D model.

[0048] It should be understood that the orthopedic surgery registration device 100 obtains the initial bone three-dimensional model, the positioning navigation device 300 obtains the position information of multiple points on the bone surface of the target bone part of the target object and sends it to the orthopedic surgery registration device 100, and the orthopedic surgery registration device 100 uses the position information of multiple points on the bone surface of the target bone part of the target object to adjust the initial bone three-dimensional model. These processes are all applied during the intraoperative period, so the obtained target bone three-dimensional model can be directly used for subsequent surgical planning.

[0049] Exemplarily, the orthopedic surgery registration device 100 is also used to perform surgery planning based on the three-dimensional model of the target bone, obtain a surgery planning plan, and send the surgery planning plan to the surgical robot 200; the surgical robot 200 is used to assist the user (or doctor) in performing surgery on the target bone part of the target object according to the surgery planning plan.

[0050] It is understood that the communication connection in the embodiments of the present application may be a wireless communication connection, for example, the wireless communication connection may be implemented through wireless communication technologies such as Bluetooth (BT), wireless-fidelity (WiFi), or near field communication (NFC). Of course, the communication connection in the embodiments of the present application may also be a wired communication connection, which is not limited or elaborated in this application.

[0051] See also Figure 2 , is a flowchart of an orthopedic surgery registration method provided in this application. This method is applicable to Figure 1 The orthopedic surgery registration device 100 shown below is combined with Figure 2 The orthopedic surgery registration method in the embodiment of the present application is described. Figure 2 As shown, the orthopedic surgery registration method includes: S201 to S203.

[0052] S201: Acquire an initial three-dimensional bone model, where the initial three-dimensional bone model is a three-dimensional model of a preset target bone site.

[0053] It is understood that the initial bone 3D model is a preset 3D model of the target bone part, and the initial bone 3D model can also be called a standard bone 3D model. The preset 3D model can be obtained according to the subsequent 3D modeling method, which is not described in detail in this application.

[0054] Exemplarily, the target bone site indicates a bone site requiring orthopedic surgery, for example, the target bone site may include: knee joint, hip joint, ankle joint, spine, etc.

[0055] S202: Acquire position information of a plurality of points on the bone surface of a target bone portion of the target object.

[0056] It should be understood that the target object may also be referred to as a patient. The target bone site indicates a bone site of the target object that requires orthopedic surgery.

[0057] Exemplarily, the position information of the multiple points may include the coordinates of each point, and the coordinates of each point may be three-dimensional coordinates in the target object coordinate system, which is not limited or elaborated in this application.

[0058] In some embodiments, the bone surface of the target bone site of the target subject includes a plurality of critical areas.

[0059] Figure 3 The following is an example of the anatomical structure of the knee joint. The key areas of the knee joint bone surface may include: the femoral key area and the tibial key area; the femoral key area may include the lateral femoral epicondyle, the junction of the lateral femoral cartilage and bone, the posterior and distal end of the lateral femoral condyle, the posterior and distal end of the medial femoral condyle, the junction of the medial femoral cartilage and bone, the medial femoral epicondyle, and the anterior cortical area; the tibial key area should at least include the ACL insertion area of ​​the tibial intercondylar spine, the junction area between the inner 1 / 3 and the outer 2 / 3 of the anterior tibial tuberosity, the central area of ​​the medial tibial plateau articular surface, and the central area of ​​the lateral tibial plateau articular surface.

[0060] In some embodiments, the plurality of points on the bone surface of the target bone site of the target subject include a plurality of points on the outline of each of the plurality of key areas and a plurality of points inside each of the plurality of key areas.

[0061] In some embodiments, the target bone part is a knee joint, and the multiple points on the bone surface of the target bone part of the target object include: characteristic points of the knee joint, hip, knee and ankle of the target object, multiple points on the contour of each key area in multiple key areas, and multiple points inside each key area in the multiple key areas.

[0062] In some embodiments, the position information of the plurality of points on the contour of each key area is obtained by drawing a line on the contour of each key area using a detection element in a positioning navigation device.

[0063] For example, when the detection element draws a line on the outline of each key area, the detection element continuously takes points at high frequency inside each key area. Its execution action is similar to the copying process. During the point-taking process, the detection end of the detection element always rests on the bone surface and does not leave.

[0064] In some embodiments, the position information of multiple points inside each key area is obtained by a detection element in a positioning navigation device drawing lines inside each key area multiple times.

[0065] For example, when the detection element draws lines multiple times inside each key area, the detection element continuously takes points at high frequency inside each key area, and its execution action is similar to the process of tracing or coloring. During the point-taking process, the detection end of the detection element always rests on the bone surface and does not leave.

[0066] It is understandable that the detection element includes a probe or similar sensor device for detecting the position of the bone surface, and the present application does not limit the specific type of the detection element.

[0067] S203 , adjusting the initial three-dimensional bone model using the position information of multiple points on the bone surface of the target bone portion of the target object, to obtain a three-dimensional target bone model corresponding to the target bone portion of the target object.

[0068] It can be understood that the process of adjusting the initial three-dimensional bone model involves using the acquired positional information of multiple points on the bone surface of the target bone portion of the target subject to deform various regions of the initial three-dimensional bone model so that the morphology of the obtained three-dimensional target bone model is consistent with the anatomical morphology of the target bone portion of the target subject. Alternatively, it can be understood as the process of matching the initial three-dimensional bone model with the target bone portion of the target subject using the positional information of multiple points on the bone surface of the target bone portion of the target subject.

[0069] In some embodiments, the adjustment process of the initial bone three-dimensional model includes coarse adjustment and fine adjustment performed in sequence, the coarse adjustment includes adjusting the posture of the initial bone three-dimensional model, and the fine adjustment includes adjusting multiple areas of the initial bone three-dimensional model after the coarse adjustment, each of the multiple areas of the initial bone three-dimensional model corresponds to a key area of ​​the bone surface of the target bone site.

[0070] It can be understood that the coarse adjustment is an adjustment to the overall shape of the initial three-dimensional bone model, and the fine adjustment is an adjustment to multiple regions in each model, and an adjustment to the size and / or shape of each region in the multiple regions.

[0071] For example, taking the three-dimensional model of the knee joint as an example, coarse adjustment may include adjusting the relative position relationship between the tibia model and the femur model in the three-dimensional model of the knee joint; fine adjustment includes adjusting the internal shape and / or size of each area in the three-dimensional model of the knee joint.

[0072] In some embodiments, step S203 includes: performing rough adjustment using position information of multiple points on the outline of each key area in the multiple key areas; and performing fine adjustment using position information of multiple points inside each key area in the multiple key areas.

[0073] Exemplarily, the detection element can first be used to obtain the position information of multiple points on the contour of each key area on the bone surface of the target bone part of the target object, for example, the position information of multiple points obtained by drawing lines and taking points on the contour of each key area can represent the contour information of each key area; the contour of each area in the initial bone three-dimensional model is matched with the contour of the corresponding key area, so that the posture of the initial bone three-dimensional model is the same as the posture of the target bone part of the target object, where the posture includes state and size; and then the detection element is used to obtain the position information of multiple points inside each key area on the bone surface of the target bone part of the target object, for example, the position information of multiple points inside each key area can represent the shape of the bone surface corresponding to each key area, and each area in the initial bone three-dimensional model after each posture adjustment is adjusted so that the shape of each area is the same as the shape of the bone surface of the corresponding key area.

[0074] In some other embodiments, step S203 includes: determining the mechanical axis of the knee joint of the target object based on the position information of the characteristic points of the knee joint, hip, knee and ankle of the target object; performing rough adjustment using the mechanical axis of the knee joint of the target object; and performing fine adjustment using the position information of multiple points on the contour of each key area and the position information of multiple points inside each key area.

[0075] Exemplarily, a detection element is used to obtain characteristic points of the knee joint, hip, knee and ankle of the target object on the bone surface of the target bone part of the target object, and the mechanical axis of the knee joint of the target object is determined based on the position information of the characteristic points of the knee joint, hip, knee and ankle of the target object; the mechanical axis of the knee joint of the target object is used to make the posture of the initial bone three-dimensional model the same as the posture of the target bone part of the target object, wherein the posture includes a state; the position information of multiple points on the contour of each key area is obtained, for example, the position information of multiple points obtained by drawing lines and taking points on the contour of each key area can represent the contour information of each key area; the contour of each area is scaled to the same size as the contour of the corresponding key area; and then the detection element is used to obtain the position information of multiple points inside each key area on the bone surface of the target bone part of the target object, for example, the position information of multiple points obtained by drawing lines and taking points inside each key area can represent the shape of the bone surface corresponding to each key area, and each area in the adjusted initial bone three-dimensional model is adjusted so that the shape of each area is the same as the shape of the bone surface of the corresponding key area.

[0076] In other embodiments, the orthopedic surgery registration device 100 further includes a display module, and the orthopedic surgery registration method further includes the following steps: displaying the target bone 3D model via the display module; receiving a first user operation to fine-tune the target knee joint 3D model via the display module; and displaying the fine-tuned target bone 3D model via the display module in response to the first operation. In this embodiment, the target bone 3D model is displayed, and the user is allowed to fine-tune the target bone 3D model, thereby obtaining and displaying the fine-tuned target bone 3D model. This ensures that the physician user has the right to adjust the final 3D model, further ensuring that a more accurate 3D model can be obtained.

[0077] In some embodiments, the orthopedic surgery registration method further includes the following steps: displaying, via the display module, the adjustment process of the initial three-dimensional bone model and / or the acquisition process of position information of multiple points on the bone surface of the target bone portion of the target object. This embodiment displays the point acquisition process and the model adjustment process, making the entire process more intuitive and convenient for the user.

[0078] In some embodiments, the initial three-dimensional bone model includes multiple different regions. Using the position information of multiple points on the bone surface of the target bone portion of the target object, adjusting the initial three-dimensional bone model may include: sequentially adjusting multiple different regions in the initial knee joint model; when the display module displays the process of adjusting the initial three-dimensional knee joint model, the colors of the multiple different regions where the adjustment has been completed and the colors of the regions where the adjustment has not been completed are different. In this embodiment, the different colors of the regions with different adjustment progress allow the user to more clearly understand the adjustment progress, which is convenient for the user.

[0079] In some embodiments, the bone surface of the target bone portion of the target object includes multiple key areas, the orthopedic surgery registration device 100 further includes a voice module, and the orthopedic surgery registration method further includes the following steps: prompting a user, via the voice module, that a point to be acquired is located in the key area on the bone surface of the target bone portion of the target object. In this embodiment, voice prompts are provided for the key areas where point acquisition is required, thereby facilitating user convenience.

[0080] After introducing the orthopedic surgery registration method provided in the embodiment of the present application, the following uses knee replacement as an example to exemplify the process of determining the surgical planning scheme with reference to the accompanying drawings.

[0081] refer to Figure 4 , is a schematic diagram of the process of determining the surgical planning scheme provided by an embodiment of the present application. Figure 4 As shown, the process includes S401 to S407.

[0082] S401, adjust the device to the initial position.

[0083] The equipment may include all equipment to be used during the operation. For example, the equipment may include an operating table carrying a patient, and the operating table is placed in an initial position.

[0084] S402: Determine the initial position of the patient.

[0085] For example, an infrared optical tracking system can be used to accurately capture the patient's position in the operating room, that is, the patient's initial position. The infrared optical tracking system can also be called an optical positioning (infrared) navigation system.

[0086] S403, determining the mechanical axis of the knee joint in the patient space.

[0087] For example, the approximate positions of the patient's hip, knee, and ankle feature points are first determined using a probe, and then the approximate positions of the hip, knee, and ankle feature points are used to determine the patient's entire knee joint mechanical axis.

[0088] It should be understood that the approximate positions of the three points of hip, knee and ankle include: the center point of the femur corresponding to the hip joint, the center point of the distal femur and proximal tibia corresponding to the knee joint, and the medial malleolus and lateral malleolus corresponding to the ankle joint (or the midpoint of the line connecting the medial malleolus and lateral malleolus).

[0089] Exemplarily, the method for determining the femoral center of the hip joint includes but is not limited to calculating by rotating the patient's thigh in the above manner; the distal femoral and proximal tibia centers corresponding to the knee joint are determined by using a probe to select the positions of landmark pins previously implanted in the patient's femur and tibia; the feature points corresponding to the ankle joint are manually selected by the doctor using a probe. The ankle joint feature points include at least the medial malleolus and lateral malleolus.

[0090] S404, skeleton without image registration.

[0091] It can be understood that the bone non-image registration in step S404 includes the steps in the orthopedic surgery registration method in the embodiment of the present application.

[0092] For example, when the user collects points in different key areas of the patient's knee joint according to the prompts of the orthopedic surgery registration device during surgery, the display screen of the orthopedic surgery registration device can synchronously display the currently completed collection area in real time and directly generate the corresponding anatomical model.

[0093] For example, when a user begins image-free registration of a patient's tibia, the orthopedic registration system will prompt the user to prepare for registration. Once registration begins, the physician can register the patient's tibia in the default structural partitioning order of the orthopedic registration system. Following the prompts on the orthopedic registration system's display interface, the physician will press and hold a foot pedal, using a probe to continuously and frequently acquire points on the indicated tibia or tibia cartilage surface area. This action resembles tracing, and the probe does not leave the bone surface during the foot pedaling. The orthopedic registration system also uses a repetitive sound effect to remind the user that point acquisition is in progress. As the physician continuously "traces" the bone surface, the infrared optical tracking system tracks the probe's movement in real time, capturing tibial contour information. The acquired tibial surface contour information guides the system's built-in standard 3D knee model (i.e., the initial 3D bone model) to deform, such as expanding or contracting, in the corresponding area. Through these guided deformations, multiple iterations align the morphology of the built-in standard 3D knee model with the anatomical morphology of the sampled bone, generating a personalized model for the patient (i.e., the target 3D bone model).

[0094] Figure 5 The figure shows that after the doctor uses a probe to continuously take points on the surface of the patient's tibia and guides the iterative deformation of the tibia model in the standard three-dimensional model of the knee joint, the tibia model corresponding to the patient's actual knee joint is displayed on the interface of the orthopedic surgery registration device.

[0095] S405, fitting key area anatomical landmarks.

[0096] For example, the computer automatically identifies the patient's personalized model (ie, the target bone three-dimensional model) according to the anatomical and physiological structure, and fits the anatomical landmarks in each key area of ​​the target bone three-dimensional model.

[0097] Exemplarily, the anatomical landmarks include anatomical landmarks used to construct the following parameters: the anterior-posterior axis (APaxis) and the lateral-medial axis (ML axis) of the tibia, the mechanical femorotibial angle (mFTA), the trans-epicondylar axis (TEA), the posterior condylar axis (PCA), Whiteside's line, etc.

[0098] S406: Calculate anatomical parameters based on the anatomical landmarks.

[0099] For example, anatomical landmarks are used to calculate anatomical parameters, including varus and valgus angles, internal and external rotation angles, tilt angles, flexion angles, AP (Whiteside's) axis, condylar line, and other parameters in the overall planning.

[0100] For example, the AP (Whiteside's) axis parameter is the line connecting the lowest point of the femoral trochlear notch and the midpoint of the femoral intercondylar fossa. When calculating the AP (Whiteside's) axis parameters for a patient, the two feature points, the lowest point of the femoral trochlear notch and the midpoint of the femoral intercondylar fossa, need to be displayed. The parameters are calculated based on the identified feature points according to the anatomical definition of the knee joint.

[0101] For example, the anteroposterior axis (AP Axis) of the femur is roughly parallel to Whiteside's line, but is still defined as a line perpendicular to the medial-lateral axis in the transverse plane.

[0102] S407: Determine a surgical planning plan based on the patient's anatomical parameters.

[0103] It will be appreciated that surgical planning may include prosthesis selection and the amount of bone resection to be performed.

[0104] For example, the amount of osteotomy can be automatically calculated based on the selected knee prosthesis and the identified anatomical landmarks (such as the distal and posteriormost points of the medial and lateral condyles of the distal femur and the most concave points of the two condyles of the tibial plateau).

[0105] After introducing the orthopedic surgery registration method and the process of determining the surgical planning scheme in the embodiment of the present application, the structure of the orthopedic surgery registration device in the embodiment of the present application is introduced with reference to the accompanying drawings.

[0106] See also Figure 6 FIG. 1 is a structural diagram of an orthopedic surgery registration device 100 provided in one embodiment of the present application. Figure 6 As shown, the orthopedic surgery registration device in the embodiment of the present application includes a processor 600, and the processor 600 is used to execute the steps executed by the orthopedic surgery registration device in any of the above-mentioned orthopedic surgery registration method embodiments.

[0107] In some other embodiments, the orthopedic surgery registration device further includes: a display module, and the display module is used to display the model adjustment process.

[0108] In some other embodiments, the orthopedic surgery registration device further includes a data storage module, which is mainly used to store the generated three-dimensional model of the target bone corresponding to the patient.

[0109] For example, Figure 6 As shown, in some other embodiments, the orthopedic surgery registration device further includes a memory 601 and a computer program 602 stored in the memory 601 and executable on the processor 600. When the processor 600 executes the computer program 602, the steps performed by the orthopedic surgery registration device in any of the above-mentioned orthopedic surgery registration method embodiments are implemented.

[0110] Figure 6 The orthopedic surgery registration device 100 is merely an example and does not constitute a limitation of the orthopedic surgery registration device 100 . The orthopedic surgery registration device 100 may include more or fewer components than shown in the figure, or combine certain components, or have different components.

[0111] The processor 600 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0112] In some embodiments, the memory 601 may be an internal storage unit of the orthopedic surgery registration device 100, such as a hard disk or memory of the orthopedic surgery registration device 100. In other embodiments, the memory 601 may also be an external storage device of the orthopedic surgery registration device 100, such as a plug-in hard disk equipped on the orthopedic surgery registration device 100, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Furthermore, the memory 601 may include both the internal storage unit of the orthopedic surgery registration device 100 and an external storage device. The memory 601 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 601 may also be used to temporarily store data that has been output or is about to be output.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0114] An embodiment of the present application also provides an orthopedic surgery registration device, which includes a unit for executing each step performed by the orthopedic surgery registration device in the above-mentioned orthopedic surgery registration method embodiments, or a unit for executing each step of the steps performed by the processor in the above-mentioned orthopedic surgery registration device embodiments.

[0115] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps performed by the orthopedic surgery registration device in each of the above-mentioned orthopedic surgery registration method embodiments, or the steps performed by the processor in the above-mentioned orthopedic surgery registration device embodiments.

[0116] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps performed by the orthopedic surgery registration device in the above-mentioned embodiments of the orthopedic surgery registration method, or the steps performed by the processor in the above-mentioned embodiments of the orthopedic surgery registration device.

[0117] The present application also provides a chip located in an electronic device, the chip comprising: a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, a pin, or a circuit. The processing unit may execute computer instructions to cause the electronic device to perform the steps performed by the orthopedic surgery registration device in any of the orthopedic surgery registration methods provided in the embodiments of the present application, or the steps performed by the processor in the orthopedic surgery registration device embodiments.

[0118] Optionally, the computer instructions are stored in a storage unit.

[0119] Optionally, the storage unit is a storage unit within the chip, such as a register, cache, etc. The storage unit can also be a storage unit located outside the chip within the terminal, such as a ROM or other type of static storage device that can store static information and instructions, random access RAM, etc. The processor mentioned in any of the above can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the above-mentioned feedback information transmission method. The processing unit and the storage unit can be decoupled and respectively set on different physical devices, and connected by wired or wireless means to implement the respective functions of the processing unit and the storage unit to support the system chip to implement the various functions in the above-mentioned embodiments. Alternatively, the processing unit and the memory can also be coupled on the same device.

[0120] Among them, the surgical planning navigation device, orthopedic surgical alignment equipment, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the projection device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0122] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0123] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0126] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. An orthopedic surgery registration device, characterized in that: The device includes a processor configured to perform the following steps: Acquire an initial bone three-dimensional model, where the initial bone three-dimensional model is a three-dimensional model of a preset target bone part; acquiring position information of a plurality of points on a bone surface of a target bone portion of a target object; The initial three-dimensional bone model is adjusted using position information of a plurality of points on the bone surface of the target bone portion of the target object to obtain a three-dimensional target bone model corresponding to the target bone portion of the target object.

2. The orthopedic surgery registration device according to claim 1, characterized in that: The bone surface of the target bone part of the target object includes multiple key areas; the adjustment process of the initial bone three-dimensional model includes coarse adjustment and fine adjustment performed in sequence, the coarse adjustment includes adjusting the posture of the initial bone three-dimensional model, and the fine adjustment includes adjusting multiple areas of the initial bone three-dimensional model after coarse adjustment, each of the multiple areas of the initial bone three-dimensional model corresponds to a key area of ​​the bone surface of the target bone part.

3. The orthopedic surgery registration device according to claim 2, characterized in that: The plurality of points on the bone surface of the target bone site of the target object include a plurality of points on the outline of each key area of ​​the plurality of key areas and a plurality of points inside each key area of ​​the plurality of key areas; The method of adjusting the initial three-dimensional bone model by using the position information of a plurality of points on the bone surface of the target bone part of the target object to obtain a three-dimensional target bone model corresponding to the target bone part of the target object includes: Performing the rough adjustment by using position information of a plurality of points on the outline of each key area in the plurality of key areas; The fine adjustment is performed using position information of a plurality of points inside each of the plurality of key areas.

4. The orthopedic surgery registration device according to claim 2, characterized in that: The target bone part is a knee joint, and the multiple points on the bone surface of the target bone part of the target object include: characteristic points of the knee joint, hip, knee and ankle of the target object, multiple points on the outline of each key area in multiple key areas, and multiple points inside each key area in the multiple key areas; The method of adjusting the initial three-dimensional bone model by using the position information of a plurality of points on the bone surface of the target bone part of the target object to obtain a three-dimensional target bone model corresponding to the target bone part of the target object includes: Determining the mechanical axis of the knee joint of the target object based on position information of characteristic points of the knee joint, hip, knee and ankle of the target object; performing the coarse adjustment using a mechanical axis of the knee joint of the target subject; The fine adjustment is performed using position information of multiple points on the outline of each key area and position information of multiple points inside each key area.

5. The orthopedic surgery registration device according to claim 3 or 4, characterized in that: The position information of multiple points on the contour of each key area is obtained by drawing a line on the contour of each key area by a detection element in the positioning navigation device.

6. The orthopedic surgery registration device according to claim 3 or 4, characterized in that: The position information of multiple points inside each key area is obtained by the detection element in the positioning navigation device drawing lines inside each key area multiple times.

7. The orthopedic surgery registration device according to any one of claims 1 to 4, characterized in that: The device further includes a display module, and the processor further performs the following steps: Displaying the target bone three-dimensional model through the display module; receiving, through the display module, a first operation by a user to fine-tune the target bone three-dimensional model; In response to the first operation, the fine-tuned three-dimensional model of the target bone is displayed through the display module.

8. An orthopedic surgery registration device, characterized in that: The apparatus includes a unit for implementing each step executed by a processor in the orthopedic surgery registration device according to any one of claims 1 to 7.

9. A surgical robot system, characterized in that: The system comprises the orthopedic surgery registration device according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer program performs the steps performed by the processor in the orthopedic surgery registration device according to any one of claims 1 to 7.

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