Mobile platform unicompartmental surgical robot system, device and computer program product

Abstract

This application applies to the fields of computer-aided medical technology and surgical robot technology, providing a mobile platform unicompartmental knee replacement surgery robot system, device, and computer program product. The system includes: a preoperative planning module for determining the surgical tool combination and the implantation position of the prosthesis; an intraoperative navigation module for performing joint space balance assessment based on the implantation position and determining the model of the first drilling tool to be used based on the joint space balance assessment result; and an intraoperative execution module for controlling a robotic arm to operate each surgical tool in the surgical tool combination to perform various steps of the mobile platform unicompartmental knee replacement surgery. Using this system, the model of the drilling tool can be directly determined based on the joint space balance assessment result, eliminating the need to sequentially evaluate multiple models of drilling tools, thus improving surgical efficiency and reducing the impact on the patient during the drilling tool model evaluation process.

Description

Technical Field

[0001] This application relates to the fields of computer-aided medical technology and surgical robot technology, and in particular to a mobile platform unicompartmental surgical robot system, device and computer program product. Background Technology

[0002] Unicompartmental knee arthroplasty (UKA) is a surgical procedure that treats damage or degeneration in a specific area of ​​the knee joint. By removing the diseased cartilage and part of the bone and implanting a prosthesis, it can help patients regain the corresponding function after surgery.

[0003] Unicompartmental knee arthroplasty primarily includes two surgical approaches: fixed-platform and mobile-platform. One key difference lies in whether the tibial pad can move on the tibial support. In a fixed-platform procedure, the tibial pad is firmly locked to the tibial support and cannot move; while in a mobile-platform procedure, the tibial pad can rotate and move on the surface of the tibial support. Furthermore, the femoral prosthesis used in the mobile-platform approach is a spherical prosthesis, requiring a corresponding spherical section to be cut from the distal end of the femur during surgery.

[0004] In existing technologies, unicompartmental knee replacement surgery using a mobile platform requires following fixed procedures for osteotomy, drilling, and implant placement. Furthermore, to create the appropriate spherical surface at the distal femur, the surgeon needs to drill holes within the femoral medullary canal to facilitate the evaluation of multiple drilling tool sizes. This ensures that the osteotomy of the distal femoral facet using the evaluated drilling tool meets the surgical requirements. When evaluating multiple drilling tool sizes, the surgeon must start with the smallest tool. If the smallest tool is insufficient, a larger tool is used for re-evaluation until the most suitable size is found. For example, the surgeon first evaluates tool size 0; if not, tool size 1 is used for re-evaluation. If tool size 1 meets the surgical requirements, it can be used to assist in the distal femoral facet osteotomy. If tool size 1 still does not meet the requirements, tool size 2 is used for further evaluation until the most suitable size is found. The model number of the drilling tool indicates the thickness of bone to be removed during distal femoral osteotomy. That is, tool number 1 indicates a bone removal of 1 mm, and tool number 2 indicates a bone removal of 2 mm.

[0005] It is evident that the procedure for unicompartmental knee replacement surgery using a mobile platform in existing technologies is not only extremely complex, but also prone to causing greater harm to patients due to the need for medullary canal opening in the femur. Summary of the Invention

[0006] In view of this, embodiments of this application provide a mobile platform unicompartmental knee replacement surgery robot system, device, and computer program product. This system can directly determine the required drilling tool model based on the results of joint space balance assessment, eliminating the need to start with the smallest tool size, significantly reducing the complexity of the surgical procedure and improving surgical efficiency. Furthermore, using the surgical robot system, device, and computer program product provided in this application for mobile platform unicompartmental knee replacement surgery eliminates the need for medullary canal opening in the patient's femur, reducing the trauma to the patient during the surgical process.

[0007] A first aspect of this application provides a unicompartmental surgical robot system with an active platform, comprising:

[0008] The preoperative planning module is used to determine the combination of surgical tools and the implantation location of the prosthesis, which includes a femoral prosthesis and a tibial prosthesis, wherein the femoral prosthesis is a spherical prosthesis;

[0009] The intraoperative navigation module is used to perform joint space balance assessment based on the implantation location, and to determine the model of the first drilling tool to be used based on the result of the joint space balance assessment. The model of the first drilling tool is used to indicate the amount of femoral osteotomy.

[0010] The intraoperative execution module is used to perform various steps of a unicompartmental knee arthroplasty on an active platform by controlling the robotic arm to operate the various surgical tools in the surgical tool assembly. The steps include osteotomy of the femur based on the first drilling tool to form a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0011] Optionally, the intraoperative navigation module is specifically used for:

[0012] With the prosthesis trial model placed at the implantation position, the joint space value during the patient's knee joint movement is monitored. The joint space value is the distance between the spherical surface of the femoral prosthesis and the tibial pad in the tibial prosthesis.

[0013] Joint space balance is assessed based on the joint space values ​​during the patient's knee joint movement.

[0014] Optionally, the intraoperative navigation module is further specifically used for:

[0015] The amount of femoral osteotomy is determined based on the joint space value during the patient's knee joint movement.

[0016] The model of the first drilling tool to be used is determined based on the amount of femoral osteotomy.

[0017] Wherein, the femoral osteotomy amount is used to indicate that after the femoral osteotomy is performed according to the corresponding thickness, the joint space value at any angle position during the patient's knee joint movement meets the preset distance requirement.

[0018] Optionally, the intraoperative navigation module is further specifically used for:

[0019] Monitor the cartilage thickness at the distal femur osteotomy site;

[0020] The model of the first drilling tool to be used is determined based on the results of the joint space balance assessment and the cartilage thickness.

[0021] Optionally, determining the model of the first drilling tool to be used based on the results of the joint space balance assessment and the cartilage thickness includes:

[0022] The first osteotomy amount is determined based on the results of the joint space balance assessment.

[0023] The model of the first drilling tool to be used is determined based on the sum of the first osteotomy amount and the cartilage thickness; wherein the femoral osteotomy amount represented by the model of the first drilling tool is greater than or equal to the sum of the first osteotomy amount and the cartilage thickness.

[0024] Optionally, the surgical tool set includes a first tool set or a second tool set, wherein the first tool set is a set that includes power tools, and the second tool set is a set that does not include power tools, wherein the power tools include at least one of a oscillating saw and a grinding drill.

[0025] Optionally, the intraoperative execution module is specifically used for:

[0026] During the surgical procedure using the first tool combination, the robotic arm is controlled to operate the oscillating saw to sequentially perform osteotomy operations on the tibial plane and the posterior condyle of the femur;

[0027] The robotic arm is controlled to operate a drill or a vertical guide plate to complete the osteotomy of the tibial sidewall.

[0028] The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

[0029] Optionally, the preoperative planning module is further configured to: plan a safe area for the power tools in the first tool set;

[0030] Accordingly, the intraoperative execution module is also used to: monitor the osteotomy operation based on the safe area of ​​the power tool during the surgical operation using the first tool combination, so as to prevent the power tool from exceeding the boundary of the safe area.

[0031] The safe zone of the oscillating saw is a cuboid region formed by the planned safe boundary and the osteotomy depth of the oscillating saw, and the safe zone of the grinding drill is a cylindrical region formed by the planned grinding area and the grinding depth.

[0032] Optionally, the intraoperative execution module is specifically used for:

[0033] During the surgical procedure using the second tool combination, the robotic arm is controlled to operate the limiting tool to sequentially perform osteotomy operations on the tibial plane, the posterior condyle of the femur, and the tibial lateral wall;

[0034] The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

[0035] A second aspect of this application provides a method for performing unicompartmental surgery on an active platform, including:

[0036] The surgical tool combination and the implantation location of the prosthesis are determined, the prosthesis including a femoral prosthesis and a tibial prosthesis, the femoral prosthesis being a spherical prosthesis;

[0037] Based on the implantation location, a joint space balance assessment is performed, and the model of the first drilling tool to be used is determined according to the result of the joint space balance assessment. The model of the first drilling tool is used to indicate the amount of femoral osteotomy.

[0038] By controlling the robotic arm to operate the various surgical tools in the surgical tool assembly, the various steps of a unicompartmental knee replacement surgery on the active platform are performed, the steps including osteotomy of the femur based on the first drilling tool, forming a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0039] A third aspect of this application provides a surgical device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the surgical device performs the functions performed by the modules of the first aspect described above, or performs the method described in the second aspect described above.

[0040] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, performs the functions of the modules described in the first aspect above, or performs the method described in the second aspect above.

[0041] The fifth aspect of this application provides a computer program product, including a computer program that, when the computer program is run, causes the functions of the modules described in the first aspect to be performed, or causes the method described in the second aspect to be performed.

[0042] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0043] In this embodiment, the preoperative planning module of the surgical robot system can determine the surgical tool assembly and the implantation position of the prosthesis. Based on this, the intraoperative navigation module can perform a joint space balance assessment based on the determined implantation position, thereby determining the model of the first drilling tool to be used based on the assessment results. The model of the first drilling tool can be used to indicate the amount of osteotomy performed on the distal femur. Thus, the intraoperative execution module can control the robotic arm to operate each surgical tool in the surgical tool assembly to perform various steps of the unicompartmental knee arthroplasty on the mobile platform. For example, osteotomy operations can be performed on the tibial plane, the posterior femoral condyle, and the tibial lateral wall, as well as osteotomy operations on the distal femur based on the first drilling tool, thereby forming a distal spherical surface on the femoral side that fits the femoral prosthesis. This embodiment directly determines the model of the drilling tool through intraoperative joint space balance assessment, thus eliminating the need to evaluate the first drilling tool sequentially from the smallest size when performing osteotomy on the distal femoral surface, and also eliminating the need for medullary canal opening before evaluating the first drilling tool, reducing the trauma to the patient during the surgical procedure and improving surgical efficiency. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of a femoral prosthesis provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of a tibial prosthesis provided in an embodiment of this application;

[0047] Figure 3This is a schematic diagram of a unicompartmental surgical robot system with an active platform provided in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of a joint space provided in an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of an operation method for unicompartmental surgery on an active platform provided in an embodiment of this application;

[0050] Figure 6 This is a schematic diagram of an operating device for unicompartmental surgery on an active platform provided in an embodiment of this application;

[0051] Figure 7 This is a schematic diagram of a surgical device provided in an embodiment of this application. Detailed Implementation

[0052] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0053] To facilitate understanding, we will first introduce the prosthesis used in unicompartmental knee replacement surgery on the mobile platform. For example... Figure 1 and Figure 2 The figures shown are schematic diagrams of a femoral prosthesis and a tibial prosthesis provided in embodiments of this application. Figure 1 The femoral prosthesis shown is a spherical prosthesis, shaped like a hemisphere, comprising an outer spherical surface 101 and an inner spherical surface 102. The inner spherical surface 102 of the femoral prosthesis also includes two columnar protrusions, namely… Figure 1 The first protrusion 103 and the second protrusion 104 are shown in the diagram. These two protrusions can act as fixation posts, serving to secure the femoral prosthesis after it has been inserted into the distal spherical surface following osteotomy. Typically, the first protrusion 103, which is closer to the center of the inner spherical surface 102, is thicker and longer than the second protrusion 104. Figure 2 The tibial prosthesis shown includes a tibial support 201 and a tibial pad 202, wherein the tibial pad 202 can rotate and move on the surface of the tibial support 201. Compared with the point contact of the prosthesis in fixed-platform unicompartmental surgery, the tibial support 201 and the tibial pad 202 use surface contact in the mobile-platform unicompartmental surgery, resulting in better postoperative recovery.

[0054] The mobile platform unicompartmental surgical robot system, equipment, and computer program product provided in this application embodiment are mobile platform unicompartmental knee replacement surgeries performed with the assistance of a surgical robot. Their purpose is to... Figure 1 and Figure 2 The femoral and tibial prostheses shown are implanted into the corresponding surgical sites of the patient's knee joint to restore the patient's knee joint function.

[0055] The technical solution of this application will be described below through specific embodiments.

[0056] Reference Figure 3 This illustration shows a schematic diagram of a unicompartmental surgical robot system with an active platform according to an embodiment of this application. Specifically, it may include a preoperative planning module 301, an intraoperative navigation module 302, and an intraoperative execution module 303; wherein:

[0057] The preoperative planning module 301 is used to determine the combination of surgical tools and the implantation location of the prosthesis.

[0058] The intraoperative navigation module 302 is used to perform joint space balance assessment based on the implantation location and determine the model of the first drilling tool to be used based on the results of the joint space balance assessment.

[0059] The intraoperative execution module 303 is used to perform various steps of a unicompartmental knee arthroplasty on the active platform by controlling the operation of the various surgical tools in the surgical tool assembly via the robotic arm.

[0060] It should be noted that the surgical robot system provided in this application embodiment refers to a surgical robot used to assist in performing unicompartmental knee replacement surgery on a mobile platform, which includes corresponding modules, units, and various surgical tools. These modules, units, and surgical tools can work together to complete unicompartmental knee replacement surgery. This application embodiment mainly describes the functions or roles played by the preoperative planning module 301, intraoperative navigation module 302, and intraoperative execution module 303 in performing unicompartmental knee replacement surgery on a mobile platform. Other related operations that need to be completed in both mobile platform and fixed platform surgeries, such as registration using a tracer, will not be described in this application embodiment.

[0061] In this embodiment, the surgical tool set can be a variety of surgical tools determined according to the planned surgical procedure, such as an oscillating saw, a drill, a limiting plate, a limiting piece, etc. This embodiment distinguishes between two types of surgical tool sets: a first tool set and a second tool set. The first tool set may include power tools, while the second tool set may not include power tools. The power tools here can be the oscillating saw, drill, etc., described in the foregoing examples.

[0062] In other words, depending on whether power tools are required, surgical tool combinations can be categorized into a first tool combination or a second tool combination, which are either power tool combinations or non-power tool combinations. Each type of tool combination has its advantages and disadvantages, and the decision can be made jointly by the doctor and patient based on the actual needs of the patient's knee surgery and the planned surgical procedure. This application does not impose any limitations on this approach.

[0063] In one possible implementation of this application embodiment, for surgeries requiring the use of power tools, the preoperative planning module 301 can plan the osteotomy safety area for the power tool to be used. The aforementioned osteotomy safety area limits the safe range of movement of the power tool during the osteotomy process.

[0064] For example, on related power tools directly connected to the robotic arm, such as oscillating saws and drills, due to their safety boundaries and depth protection, the preoperative planning module 301 can plan corresponding osteotomy safety areas based on these boundaries and depth protections. For instance, the safety area of ​​an oscillating saw can be a cuboid region formed by the oscillating saw's safety boundary and its osteotomy depth, the osteotomy depth of which can be determined based on its own depth protection information and the specific osteotomy plan. As another example, the safety area of ​​a drill can be a cylindrical region formed by the grinding area and grinding depth determined by the surgical plan.

[0065] The information on the safe area obtained from the above planning can be used as a constraint condition for the subsequent intraoperative execution module 303 during execution, so as to ensure that the osteotomy operation of the power tool is always carried out within the planned safe range.

[0066] The prostheses in this application embodiment include femoral prostheses and tibial prostheses, wherein the femoral prosthesis is a spherical prosthesis, that is, the prostheses in this application embodiment include Figure 1 and Figure 2 The two types of prostheses shown are illustrated. During the preoperative planning stage, the preoperative planning module 301 can plan the implantation location of the prosthesis according to the surgical needs. In the actual surgical procedure... Figure 1 and Figure 2 The femoral and tibial prostheses shown in the diagram need to be placed in their respective implantation positions.

[0067] In this embodiment, the preoperative planning module 301 can process the acquired medical images of the patient's knee joint to complete the planning of the prosthesis implantation position.

[0068] Specifically, the preoperative planning module 301 processes medical images of the knee joint, segments the femur and tibia, and obtains three-dimensional models of the patient's femur and tibia through 3D reconstruction. Based on this, the preoperative planning module 301 constructs femoral and tibial coordinate systems using manually selected femoral and tibial landmarks. Then, based on these coordinate systems and the corresponding parameters of the femoral and tibial prostheses, it determines the optimal implantation positions of the femoral and tibial prostheses, completing the preoperative planning and obtaining the corresponding preoperative planning scheme. The surgeon can then perform the surgery based on the obtained preoperative planning scheme with the assistance of the surgical robot system.

[0069] In this embodiment, the surgical robot system can utilize the intraoperative navigation module 302 to further evaluate and confirm the preoperative planning scheme. This process can refer to the intraoperative planning stage. During the intraoperative planning stage, the surgical robot system can evaluate the rationality and safety of the preoperative planning scheme through operations such as registration, and adjust it to obtain the final surgical plan to be executed during the operation.

[0070] During the intraoperative planning phase, the intraoperative navigation module 302 can perform joint space balance assessment based on the implantation position of the prosthesis obtained from the preoperative planning, and adjust the implantation position of the prosthesis and determine the amount of osteotomy in the distal femur according to the assessment results.

[0071] In one possible implementation of this application embodiment, based on the implantation location obtained through preoperative planning, the surgeon can place a trial prosthesis at the implantation location and then perform a joint space balance assessment. Specifically, when the trial prosthesis is placed at the implantation location, the intraoperative navigation module 302 can be used to monitor the joint space value during the patient's knee joint movement. This joint space value can refer to the distance between the spherical surface of the femoral prosthesis and the tibial pad in the tibial prosthesis. The intraoperative navigation module 302 can perform a joint space balance assessment based on the joint space value during the patient's knee joint movement.

[0072] like Figure 4 The diagram shown is a schematic representation of a joint space provided in an embodiment of this application. Figure 4 It can be seen as... Figure 1 femoral prosthesis and Figure 2 The tibial prosthesis is formed by combining the two parts, that is... Figure 4 The femoral prosthesis 401 and Figure 1 The femoral prosthesis shown is the same. Figure 4 Tibial prosthesis 402 and Figure 2 The tibial prosthesis shown is the same; tibial prosthesis 402 includes tibial pad prosthesis 403. The joint space value that needs to be monitored is... Figure 4 The distance between the femoral prosthesis 401 and the tibial pad prosthesis 403 (e.g.) Figure 4 The area 404 is outlined by the dashed line.

[0073] During the actual surgery, it is necessary to ensure that there is a certain distance between the implanted femoral prosthesis and the tibial prosthesis. In this way, after the patient recovers knee joint function after surgery, the femoral prosthesis will not be too tight or too loose, regardless of the angle of movement.

[0074] In this embodiment, the patient's knee joint movement can be achieved with the assistance of a doctor. For example, the doctor can lift the patient's thigh or lower leg, causing the patient's knee joint to be in an extended or flexed position. During this process, the range of angles of the patient's knee joint movement can be from -20 degrees to 160 degrees. That is, the doctor can lift the patient's knee joint and move it within the range of -20 degrees to 160 degrees. Specifically, when the patient's knee joint is extended so that the thigh and lower leg are in a straight line, the angle of extension and flexion of the knee joint can be close to 0 degrees; when the patient's knee joint is flexed so that the thigh and lower leg are perpendicular, the angle of extension and flexion of the knee joint can be close to 90 degrees. The above angle range can be determined according to the patient's actual movable angle, and this embodiment does not limit it.

[0075] As an example, when the patient's thigh and lower leg are straight, the angle of extension and flexion of the patient's knee joint can be approximated as 0 degrees; when the patient's thigh and lower leg form a structure similar to that formed when the patient is sitting, the angle of extension and flexion of the patient's knee joint can be approximated as 90 degrees.

[0076] In this embodiment, the surgical robot system can provide a display interface, which can display the joint space value of the patient's knee joint at any angle monitored by the intraoperative navigation module 302 during the process of the doctor assisting the patient in knee joint movement after the prosthesis trial mold is placed in the planned implantation position, thereby facilitating the doctor to perform joint space balance assessment.

[0077] In this embodiment, based on the results of the joint space balance assessment, the model of the first drilling tool to be used can also be determined. The model of the first drilling tool can be used to indicate the amount of femoral osteotomy. For example, based on the results of the joint space balance assessment, it can be determined which model of drilling tool, such as tool 0, tool 1, or tool 2, will be used when performing distal femoral osteotomy. The model of the first drilling tool indicates the thickness of bone to be removed from the distal femur. In this embodiment, the first drilling tool can assist in drilling a hole in the distal femur before osteotomy, allowing surgical instruments to remove bone of a thickness corresponding to its model. The hole drilled by the first drilling tool can be used to accommodate a prosthesis during subsequent placement. Figure 1 The first protrusion of the femoral prosthesis is 103.

[0078] Specifically, the intraoperative navigation module 302 can determine the amount of femoral osteotomy based on the joint space value during the patient's knee joint movement. This amount of femoral osteotomy can be used to indicate that after the femoral osteotomy is performed according to the corresponding thickness, the corresponding joint space value at any angle position during the patient's knee joint movement meets the preset distance requirement. This requirement can be determined according to the surgical plan.

[0079] In this way, the model of the first drilling tool to be used can be determined based on the amount of femoral osteotomy to be performed. For example, if a joint space balance assessment determines that 3 mm of bone needs to be removed from the distal femur, then a #3 drilling tool can be used. After drilling the #3 tool into the patient's femur using a surgical robot system, the surgeon can then use an osteotomy tool to remove 3 mm of bone from that area.

[0080] In this embodiment, since the distal femur of a patient typically also includes cartilage, the presence of cartilage can also affect the joint space balance. Therefore, in another possible implementation of this embodiment, the intraoperative navigation module 302 can also monitor the cartilage thickness at the site of osteotomy in the distal femur and determine the model of the first drilling tool to be used based on the joint space balance assessment results and the cartilage thickness.

[0081] Specifically, considering the cartilage thickness at the distal femoral osteotomy site, the sum of the cartilage thickness and the osteotomy amount determined by the joint space balance assessment can be used as the bone thickness to be removed. For example, the first osteotomy amount can be determined based on the joint space balance assessment results; for instance, the first osteotomy amount could be 3 mm as in the aforementioned example. If the osteotomy is performed directly according to this first osteotomy amount, a No. 3 drilling tool can be used. Considering the cartilage thickness, the intraoperative navigation module 302 can determine the model of the first drilling tool to be used based on the sum of the first osteotomy amount and the cartilage thickness. The femoral osteotomy amount represented by the model of the first drilling tool is greater than or equal to the sum of the first osteotomy amount and the aforementioned cartilage thickness.

[0082] For example, if the measured cartilage thickness at the site of osteotomy is 1 mm, then the sum of the first osteotomy amount and the cartilage thickness is 4 mm (equal to 3 mm of the first osteotomy amount + 1 mm of the cartilage thickness). Thus, a No. 4 drilling tool can be selected. In the actual osteotomy process, a No. 4 drilling tool can assist the osteotomy tool in removing 4 mm of bone from the distal femur.

[0083] It should be noted that the sum of the initial osteotomy amount determined based on the joint space balance assessment and the measured cartilage thickness may not be an integer. In practice, rounding up or down can be selected to determine the final osteotomy thickness, and thus the type of the first drilling tool to be used. For example, if the sum of the initial osteotomy amount and the cartilage thickness is 3.3 mm, a No. 3 drilling tool can be considered to remove 3 mm of bone from the distal femur during subsequent osteotomies. As another example, if the sum of the initial osteotomy amount and the cartilage thickness is 3.8 mm, a No. 4 drilling tool can be considered to remove 4 mm of bone from the distal femur during subsequent osteotomies. This application does not limit this specific calculation.

[0084] Based on the results of the joint space balance assessment, the model of the first drilling tool to be used for subsequent osteotomy can be directly determined, solving the problem in the prior art that it is necessary to evaluate sequentially from the smallest (0) drilling tool. Furthermore, because the prior art requires evaluation sequentially from the smallest drilling tool, it necessitates opening the medullary canal and inserting an intramedullary positioning rod into the patient's femoral medullary cavity before drilling, which causes greater harm to the patient. However, by using the surgical robot system provided in this application, the model of the first drilling tool to be used is directly determined based on the results of the joint space balance assessment. This eliminates the need for opening the medullary canal and inserting an intramedullary positioning rod; instead, the appropriate drilling tool can be directly drilled into the femur when osteotomy is required, reducing harm to the patient and facilitating faster postoperative recovery.

[0085] In this embodiment, after the intraoperative navigation module 302 completes operations such as joint space balance assessment and implantation position adjustment, the relevant operations of the intraoperative planning stage are completed. The surgical robot system can then enter the intraoperative execution stage. Using the intraoperative execution module 303, the robotic arm operates the various surgical tools in the surgical tool assembly to perform the various steps of the unicompartmental knee arthroplasty on the mobile platform. The various surgical steps to be performed by the intraoperative execution module 303 include the operation of osteotomy of the femur based on the aforementioned determined first drilling tool. Osteotomy of the femur using the first drilling tool can form a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0086] Specifically, the intraoperative execution module 303 can control the individual surgical tools in the robotic arm operation assembly to perform osteotomy based on a determined combination of surgical tools. For example, it can operate at least one electric tool in the first tool assembly and one or more non-electric tools that may be used to perform various steps of the osteotomy operation. Alternatively, it can operate multiple non-electric tools in the second tool assembly to perform various steps of the osteotomy operation.

[0087] In one possible implementation of this application embodiment, during the surgical operation using the first tool combination, the intraoperative execution module 303 can control the robotic arm to operate the oscillating saw to sequentially complete the osteotomy operations on the tibial plane and the posterior condyle of the femur; then control the robotic arm to operate the grinding drill or the drilling vertical guide plate to complete the osteotomy operation on the tibial sidewall; after that, the first drilling tool is nailed into the distal end of the femur, and the femur is osteotomized based on the first drilling tool, thereby forming a distal spherical surface on the femoral side.

[0088] In one possible implementation of this application embodiment, the preoperative planning module 301 has already planned the safe area for osteotomy using the power tool. During the surgery, the intraoperative execution module 303 needs to monitor the range of motion of the power tool in real time to ensure that the osteotomy operation is always performed within the planned safe range, thus ensuring the safety of the surgical procedure.

[0089] For example, the safe area of ​​the oscillating saw is a cuboid region formed by the safe boundary of the oscillating saw and its osteotomy depth, and the safe area of ​​the burr is a cylindrical region formed by the grinding area and grinding depth determined by the surgical plan. When performing osteotomy using the oscillating saw or burr, the intraoperative execution module 303 can use the above-planned safe area range as a constraint to monitor the position of the power tool in real time during the operation of the power tool by the robotic arm. For example, when the oscillating saw and burr move close to the safe boundary, the intraoperative execution module 303 can apply a force in the opposite direction to the robotic arm to prevent the oscillating saw and burr from exceeding the safe boundary. The above distance can be determined according to actual needs, and this embodiment does not limit it.

[0090] In another possible implementation of this application embodiment, during the surgical procedure using the second tool combination, the intraoperative execution module 303 can control the robotic arm to operate the limiting tool to sequentially complete osteotomy operations on the tibial plane, the posterior condyle of the femur, and the tibial lateral wall; then, a first drilling tool is inserted into the distal femur, and osteotomy is performed on the femur based on the first drilling tool, thereby forming a distal spherical surface on the femoral side. The aforementioned limiting tool may include limiting plates, limiting pieces, etc., and this application embodiment does not limit this.

[0091] The operation process of the intraoperative execution module 303 will be introduced below, taking into account specific surgical tools.

[0092] In this embodiment of the application, the surgical tools provided by the surgical robot system may include the following:

[0093] ①Operating saw;

[0094] ② Grinding the drill;

[0095] ③ Planar osteotomy guide plate;

[0096] ④ Vertical osteotomy guide plate;

[0097] ⑤ L-shaped planar osteotomy guide plate with vertical surface;

[0098] ⑥ Universal vertical guide plate with multiple holes;

[0099] ⑦ Ordinary perforated guide plate;

[0100] ⑧ Manual reciprocating saw;

[0101] ⑨ First drilling tool;

[0102] ⑩ Second drilling tool.

[0103] Among the aforementioned tools, the oscillating saw and the drill are power tools. Therefore, in the surgical plan determined preoperatively, if either the oscillating saw or the drill is used, the corresponding combination of surgical tools can be considered as the first tool combination (power tool combination); if the surgical procedure does not require the use of the oscillating saw or the drill, but instead utilizes relevant limiting tools for osteotomy, the corresponding combination of surgical tools used can be considered as the second tool combination (non-power tool combination).

[0104] Typically, the first drilling tool is also called the large post drill bit, and the second drilling tool is also called the small post drill bit. The hole drilled using the first drilling tool can be used for insertion. Figure 1 The first protrusion 103 on the femoral prosthesis has a hole drilled using a second drilling tool, which can be used to insert the second protrusion 104 on the femoral prosthesis.

[0105] In one possible implementation of this application embodiment, the first drilling tool can be a tool used only for drilling. That is, after determining the model of the first drilling tool to be used according to the methods described in the foregoing system embodiments, a hole can be drilled in the distal femur using the first drilling tool, and then a corresponding surgical tool matching the determined model of the first drilling tool is used to cut out a spherical surface suitable for the femoral prosthesis in the distal femur. For example, the surgical tool can be a grinding plug. In this process, the model of the first drilling tool determined according to the intraoperative joint space balance assessment results corresponds to the grinding plug. For example, if the intraoperative joint space balance assessment results determine that a 3mm first drilling tool is needed (i.e., 3mm of bone needs to be cut off in the distal femur to form a corresponding distal femoral spherical surface), a hole can first be drilled in the femur using a first drilling tool used only for drilling, and then a 3mm grinding plug is used to grind away 3mm of bone at that location to form a distal spherical surface suitable for the subsequently implanted femoral prosthesis.

[0106] In another possible implementation of this application, the first drilling tool can be a tool with both drilling and grinding functions. This tool can both create a hole in the femur for inserting the first protrusion of the femoral prosthesis by drilling, and create a spherical region in the distal femur that adapts to the spherical surface of the femoral prosthesis by grinding. That is, when the first drilling tool has both drilling and grinding functions, the model of the first drilling tool determined based on the intraoperative joint space balance assessment can refer to the model of the aforementioned tool with both drilling and grinding functions. For example, if the intraoperative joint space balance assessment determines that a 3mm first drilling tool is needed, then this first drilling tool can be used directly to drill a hole in the femur for inserting the first protrusion of the femoral prosthesis; then, the first drilling tool can be used to continue grinding, thereby creating a spherical region in the distal femur that adapts to the spherical surface of the femoral prosthesis.

[0107] The 10 surgical tools listed above can be combined in any way according to actual needs, and all of them can complete the entire process of osteotomy with the assistance of the surgical robot system provided in the embodiments of this application.

[0108] Specifically, the implantation position of the prosthesis is determined based on preoperative planning and intraoperative adjustments. For tibial osteotomy, the intraoperative execution module 303 can be used to align the tibial prosthesis implantation position, and the osteotomy can be performed using power tools connected to the robotic arm. Alternatively, a guide plate or other limiting tools can be used, followed by manual tools for osteotomy. For femoral osteotomy, the intraoperative execution module 303 can be used to align the femoral prosthesis implantation position, and the osteotomy or bone grinding can be performed using power tools connected to the robotic arm. Alternatively, a guide plate or other manual tools can be used for osteotomy or bone grinding.

[0109] Below, we introduce several possible combinations of surgical tools.

[0110] Example 1:

[0111] The first combination is: ①+⑥+⑧+⑨+⑩

[0112] The surgical tool kit provided in this example allows for osteotomy of the femoral and tibial sides using an oscillating saw and a universal perforated vertical guide plate.

[0113] Specifically, the oscillating saw and universal drilling vertical guide plate can be connected to the robotic arm. During surgery, the oscillating saw is first used to cut the tibial plane and the posterior condyle of the femur. Then, the universal drilling vertical guide plate is used to align the tibial sidewall, and the tibial sidewall is cut using a manual reciprocating saw. Afterward, the universal drilling vertical guide plate and the first and second drilling tools are used to align and drill holes at the distal end of the femur. According to the bone resection amount corresponding to the model of the first drilling tool, the bone of the corresponding thickness is cut off at the distal end of the femur to form a distal spherical surface that can fit the spherical surface inside the femoral prosthesis.

[0114] Example 2:

[0115] The second combination form: ①+②+⑨+⑩

[0116] The surgical tool kit provided in this example allows for osteotomy of the femoral and tibial sides using an oscillating saw and a drill.

[0117] Specifically, the oscillating saw and drill can be connected to the robotic arm, with the drill having interchangeable drill bits (first drilling tool, second drilling tool). During surgery, the oscillating saw is first used to cut the tibial plane and the posterior femoral condyle. Then, the drill is used to align and cut the tibial lateral wall, revealing the tibial lateral wall. Afterward, the drill, along with the first and second drilling tools, is used to align and drill holes in the distal femur. According to the bone removal amount corresponding to the model of the first drilling tool, the bone of the appropriate thickness is removed from the distal femur to form a distal spherical surface that can fit the internal spherical surface of the femoral prosthesis.

[0118] Example 3:

[0119] Non-power tool combination forms: ③+⑥+⑨+⑩, ③+④+⑦+⑨+⑩, ⑤+⑦+⑨+⑩

[0120] The surgical tool assemblies provided in this example are non-electric tool assemblies, meaning that none of the assemblies provided in this example include the aforementioned oscillating saw or grinding drill. During the surgery, manual tools are used for osteotomy operations on the femoral and tibial sides. In the non-electric tool assemblies, the first and second drilling tools can be tools used only for drilling holes; the grinding of the distal femoral spherical surface can be accomplished using other surgical tools (such as limiting tools among the non-electric tools).

[0121] For example, osteotomy can be performed using a combination of ③ planar osteotomy guide plate + ⑥ universal perforated vertical two-in-one guide plate; osteotomy can also be performed using a combination of ③ planar osteotomy guide plate + ④ vertical osteotomy guide plate + ⑦ ordinary perforated guide plate; or osteotomy can be performed using a combination of ⑤ L-shaped planar + vertical osteotomy guide plate + ⑦ ordinary perforated guide plate.

[0122] Taking the surgical tool combination ③+⑥+⑨+⑩ as an example, the planar osteotomy guide and the universal drilling vertical guide can be connected to the robotic arm. During the surgery, the planar osteotomy guide is first used for manual osteotomy to cut the tibial plane, tibial lateral wall, and femoral posterior condyle. Then, the universal drilling vertical guide is used to align with the planned holes on the femur, and the first and second drilling tools are used to drill holes. According to the osteotomy amount corresponding to the model of the first drilling tool, the bone of the corresponding thickness is cut off at the distal end of the femur to form a distal spherical surface that can fit the spherical surface inside the femoral prosthesis.

[0123] In this embodiment, the preoperative planning module of the surgical robot system can determine the surgical tool assembly and the implantation position of the prosthesis. Based on this, the intraoperative navigation module can perform a joint space balance assessment based on the determined implantation position, thereby determining the model of the first drilling tool to be used based on the assessment results. The model of the first drilling tool can be used to indicate the amount of osteotomy performed on the distal femur. Thus, the intraoperative execution module can control the robotic arm to operate each surgical tool in the surgical tool assembly to perform various steps of the unicompartmental knee arthroplasty on the active platform. For example, osteotomy operations on the tibial plane, posterior femoral condyle, and tibial lateral wall, as well as osteotomy operations on the distal femur based on the first drilling tool, thereby forming a distal spherical surface on the femoral side that fits the femoral prosthesis. This embodiment directly determines the model of the drilling tool through intraoperative joint space balance assessment, thus eliminating the need to evaluate the first drilling tool sequentially from the smallest size when performing osteotomy on the distal femoral surface, and also eliminating the need for medullary canal opening before evaluating the first drilling tool, reducing the trauma to the patient during the surgical procedure and improving surgical efficiency.

[0124] In conjunction with the aforementioned mobile platform unicompartmental surgical robot system, this application embodiment also provides an operation method for mobile platform unicompartmental surgery. (Refer to...) Figure 5 The diagram illustrates a method for performing unicompartmental surgery on an active platform according to an embodiment of this application. This method may specifically include the following steps:

[0125] S501. Determine the combination of surgical tools and the implantation location of the prosthesis, wherein the prosthesis includes a femoral prosthesis and a tibial prosthesis, and the femoral prosthesis is a spherical prosthesis.

[0126] S502. Based on the implantation location, perform a joint space balance assessment, and determine the model of the first drilling tool to be used according to the result of the joint space balance assessment. The model of the first drilling tool is used to indicate the amount of femoral osteotomy.

[0127] S503. Perform each step of the unicompartmental knee replacement surgery on the active platform by controlling the robotic arm to operate each surgical tool in the surgical tool assembly. The steps include osteotomy of the femur based on the first drilling tool to form a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0128] In one possible implementation of this application embodiment, the joint space balance assessment based on the implantation location in step S502 may specifically include:

[0129] With the prosthesis trial model placed at the implantation position, the joint space value during the patient's knee joint movement is monitored. The joint space value is the distance between the spherical surface of the femoral prosthesis and the tibial pad in the tibial prosthesis.

[0130] Joint space balance is assessed based on the joint space values ​​during the patient's knee joint movement.

[0131] In another possible implementation of this application embodiment, S502, determining the model of the first drilling tool to be used based on the result of the joint clearance balance assessment, may specifically include:

[0132] The amount of femoral osteotomy is determined based on the joint space value during the patient's knee joint movement.

[0133] The model of the first drilling tool to be used is determined based on the amount of femoral osteotomy.

[0134] Wherein, the femoral osteotomy amount is used to indicate that after the femoral osteotomy is performed according to the corresponding thickness, the joint space value at any angle position during the patient's knee joint movement meets the preset distance requirement.

[0135] In one possible implementation of this application embodiment, the step S502, which determines the model of the first drilling tool to be used based on the result of the joint clearance balance assessment, may further include:

[0136] Monitor the cartilage thickness at the distal femur osteotomy site;

[0137] The model of the first drilling tool to be used is determined based on the results of the joint space balance assessment and the cartilage thickness.

[0138] In this embodiment of the application, determining the model of the first drilling tool to be used based on the results of the joint space balance assessment and the cartilage thickness includes:

[0139] The first osteotomy amount is determined based on the results of the joint space balance assessment.

[0140] The model of the first drilling tool to be used is determined based on the sum of the first osteotomy amount and the cartilage thickness; wherein the femoral osteotomy amount represented by the model of the first drilling tool is greater than or equal to the sum of the first osteotomy amount and the cartilage thickness.

[0141] In this embodiment of the application, the surgical tool assembly includes a first tool assembly or a second tool assembly. The first tool assembly is a combination that includes power tools, and the second tool assembly is a combination that does not include the power tools. The power tools include at least one of a oscillating saw and a grinding drill.

[0142] In one possible implementation of this application embodiment, step S503 involves controlling a robotic arm to operate various surgical tools in the surgical tool assembly to perform various steps of a unicompartmental knee arthroplasty on an active platform. Specifically, this may include:

[0143] During the surgical procedure using the first tool combination, the robotic arm is controlled to operate the oscillating saw to sequentially perform osteotomy operations on the tibial plane and the posterior condyle of the femur;

[0144] The robotic arm is controlled to operate a drill or a vertical guide plate to complete the osteotomy of the tibial sidewall.

[0145] The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

[0146] In one possible implementation of this application embodiment, determining the surgical tool assembly in step S501 may further include:

[0147] Plan the safety area of ​​the power tools in the first tool set; wherein, the safety area of ​​the oscillating saw is a cuboid area formed by the planned safety boundary and the osteotomy depth of the oscillating saw, and the safety area of ​​the grinding drill is a cylindrical area formed by the planned grinding area and the grinding depth.

[0148] Accordingly, S503, which involves controlling the robotic arm to operate the various surgical tools in the surgical tool assembly to perform the various steps of a unicompartmental knee arthroplasty on the moving platform, may also include:

[0149] During the surgical procedure using the first tool combination, the osteotomy operation is monitored based on the safety zone of the power tool to prevent the power tool from exceeding the boundary of the safety zone.

[0150] In another possible implementation of this application embodiment, step S503, which involves controlling the robotic arm to operate the various surgical tools in the surgical tool assembly to perform the various steps of a unicompartmental knee arthroplasty on the active platform, may further include:

[0151] During the surgical procedure using the second tool combination, the robotic arm is controlled to operate the limiting tool to sequentially perform osteotomy operations on the tibial plane, the posterior condyle of the femur, and the tibial lateral wall;

[0152] The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

[0153] It should be noted that, Figure 5 The operation method of unicompartmental surgery on the active platform shown is quite similar to the operation process described in the aforementioned system embodiments; therefore, this application embodiment provides a relatively simple description. For Figure 5 For details regarding the operation method shown, please refer to the description of the corresponding part in the foregoing system embodiment, which will not be repeated here.

[0154] See Figure 6 This illustration shows a schematic diagram of an operating device for unicompartmental surgery on an active platform according to an embodiment of this application. The device may specifically include a planning module 601, an evaluation module 602, and an execution module 603; wherein:

[0155] Planning module 601 is used to determine the combination of surgical tools and the implantation position of the prosthesis, the prosthesis including a femoral prosthesis and a tibial prosthesis, the femoral prosthesis being a spherical prosthesis.

[0156] The evaluation module 602 is used to perform a joint space balance assessment based on the implantation location, and to determine the model of the first drilling tool to be used based on the result of the joint space balance assessment. The model of the first drilling tool is used to indicate the amount of femoral osteotomy.

[0157] The execution module 603 is used to perform various steps of a unicompartmental knee replacement surgery on an active platform by controlling the robotic arm to operate the various surgical tools in the surgical tool assembly. The steps include osteotomy of the femur based on the first drilling tool to form a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0158] The operating device for unicompartmental surgery using the above-mentioned activity platform can achieve the functions that can be achieved in the aforementioned system embodiments or method embodiments. Figure 6 The specific functions of each module can be found in the relevant content of the aforementioned system or method embodiments, and will not be repeated here.

[0159] Reference Figure 7 The diagram illustrates a surgical device provided in an embodiment of this application. Figure 7As shown, the surgical device 700 in this embodiment includes: a processor 710, a memory 720, and a computer program 721 stored in the memory 720 and executable on the processor 710. When the processor 710 executes the computer program 721, it implements the steps of the various embodiments of the above-described unicompartmental surgery operation method on an active platform, for example... Figure 5 The steps S501 to S503 are shown. Alternatively, when the processor 710 executes the computer program 721, it implements the functions of each module / unit in the above system embodiments, for example... Figure 3 The functions of modules 301 to 303 shown; or, Figure 6 The functions of modules 601 to 603 are shown.

[0160] For example, the computer program 721 can be divided into one or more modules / units, which are stored in the memory 720 and executed by the processor 710 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 721 in the surgical device 700. For example, the computer program 721 can be divided into a planning module, an evaluation module, and an execution module, with the specific functions of each module as follows:

[0161] The planning module is used to determine the combination of surgical tools and the implantation location of the prosthesis, which includes a femoral prosthesis and a tibial prosthesis, wherein the femoral prosthesis is a spherical prosthesis.

[0162] An evaluation module is used to perform a joint space balance assessment based on the implantation location, and to determine the model of a first drilling tool to be used based on the results of the joint space balance assessment. The model of the first drilling tool is used to indicate the amount of femoral osteotomy.

[0163] An execution module is used to perform various steps of a unicompartmental knee replacement surgery on an active platform by controlling a robotic arm to operate the various surgical tools in the surgical tool assembly. The steps include osteotomy of the femur based on the first drilling tool to form a distal spherical surface on the femoral side that is adapted to the femoral prosthesis.

[0164] The surgical device 700 can be a device capable of performing the functions of each module of the surgical robot system in the foregoing system embodiments, or a device capable of performing each step in the foregoing method embodiments. The surgical device 700 can be a desktop computer, cloud server, or similar device. The surgical device 700 may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that… Figure 7This is merely one example of surgical device 700 and does not constitute a limitation on surgical device 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, surgical device 700 may also include input / output devices, network access devices, buses, etc.

[0165] The processor 710 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0166] The memory 720 can be an internal storage unit of the surgical device 700, such as a hard disk or memory of the surgical device 700. The memory 720 can also be an external storage device of the surgical device 700, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, etc., equipped on the surgical device 700. Furthermore, the memory 720 can include both internal and external storage units of the surgical device 700. The memory 720 is used to store the computer program 721 and other programs and data required by the surgical device 700. The memory 720 can also be used to temporarily store data that has been output or will be output.

[0167] This application also discloses a surgical device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the surgical device performs the functions performed by the modules in the foregoing system / device embodiments, or performs the methods described in the foregoing method embodiments.

[0168] This application also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a computer, it performs the functions of the modules in the aforementioned system / device embodiments, or performs the methods described in the aforementioned method embodiments.

[0169] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to perform the functions of the modules in the aforementioned system / device embodiments, or causes the methods described in the aforementioned method embodiments to be executed.

[0170] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A unicompartmental surgical robot system with an active platform, characterized in that, include: The preoperative planning module is used to determine the combination of surgical tools and the implantation location of the prosthesis, which includes a femoral prosthesis and a tibial prosthesis, wherein the femoral prosthesis is a spherical prosthesis; The intraoperative navigation module is used to monitor the cartilage thickness at the distal femur osteotomy site and to perform joint space balance assessment based on the implantation location. Based on the joint space balance assessment results and the cartilage thickness, the model of the first drilling tool to be used is determined, and the model of the first drilling tool is used to indicate the amount of femoral osteotomy. The intraoperative execution module is used to perform various steps of a unicompartmental knee arthroplasty on an active platform by controlling the operation of the various surgical tools in the surgical tool assembly via a robotic arm. The steps include, without the need to insert an intramedullary positioning rod, inserting the first drilling tool into the distal femur and removing bone of a thickness corresponding to the amount of bone removed from the distal femur to form a distal spherical surface on the femoral side that fits the femoral prosthesis.

2. The system according to claim 1, characterized in that, The intraoperative navigation module is specifically used for: With the prosthesis trial model placed at the implantation position, the joint space value during the patient's knee joint movement is monitored. The joint space value is the distance between the spherical surface of the femoral prosthesis and the tibial pad in the tibial prosthesis. Joint space balance is assessed based on the joint space values ​​during the patient's knee joint movement.

3. The system according to claim 2, characterized in that, The intraoperative navigation module is also specifically used for: The amount of femoral osteotomy is determined based on the joint space value during the patient's knee joint movement. The model of the first drilling tool to be used is determined based on the amount of femoral osteotomy. Wherein, the femoral osteotomy amount is used to indicate that after the femoral osteotomy is performed according to the corresponding thickness, the joint space value at any angle position during the patient's knee joint movement meets the preset distance requirement.

4. The system according to claim 1, characterized in that, The step of determining the model of the first drilling tool to be used based on the results of the joint space balance assessment and the cartilage thickness includes: The first osteotomy amount is determined based on the results of the joint space balance assessment. The model of the first drilling tool to be used is determined based on the sum of the first osteotomy amount and the cartilage thickness; wherein the femoral osteotomy amount represented by the model of the first drilling tool is greater than or equal to the sum of the first osteotomy amount and the cartilage thickness.

5. The system according to any one of claims 1 to 4, characterized in that, The surgical tool set includes a first tool set or a second tool set, wherein the first tool set includes a power tool and the second tool set does not include the power tool, and the power tool includes at least one of a oscillating saw and a grinding drill.

6. The system according to claim 5, characterized in that, The intraoperative execution module is specifically used for: During the surgical procedure using the first tool combination, the robotic arm is controlled to operate the oscillating saw to sequentially perform osteotomy operations on the tibial plane and the posterior condyle of the femur; The robotic arm is controlled to operate a drill or a vertical guide plate to complete the osteotomy of the tibial sidewall. The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

7. The system according to claim 5, characterized in that, The intraoperative execution module is specifically used for: During the surgical procedure using the second tool combination, the robotic arm is controlled to operate the limiting tool to sequentially perform osteotomy operations on the tibial plane, the posterior condyle of the femur, and the tibial lateral wall; The first drilling tool is inserted into the distal end of the femur, and osteotomy is performed on the femur based on the first drilling tool to form the distal spherical surface on the femur side.

8. A surgical device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the surgical device performs the following method: The combination of surgical tools and the implantation location of the prosthesis are determined, wherein the prosthesis includes a femoral prosthesis and a tibial prosthesis, and the femoral prosthesis is a spherical prosthesis; Monitor the cartilage thickness at the distal femur osteotomy site and perform joint space balance assessment based on the implantation location. Determine the model of the first drilling tool to be used based on the results of the joint space balance assessment and the cartilage thickness. The model of the first drilling tool is used to indicate the amount of femoral osteotomy. By controlling the robotic arm to operate the various surgical tools in the surgical tool assembly, the various steps of a unicompartmental knee replacement surgery on the active platform are performed. The steps include, without the need to insert an intramedullary positioning rod, inserting the first drilling tool into the distal femur and removing bone at the distal femur of a thickness corresponding to the amount of femoral resection, so as to form a distal spherical surface on the femoral side that fits the femoral prosthesis.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is run, the following method is executed: The surgical tool combination and the implantation location of the prosthesis are determined, the prosthesis including a femoral prosthesis and a tibial prosthesis, the femoral prosthesis being a spherical prosthesis; Monitor the cartilage thickness at the distal femur osteotomy site and perform joint space balance assessment based on the implantation location. Determine the model of the first drilling tool to be used based on the results of the joint space balance assessment and the cartilage thickness. The model of the first drilling tool is used to indicate the amount of femoral osteotomy. A surgical tool assembly is determined, and the various steps of a unicompartmental knee arthroplasty are performed by controlling a robotic arm to operate the individual surgical tools in the surgical tool assembly. The steps include, without the need to insert an intramedullary positioning rod, inserting the first drilling tool into the distal femur and removing bone of a thickness corresponding to the amount of bone removed from the distal femur to form a distal spherical surface on the femoral side that fits the femoral prosthesis.

Images