Orthopedic surgical robot system and orthopedic surgical robot operating method

Abstract

An orthopedic surgical robot system (100) and an orthopedic surgical robot operating method. The system comprises: a preoperative planning module (101) for acquiring image data of a surgical site, reconstructing a three-dimensional model of the surgical site on the basis of the image data, and determining a preoperative planning result on the basis of the three-dimensional model; a control module (102) for acquiring the preoperative planning result, and on the basis of the preoperative planning result, controlling a navigator (103) and a robotic arm (104) to perform surgical registration, alignment, and surgical operations; and an evaluation module (105) for performing post-operative evaluation on the surgical site after the surgical operation. The orthopedic surgical robot system (100) can improve the degree of integration of an orthopedic surgical robot, and is applied to different orthopedic surgical scenes.

Description

Orthopedic surgical robot system and orthopedic surgical robot operation method

[0001] Related applications

[0002] This application claims priority to the Chinese patent application filed on October 9, 2023, with application number 202311295654.7, entitled “A spinal alignment method, device, equipment and storage medium”, and the Chinese patent application filed on December 1, 2023, with application number 202311628632.8, entitled “A joint alignment result verification method based on CT-assisted views and related equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of medical device technology, and in particular to an orthopedic surgical robot system and an orthopedic surgical robot operating method. Background Art

[0004] Orthopedic surgical robots can be used in hip and knee replacement surgeries, but most of the orthopedic surgical robots currently on the market can only adapt to a single type of orthopedic surgery and cannot meet the needs of different medical institutions for full orthopedic and multi-type orthopedic surgeries. Therefore, the existing orthopedic surgical robots have low integration and single functions. If a hospital wants to implement full orthopedic robotic surgery, it needs to purchase multiple surgical robots of different types.

[0005] There is currently no effective solution to the problems of low integration and single function of orthopedic surgical robots in related technologies.

[0006] Summary of the Invention

[0007] In this embodiment, an orthopedic surgical robot system and an orthopedic surgical robot operation method are provided to solve the problems of low integration and single function of orthopedic surgical robots in related technologies.

[0008] In a first aspect, an orthopedic surgical robot system is provided in this embodiment, and the orthopedic surgical robot system includes:

[0009] Preoperative planning module, control module, navigator, robotic arm, and evaluation module;

[0010] The preoperative planning module is configured to acquire image data of the surgical site, reconstruct a three-dimensional model of the surgical site based on the image data, and determine a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth;

[0011] The control module is connected to the preoperative planning module, the navigator and the robotic arm respectively, and is used to obtain the preoperative planning results, and control the navigator and the robotic arm to perform surgical registration, alignment and surgical operation based on the preoperative planning results;

[0012] The evaluation module is connected to the control module and is used to perform a postoperative evaluation on the surgical site after the surgical operation.

[0013] In some of the embodiments, the preoperative planning module includes: an image segmentation submodule, a model reconstruction submodule, and a planning submodule;

[0014] An image segmentation submodule is used to obtain image data of the surgical site and perform image segmentation on the image data to obtain segmented sub-images;

[0015] The model reconstruction submodule is connected to the image segmentation submodule, and is used to obtain the segmented sub-images in the image segmentation submodule, and perform three-dimensional model reconstruction based on the segmented sub-images to obtain a three-dimensional model of the part to be operated on;

[0016] The planning submodule is connected to the model reconstruction submodule, and is used to obtain the three-dimensional model of the part to be operated on in the model reconstruction submodule, and determine the preoperative planning result based on the three-dimensional model of the part to be operated on.

[0017] In some of these embodiments, the image data of the site to be operated on includes hip joint image data;

[0018] The image segmentation submodule is specifically used to: perform image segmentation on the hip joint image data to obtain segmented hip joint sub-images;

[0019] The model reconstruction submodule is specifically used to: perform three-dimensional model reconstruction based on the segmented hip joint sub-image to obtain a hip bone model and / or a femur model;

[0020] The planning submodule is specifically used to determine the preoperative planning results of the hip joint based on the hip model and / or femoral model, and the preoperative planning results of the hip joint include the hip prosthesis and / or femoral prosthesis, the installation position of the hip prosthesis and / or femoral prosthesis, the grinding angle and the grinding depth.

[0021] In some of the embodiments, the image data of the part to be operated on includes knee joint image data;

[0022] The image segmentation submodule is specifically used to: perform image segmentation on the knee joint image data to obtain segmented knee joint sub-images;

[0023] The model reconstruction submodule is specifically used to: reconstruct a three-dimensional model based on the segmented knee joint sub-image to obtain a femur model and a tibia model;

[0024] The planning submodule is specifically used to determine the preoperative planning results of the knee joint based on the femoral model and the tibial model, and the preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation positions of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

[0025] In some of these embodiments, the image data of the site to be operated on includes spinal image data;

[0026] The image segmentation submodule is specifically used to: perform image segmentation on the spinal image data to obtain segmented spinal sub-images;

[0027] The model reconstruction submodule is specifically used to: perform three-dimensional model reconstruction based on the segmented spine sub-image to obtain a spine model;

[0028] The planning submodule is specifically used to determine a spinal preoperative planning result based on the spinal model, wherein the spinal preoperative planning result includes a screw type, a screw installation position, a screw installation angle, and a screw installation depth that match the spinal model.

[0029] In some embodiments, a registration probe is provided on the robotic arm, and the preoperative planning result further includes a running path of the registration probe;

[0030] The control module includes a registration unit, which is used to: determine the first posture information of the registered probe in the robotic arm coordinate system based on the running path, control the navigator to track the registered probe, determine the second posture information of the registered probe in the navigator coordinate system, and determine the coordinate conversion relationship between the navigator and the robotic arm based on the first posture information and the second posture information.

[0031] In some embodiments, the surgical site includes real registration points, and the preoperative planning result further includes model registration points corresponding to the real registration points;

[0032] The control module includes a registration unit, which is used to: control the robotic arm to move to the real registration point, determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

[0033] In some embodiments, the evaluation module includes: an image acquisition unit and a display unit, wherein the image acquisition unit is connected to the display unit;

[0034] The image acquisition unit is used to acquire postoperative image data of the surgical site after the surgical operation and transmit the postoperative image data to the display unit;

[0035] The display unit is used to display the postoperative image data, so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

[0036] In a second aspect, an orthopedic surgical robot operation method is provided in this embodiment. The method is applied to the orthopedic surgical robot system described in the first aspect, and the method includes:

[0037] Acquiring image data of a site to be operated on, reconstructing a three-dimensional model of the site to be operated on based on the image data, and determining a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth;

[0038] Acquiring the preoperative planning results, and controlling the navigator and the robotic arm to perform surgical registration, alignment, and surgical operation based on the preoperative planning results;

[0039] Perform a postoperative assessment of the surgical site after the surgical procedure.

[0040] In some embodiments, reconstructing a three-dimensional model of the surgical site based on the image data includes:

[0041] Performing image segmentation on the image data to obtain segmented sub-images;

[0042] A three-dimensional model is reconstructed based on the segmented sub-images to obtain a three-dimensional model of the area to be operated on.

[0043] In some of these embodiments, the image data of the site to be operated on includes hip joint image data;

[0044] The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the hip joint image data to obtain segmented hip joint sub-images;

[0045] The performing three-dimensional model reconstruction based on the segmented sub-image to obtain a three-dimensional model of the part to be operated on comprises: performing three-dimensional model reconstruction based on the segmented hip joint sub-image to obtain a hip bone model and / or a femur model;

[0046] Determining the preoperative planning results based on the three-dimensional model includes: determining the preoperative planning results of the hip joint based on the hip model and / or femoral model, and the preoperative planning results of the hip joint include the hip prosthesis and / or femoral prosthesis, the installation position of the hip prosthesis and / or femoral prosthesis, the grinding angle and the grinding depth.

[0047] In some of the embodiments, the image data of the part to be operated on includes knee joint image data;

[0048] The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the knee joint image data to obtain segmented knee joint sub-images;

[0049] The three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the surgical site includes: reconstructing the three-dimensional model based on the segmented knee joint sub-image to obtain a femur model and a tibia model;

[0050] The determining of the preoperative planning results based on the three-dimensional model includes: determining the preoperative planning results of the knee joint based on the femoral model and the tibial model, and the preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation positions of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

[0051] In some of these embodiments, the image data of the site to be operated on includes spinal image data;

[0052] The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the spine image data to obtain segmented spine sub-images;

[0053] The three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the part to be operated on comprises: reconstructing the three-dimensional model based on the segmented spine sub-image to obtain a spine model;

[0054] Determining the preoperative planning result based on the three-dimensional model includes: determining the preoperative planning result of the spine based on the spine model, and the preoperative planning result of the spine includes the screw type, screw installation position, screw installation angle and screw installation depth matching the spine model.

[0055] In some embodiments, a registration probe is provided on the robotic arm, and the preoperative planning result further includes a running path of the registration probe;

[0056] The controlling the navigator and the robotic arm to perform surgery registration based on the preoperative planning result includes:

[0057] Based on the running path, determining the first pose information of the registered probe in the robotic arm coordinate system;

[0058] Controlling the navigator to track the registered probe, and determining second pose information of the registered probe in the navigator coordinate system;

[0059] Based on the first posture information and the second posture information, a coordinate transformation relationship between the navigator and the robotic arm is determined.

[0060] In some embodiments, the surgical site includes real registration points, and the preoperative planning result further includes model registration points corresponding to the real registration points;

[0061] The controlling the navigator and the robotic arm to perform surgical registration based on the preoperative planning result includes:

[0062] Control the robotic arm to move to the real registration point, determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

[0063] In some embodiments, performing a postoperative assessment of the surgical site after the surgical procedure includes:

[0064] Obtain postoperative imaging data of the surgical site after surgical operation;

[0065] The postoperative image data is displayed so that a user can perform a postoperative evaluation based on the displayed postoperative image data.

[0066] In the above implementation process, the control module is connected to the preoperative planning module, the navigator and the robotic arm respectively, so that the navigator and the robotic arm can be controlled according to the preoperative plan, so that the orthopedic surgical robot system can control the operation when applied to different orthopedic operations. In addition, the control module is also connected to the evaluation module to realize surgical evaluation, which enriches the functions of the orthopedic surgical robot and improves the integration level and application scenarios of the orthopedic surgical robot.

[0067] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to better describe and illustrate the embodiments and / or examples of the inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the accompanying drawings should not be considered to limit the scope of the disclosed inventions, the presently described embodiments and / or examples, and any of the best modes currently understood for these inventions.

[0069] FIG1 is a schematic structural diagram of an orthopedic surgical robot system provided in an embodiment of the present application;

[0070] FIG2 is a schematic diagram of a hip bone model provided in an embodiment of the present application;

[0071] FIG3 is a schematic diagram of a knee joint model provided in an embodiment of the present application;

[0072] FIG4 is a schematic diagram of a spinal column model provided in an embodiment of the present application;

[0073] FIG5 is a schematic diagram of a trauma surgery provided in an embodiment of the present application;

[0074] FIG6 is a schematic diagram of an orthopedic surgical robot system provided in an embodiment of the present application;

[0075] FIG7 is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0077] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0078] Orthopedic surgical robots can be used in hip and knee replacement surgeries, but most of the orthopedic surgical robots currently on the market can only adapt to a single type of orthopedic surgery and cannot meet the needs of different medical institutions for full orthopedic and multi-type orthopedic surgeries. Therefore, the existing orthopedic surgical robots have low integration and single functions. If a hospital wants to implement full orthopedic robotic surgery, it needs to purchase multiple surgical robots of different types.

[0079] There is currently no effective solution to the problems of low integration and single function of orthopedic surgical robots in related technologies.

[0080] An embodiment of the present application provides an orthopedic surgical robot system. Figure 1 is a structural schematic diagram of an orthopedic surgical robot system provided by an embodiment of the present application. As shown in Figure 1, the orthopedic surgical robot system 100 includes: a preoperative planning module 101, a control module 102, a navigator 103, a robotic arm 104 and an evaluation module 105.

[0081] A preoperative planning module 101 is configured to acquire image data of a surgical site, reconstruct a three-dimensional model of the surgical site based on the image data, and determine a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth;

[0082] The control module 102 is connected to the preoperative planning module 101, the navigator 103 and the robotic arm 104 respectively, and is used to obtain the preoperative planning results and control the navigator and the robotic arm to perform surgical registration, alignment and surgical operations based on the preoperative planning results;

[0083] The evaluation module 104 is connected to the control module 102 and is used to perform a postoperative evaluation on the surgical site after the surgical operation.

[0084] For example, the preoperative planning module 101 may be connected to an imaging device to acquire image data of the surgical site captured by the imaging device. The imaging device may be a CT device, and the image data may be CT data. Alternatively, the imaging device may be a binocular camera, and the image data may be images captured by the binocular camera. Furthermore, the preoperative planning module 101 performs three-dimensional reconstruction based on the acquired image data to generate a three-dimensional model of the surgical site. Preoperative planning is then performed based on the requirements of different surgical sites, determining at least one preoperative planning result for the surgical mold type, surgical operation position, surgical operation angle, and surgical operation depth.

[0085] Furthermore, the control module 102 controls the navigator and the robotic arm to perform surgical registration, registration, and surgical operations based on the preoperative planning results. Specifically, the control module 102 uses a calibration algorithm to obtain a transformation matrix to achieve conversion between different coordinate systems. In essence, it uses mathematical methods to calculate the high-precision parameters of the robotic arm. And uses a registration algorithm to obtain the mapping relationship between different spaces, or the relative position relationship. The registration algorithm realizes the registration of the three-dimensional model of the surgical site after three-dimensional reconstruction with the patient's actual bones based on the spatial information contained in the point cloud data. Only after the registration is successful can the functions of surgical navigation and visualization be realized. Through optical positioning and inertial tracking, a fast and robust optical-inertial hybrid tracking system is constructed, as well as a fast bone surface point cloud acquisition and point cloud registration method, so as to realize the surgical robot's accurate expression of the three-dimensional topological structure of the bone surface, automatic registration and global optimization of the coordinate space, and real-time high-precision surgical instrument position prediction and posture tracking.

[0086] Through force-position coupling control, "robot-operator collaborative control" and a boundary force feedback safety strategy, force feedback is achieved during operation, establishing an overall control strategy for "human-robot collaborative control." The robot performs real-time safety monitoring and achieves the contact operations required for surgery. A collaborative safety strategy with boundary force feedback ensures seamless integration of control strategies across different operating areas, ensuring a safe and reliable surgical process.

[0087] Finally, the evaluation module 104 obtains various data of the surgical site after the surgical operation and performs a postoperative evaluation of the surgical operation based on the various data. Specifically, the various data may include information such as the position, state, angle, and depth of the surgical site after the surgical operation.

[0088] In the above implementation process, the control module is connected to the preoperative planning module, the navigator and the robotic arm respectively, so that the navigator and the robotic arm can be controlled according to the preoperative plan, so that the orthopedic surgical robot system can control the operation when applied to different orthopedic operations. The control module is also connected to the evaluation module and can also realize surgical evaluation, which enriches the functions of the orthopedic surgical robot and improves the integration level and application scenarios of the orthopedic surgical robot.

[0089] In some embodiments, the preoperative planning module includes: an image segmentation submodule, a model reconstruction submodule, and a planning submodule.

[0090] The image segmentation submodule is used to obtain image data of the surgical site and perform image segmentation on the image data to obtain segmented sub-images.

[0091] The model reconstruction submodule is connected to the image segmentation submodule, and is used to obtain the segmented sub-images in the image segmentation submodule, and reconstruct a three-dimensional model based on the segmented sub-images to obtain a three-dimensional model of the part to be operated on.

[0092] The planning submodule is connected to the model reconstruction submodule, and is used to obtain the three-dimensional model of the part to be operated on in the model reconstruction submodule, and determine the preoperative planning result based on the three-dimensional model of the part to be operated on.

[0093] Exemplarily, the preoperative planning module may include: an image segmentation submodule, a model reconstruction submodule, and a planning submodule.

[0094] The image segmentation submodule acquires image data of the surgical site and performs image segmentation on the image data to obtain segmented sub-images. Specifically, the image segmentation submodule can use a region growing segmentation algorithm and a threshold segmentation algorithm to segment the image data to obtain segmented sub-images.

[0095] The model reconstruction submodule takes the segmented subimages from the image segmentation submodule and reconstructs a 3D model based on them, producing a 3D model of the surgical site. Specifically, the model reconstruction submodule uses a local reconstruction algorithm to perform 3D reconstruction on the segmented data. Furthermore, the surgeon can extract the location and contours of the surgical site from the patient's imaging data with limited intervention.

[0096] The planning submodule obtains the 3D model of the surgical site from the model reconstruction submodule and determines the preoperative planning results based on the 3D model of the surgical site. Specifically, the 3D model of the surgical site can be used to determine the prosthesis selection, intraoperative osteotomy angle and depth settings, and prosthesis installation location settings. Alternatively, the prosthesis selection, intraoperative grinding angle and depth settings, prosthesis installation location settings, and the selection of intraoperative registration feature points can be determined to provide data support for intraoperative navigation.

[0097] In the above implementation process, the image data of the surgical site is segmented by the image segmentation submodule, so that the image including the surgical site can be accurately determined from the image data, thereby facilitating the model reconstruction submodule to perform three-dimensional reconstruction based on the image of the surgical site, and preoperative planning of the surgical site is realized through the planning submodule.

[0098] In some embodiments, the image data of the surgical site includes hip joint image data.

[0099] The image segmentation submodule is specifically used to perform image segmentation on the hip joint image data to obtain the segmented hip joint sub-image.

[0100] The model reconstruction submodule is specifically used to reconstruct a three-dimensional model based on the segmented hip joint sub-image to obtain a hip bone model and / or a femur model.

[0101] The planning submodule is specifically used to determine the preoperative planning results of the hip joint based on the hip model and / or femoral model. The preoperative planning results of the hip joint include the hip prosthesis and / or femoral prosthesis, the installation position of the hip prosthesis and / or femoral prosthesis, the grinding angle and the grinding depth.

[0102] Specifically, if the part to be operated on is the hip joint, the image data of the part to be operated on is the hip joint image data. Furthermore, the image segmentation submodule performs image segmentation on the hip joint image data to obtain the segmented hip joint sub-image. Then, the model reconstruction submodule performs three-dimensional model reconstruction based on the segmented hip joint sub-image to obtain a hip bone model and / or a femoral model. In addition, the planning submodule can determine the preoperative planning results of the hip joint based on the hip bone model and / or the femoral model. The preoperative planning results of the hip joint include the hip prosthesis and / or the femoral prosthesis, the installation position of the hip prosthesis and / or the femoral prosthesis, the grinding angle and the grinding depth. Specifically, the prosthesis selection, the intraoperative grinding angle and depth setting, the prosthesis installation position setting, and the intraoperative registration feature point selection are completed based on the reconstructed hip bone model and / or the femoral model to provide data support for intraoperative navigation, as shown in Figure 2, which is a schematic diagram of a hip bone model provided in an embodiment of the present application.

[0103] Furthermore, the control module controls the navigator and the robotic arm to perform surgical registration, alignment, and surgical operation according to the preoperative planning results of the hip joint, thereby realizing the surgical operation on the hip joint.

[0104] This orthopedic surgical robot system can accurately design the size, orientation, and post-placement mechanical balance of a hip prosthesis based on a 3D model generated from preoperative CT images. It also utilizes 3D visualization and force feedback technology to polish the acetabulum within the pre-planned surgical range. Combined with a robotic arm, it provides the surgeon with comprehensive visual, auditory, and tactile feedback during surgery, enabling accurate polishing to match the prosthesis size. It can also obtain the required surgical parameters during surgery and adjust the prosthesis's position accordingly. During surgery, the navigation trolley's binocular camera provides the surgeon with real-time navigation and position tracking, ensuring the prosthesis installation is consistent with the surgical plan.

[0105] In the above implementation process, the hip joint image data is processed through the image segmentation submodule, the model reconstruction submodule and the planning submodule, so that the orthopedic surgical robot system can realize the preoperative planning of the hip joint, thereby facilitating the control module to control the navigator and the robotic arm to perform surgical registration, alignment and surgical operations on the hip joint.

[0106] In some embodiments, the image data of the surgical site includes knee joint image data.

[0107] The image segmentation submodule is specifically used to perform image segmentation on the knee joint image data to obtain the segmented knee joint sub-image.

[0108] The model reconstruction submodule is specifically used to reconstruct a three-dimensional model based on the segmented knee joint sub-image to obtain a femur model and a tibia model.

[0109] The planning submodule is specifically used to determine the preoperative planning results of the knee joint based on the femoral model and the tibial model. The preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation position of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

[0110] Exemplarily, if the part to be operated on is the knee joint, the image data of the part to be operated on is the knee joint image data. Furthermore, the image segmentation submodule performs image segmentation on the knee joint image data to obtain the segmented knee joint sub-image. Then, the model reconstruction submodule performs three-dimensional model reconstruction based on the segmented knee joint sub-image to obtain a femoral model and a tibial model. The planning submodule determines the preoperative planning results of the knee joint based on the femoral model and the tibial model. Specifically, the reconstructed three-dimensional model completes the prosthesis selection, intraoperative osteotomy angle and depth setting, prosthesis installation position setting, and intraoperative registration feature point selection, providing data support for intraoperative navigation, as shown in Figure 3, which is a schematic diagram of a knee joint model provided in an embodiment of the present application.

[0111] Furthermore, the control module controls the navigator and the robotic arm to perform surgical registration, alignment, and surgical operation according to the preoperative planning results of the knee joint, thereby realizing the surgical operation on the knee joint.

[0112] This orthopedic surgical robot system can accurately design the size, direction and mechanical balance of the knee joint prosthesis after placement based on the 3D model generated by the preoperative CT image; use 3D visualization technology and force feedback technology to perform osteotomy within the pre-set surgical range; combined with the robotic arm, it can provide the doctor with full-range visual, auditory and tactile feedback during the operation, accurately cut the bone and obtain a location that matches the prosthesis size; it can obtain the parameters required for the operation during the operation and adjust the placement of the prosthesis according to the parameters; during the operation, the binocular camera of the navigation trolley provides the doctor with real-time navigation and position tracking functions to ensure that the prosthesis installation result is consistent with the surgical plan.

[0113] In the above implementation process, the knee joint image data is processed through the image segmentation submodule, the model reconstruction submodule and the planning submodule, so that the orthopedic surgical robot system can realize the preoperative planning of the knee joint, thereby facilitating the control module to control the navigator and the robotic arm to perform surgical registration, alignment and surgical operations on the knee joint.

[0114] In some of these embodiments, the image data of the site to be operated on includes spinal image data;

[0115] The image segmentation submodule is specifically used to: perform image segmentation on the spinal image data to obtain segmented spinal sub-images;

[0116] The model reconstruction submodule is specifically used to: reconstruct a three-dimensional model based on the segmented spine sub-image to obtain a spine model;

[0117] The planning submodule is specifically used to determine the spinal preoperative planning results based on the spinal model. The spinal preoperative planning results include the screw type, screw installation position, screw installation angle and screw installation depth that match the spinal model.

[0118] For example, if the surgical site is the spine, the image data of the surgical site is the spine image data. Furthermore, the image segmentation submodule performs image segmentation on the spine image data to obtain a segmented spine sub-image. Then, the model reconstruction submodule performs three-dimensional model reconstruction based on the segmented spine sub-image to obtain a spine model. The planning submodule determines the preoperative planning results of the spine based on the spine model. Specifically, the reconstructed three-dimensional model completes the screw selection, intraoperative screw placement angle, depth, position setting, and intraoperative registration feature point selection, providing data support for intraoperative navigation, as shown in Figure 4, which is a schematic diagram of a spine model provided in an embodiment of the present application.

[0119] Furthermore, the control module controls the navigator and the robotic arm to perform surgical registration, alignment, and surgical operation according to the preoperative planning results of the spine, thereby realizing the surgical operation on the spine.

[0120] This orthopedic surgical robot system can accurately design the size and orientation of pedicle screws based on a 3D model generated from preoperative CT images. It utilizes 3D visualization and force feedback technology to navigate screw placement within a pre-set surgical range. Combined with a robotic arm, it provides the surgeon with comprehensive visual, auditory, and tactile feedback during surgery, accurately placing the screws within the pre-set channel. It can also obtain the required surgical parameters during the procedure and adjust the screw's position accordingly. During surgery, the navigation trolley's binocular camera provides the surgeon with real-time navigation and position tracking, ensuring screw placement is consistent with the surgical plan.

[0121] In the above implementation process, the spinal imaging data is processed through the image segmentation submodule, the model reconstruction submodule and the planning submodule, so that the orthopedic surgical robot system can realize preoperative planning of the spine, thereby facilitating the control module to control the navigator and the robotic arm to perform surgical registration, alignment and surgical operations on the spine.

[0122] In some embodiments, the image data of the surgical site may also include image data of a wound site.

[0123] For example, if the surgical site is a certain trauma site, the image data of the surgical site is the trauma site data. Furthermore, the image segmentation submodule performs image segmentation on the trauma site image data to obtain a sub-image of the trauma site after segmentation. The planning submodule accurately calculates the size and direction of the screw based on the screw channel planned by the trauma site sub-image. Using two-dimensional / three-dimensional information interaction technology and force feedback technology, nail placement navigation is performed in the screw channel planned during the operation. The control module controls the robotic arm to provide the doctor with all-round visual, auditory and tactile feedback during the operation to accurately insert the screws; and can obtain the parameters required for the operation during the operation, and adjust the position of the screws according to the parameters; during the operation, the binocular camera of the navigation trolley provides the doctor with real-time navigation and position tracking functions to ensure that the screw placement result is consistent with the surgical plan. As shown in Figure 5, Figure 5 is a schematic diagram of a trauma surgery provided in an embodiment of the present application.

[0124] In some of the embodiments, a registration probe is provided on the robotic arm, and the preoperative planning result further includes a movement path of the registration probe;

[0125] The control module includes a registration unit, which is used to: determine the first pose information of the registered probe in the robotic arm coordinate system based on the running path, control the navigator to track the registered probe, determine the second pose information of the registered probe in the navigator coordinate system, and determine the coordinate conversion relationship between the navigator and the robotic arm based on the first pose information and the second pose information.

[0126] For example, a registration probe may be provided on the robotic arm, and the preoperative planning result also includes the movement path of the registration probe.

[0127] The control module may include a registration unit, which can determine the first posture information of the registered probe in the robotic arm coordinate system based on the running path, control the navigator to track the registered probe, determine the second posture information of the registered probe in the navigator coordinate system, and determine the coordinate conversion relationship between the navigator and the robotic arm based on the first posture information and the second posture information.

[0128] Specifically, the registration unit utilizes the calibration algorithm to primarily obtain the transformation matrix to achieve conversions between different coordinate systems. Its essence is to calculate the high-precision parameters of the robotic arm through mathematical methods. A fast and robust optical-inertial hybrid tracking system is constructed through optical positioning and inertial tracking, as well as a fast bone surface point cloud acquisition and point cloud registration method, to enable the surgical robot to accurately express the three-dimensional topological structure of the bone surface, automatically register and globally optimize the coordinate space, and perform real-time, high-precision surgical instrument position prediction and posture tracking. Through the "robot-operator collaborative control" of force-position coupling control and the boundary force feedback safety strategy, force feedback is achieved during operation, and an overall control strategy for "human-robot" collaborative control is established. The robot performs real-time safety monitoring and achieves the contact operations required for surgery. A collaborative safety strategy for boundary force feedback is constructed to ensure seamless integration of control strategies in different operating areas, ensuring the safety and reliability of the surgical process.

[0129] In the above implementation process, the coordinate conversion relationship between the navigator and the robotic arm is realized through the registration unit, thereby facilitating the coordinate conversion between the robotic arm and the surgical site.

[0130] In some embodiments, the surgical site includes real registration points, and the preoperative planning result further includes model registration points corresponding to the real registration points.

[0131] The control module includes a registration unit, which is used to: control the robotic arm to move to the real registration point, determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

[0132] Exemplarily, the part to be operated on may also include real registration points, and the preoperative planning results may also include model registration points corresponding to the real registration points. The control module may include a registration unit, which may control the robot arm to move to the real registration point, and determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the part to be operated on and the three-dimensional model space based on the real posture information and the model posture information. Specifically, the purpose of registration is to obtain the mapping relationship between different spaces, or the relative position relationship. The registration algorithm realizes the registration of the three-dimensional reconstructed model with the patient's actual bones based on the spatial information contained in the point cloud data. The functions of surgical navigation and visualization can only be realized after the C-arm registration is completed and the patient image is collected.

[0133] In the above implementation process, the mapping relationship between different spaces is realized through the registration unit, thereby facilitating the accuracy of the operation position in the subsequent surgical process.

[0134] In some embodiments, the evaluation module includes an image acquisition unit and a display unit, and the image acquisition unit is connected to the display unit.

[0135] The image acquisition unit is used to acquire postoperative image data of the surgical site after the surgical operation and transmit the postoperative image data to the display unit.

[0136] The display unit is used to display the postoperative image data so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

[0137] Exemplarily, the evaluation module may include: an image acquisition unit and a display unit, wherein the image acquisition unit is connected to the display unit.

[0138] The image acquisition unit can acquire postoperative image data of the surgical site after the surgical operation and transmit the postoperative image data to the display unit. The display unit displays the postoperative image data so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

[0139] In the above implementation process, postoperative image data of the surgical site is acquired by the image acquisition unit in the evaluation module, and the postoperative image data is displayed by the display unit, thereby facilitating the user to perform a postoperative evaluation based on the displayed postoperative image data.

[0140] In some embodiments, the orthopedic surgical robot system further includes: a user login module, configured to obtain user account information and perform login based on the account information.

[0141] Exemplarily, the orthopedic surgical robot system may further include: a user login module, through which a user may log in account information, and the user may be a medical staff. After the medical staff logs in, information such as patients treated by the medical staff may be determined.

[0142] In the above implementation process, different users can log in through the login module, so that medical staff can obtain their own patient information in the same orthopedic surgical robot system and perform corresponding operations.

[0143] In this embodiment, a method for operating an orthopedic surgical robot is also provided. This method can be applied to the orthopedic surgical robot system in any of the above embodiments. This method is used to implement the above embodiments and preferred implementations, and the details that have been described will not be repeated. As shown in Figure 6, Figure 6 is a schematic diagram of an orthopedic surgical robot system provided in an embodiment of the present application, and the method includes:

[0144] Acquiring image data of the surgical site, reconstructing a three-dimensional model of the surgical site based on the image data, and determining a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth;

[0145] Obtain preoperative planning results, and control the navigator and robotic arm to perform surgical registration, alignment, and surgical operations based on the preoperative planning results;

[0146] Perform a postoperative assessment of the surgical site after the surgical procedure.

[0147] In some embodiments, reconstructing a three-dimensional model of the surgical site based on the image data includes:

[0148] Perform image segmentation on the image data to obtain segmented sub-images;

[0149] A three-dimensional model is reconstructed based on the segmented sub-images to obtain a three-dimensional model of the surgical site.

[0150] In some of these embodiments, the image data of the site to be operated on includes hip joint image data;

[0151] Performing image segmentation on the image data to obtain segmented sub-images, including: performing image segmentation on the hip joint image data to obtain segmented hip joint sub-images;

[0152] Reconstructing a three-dimensional model based on the segmented sub-images to obtain a three-dimensional model of the part to be operated on, including: reconstructing a three-dimensional model based on the segmented hip joint sub-images to obtain a hip bone model and / or a femur model;

[0153] Determining preoperative planning results based on the three-dimensional model includes: determining preoperative planning results for the hip joint based on the hip model and / or femoral model, the preoperative planning results for the hip joint including the hip prosthesis and / or femoral prosthesis, the installation position of the hip prosthesis and / or femoral prosthesis, the grinding angle, and the grinding depth.

[0154] In some of these embodiments, the image data of the site to be operated on includes knee joint image data;

[0155] Performing image segmentation on the image data to obtain segmented sub-images, including: performing image segmentation on the knee joint image data to obtain segmented knee joint sub-images;

[0156] Reconstructing a three-dimensional model based on the segmented sub-images to obtain a three-dimensional model of the surgical site, including: reconstructing a three-dimensional model based on the segmented knee joint sub-images to obtain a femur model and a tibia model;

[0157] The preoperative planning results are determined based on the three-dimensional model, including: determining the preoperative planning results of the knee joint based on the femoral model and the tibial model. The preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation position of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

[0158] In some of these embodiments, the image data of the site to be operated on includes spinal image data;

[0159] Performing image segmentation on the image data to obtain segmented sub-images, including: performing image segmentation on the spinal image data to obtain segmented spinal sub-images;

[0160] Reconstructing a three-dimensional model based on the segmented sub-images to obtain a three-dimensional model of the part to be operated on, including: reconstructing a three-dimensional model based on the segmented spinal sub-images to obtain a spinal model;

[0161] Determining preoperative planning results based on the three-dimensional model includes: determining preoperative spinal planning results based on the spinal model, and the preoperative spinal planning results include the screw type, screw installation position, screw installation angle, and screw installation depth that match the spinal model.

[0162] In some of the embodiments, a registration probe is provided on the robotic arm, and the preoperative planning result further includes a movement path of the registration probe;

[0163] Control the navigator and robotic arm to perform surgical registration based on preoperative planning results, including:

[0164] Based on the running path, determine the first pose information of the registered probe in the robotic arm coordinate system;

[0165] Control the navigator to track the registered probe and determine the second pose information of the registered probe in the navigator coordinate system;

[0166] Based on the first pose information and the second pose information, a coordinate transformation relationship between the navigator and the robotic arm is determined.

[0167] In some of the embodiments, the surgical site includes real registration points, and the preoperative planning result further includes model registration points corresponding to the real registration points;

[0168] Control the navigator and robotic arm for surgical registration based on preoperative planning results, including:

[0169] Control the robotic arm to move to the real registration point, determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

[0170] In some embodiments, a postoperative assessment of the surgical site after a surgical procedure comprises:

[0171] Obtain postoperative imaging data of the surgical site after surgical operation;

[0172] The postoperative image data is displayed so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

[0173] In some embodiments, before acquiring image data of the surgical site, the method further includes:

[0174] Get the user's account information and log in based on the account information.

[0175] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in Figure 7. Figure 7 is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. The computer device includes a processor, a memory, and a network interface connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for operating an orthopedic surgical robot is implemented.

[0176] Those skilled in the art will understand that the structure shown in FIG7 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0177] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0178] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0179] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0180] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0181] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. An orthopedic surgical robot system, characterized in that: The orthopedic surgical robot system comprises: Preoperative planning module, control module, navigator, robotic arm, and evaluation module; The preoperative planning module is used to obtain image data of the surgical site, reconstruct a three-dimensional model of the surgical site based on the image data, and determine a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth; The control module is respectively connected to the preoperative planning module, the navigator and the robotic arm, and is used to obtain the preoperative planning results, and control the navigator and the robotic arm to perform surgical registration, alignment and surgical operation based on the preoperative planning results; The evaluation module is connected to the control module and is used to perform a postoperative evaluation on the surgical site after the surgical operation.

2. The orthopedic surgical robot system according to claim 1, characterized in that: The preoperative planning module includes: an image segmentation submodule, a model reconstruction submodule and a planning submodule; An image segmentation submodule is used to obtain image data of the surgical site and perform image segmentation on the image data to obtain segmented sub-images; The model reconstruction submodule is connected to the image segmentation submodule, and is used to obtain the segmented sub-image in the image segmentation submodule, and perform three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the surgical site; The planning submodule is connected to the model reconstruction submodule, and is used to obtain the three-dimensional model of the surgical site in the model reconstruction submodule, and determine the preoperative planning result based on the three-dimensional model of the surgical site.

3. The orthopedic surgical robot system according to claim 2, characterized in that: The image data of the part to be operated on includes hip joint image data; The image segmentation submodule is specifically used to: perform image segmentation on the hip joint image data to obtain a segmented hip joint sub-image; The model reconstruction submodule is specifically used for: reconstructing a three-dimensional model based on the segmented hip joint sub-image to obtain a hip bone model and / or a femur model; The planning submodule is specifically used to determine the preoperative planning results of the hip joint based on the hip model and / or femoral model, and the preoperative planning results of the hip joint include the hip prosthesis and / or femoral prosthesis, the installation position, grinding angle and grinding depth of the hip prosthesis and / or femoral prosthesis.

4. The orthopedic surgical robot system according to claim 2, characterized in that: The image data of the part to be operated on includes knee joint image data; The image segmentation submodule is specifically used to: perform image segmentation on the knee joint image data to obtain a segmented knee joint sub-image; The model reconstruction submodule is specifically used to: reconstruct a three-dimensional model based on the segmented knee joint sub-image to obtain a femur model and a tibia model; The planning submodule is specifically used to determine the preoperative planning results of the knee joint based on the femoral model and the tibial model, and the preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation positions of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

5. The orthopedic surgical robot system according to claim 2, characterized in that: The image data of the part to be operated on includes spinal image data; The image segmentation submodule is specifically used to: perform image segmentation on the spinal image data to obtain a segmented spinal sub-image; The model reconstruction submodule is specifically used to: perform three-dimensional model reconstruction based on the segmented spine sub-image to obtain a spine model; The planning submodule is specifically used to determine a spinal preoperative planning result based on the spinal model, wherein the spinal preoperative planning result includes a screw type, a screw installation position, a screw installation angle, and a screw installation depth that match the spinal model.

6. The orthopedic surgical robot system according to claim 1, characterized in that: The mechanical arm is provided with a registration probe, and the preoperative planning result also includes a running path of the registration probe; The control module includes a registration unit, which is used to: determine the first posture information of the registered probe in the robotic arm coordinate system based on the running path, control the navigator to track the registered probe, determine the second posture information of the registered probe in the navigator coordinate system, and determine the coordinate conversion relationship between the navigator and the robotic arm based on the first posture information and the second posture information.

7. The orthopedic surgical robot system according to claim 1, characterized in that: The surgical site includes real registration points, and the preoperative planning result also includes model registration points corresponding to the real registration points; The control module includes a registration unit, which is used to: control the robot arm to run to the real registration point, determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

8. The orthopedic surgical robot system according to claim 1, characterized in that: The evaluation module includes: an image acquisition unit and a display unit, wherein the image acquisition unit is connected to the display unit; The image acquisition unit is used to acquire postoperative image data of the surgical site after the surgical operation, and transmit the postoperative image data to the display unit; The display unit is used to display the postoperative image data so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

9. A method for operating an orthopedic surgical robot, characterized in that: The method is applied to the orthopedic surgical robot system according to any one of claims 1 to 8, and the method comprises: Acquire image data of the surgical site, reconstruct a three-dimensional model of the surgical site based on the image data, and determine a preoperative planning result based on the three-dimensional model, wherein the preoperative planning result includes at least one of a surgical mold type, a surgical operation position, a surgical operation angle, and a surgical operation depth; Acquire the preoperative planning result, and control the navigator and the robotic arm to perform surgical registration, alignment and surgical operation based on the preoperative planning result; Perform a postoperative assessment of the surgical site following surgical manipulation.

10. The orthopedic surgical robot operation method according to claim 9, characterized in that: The step of reconstructing the three-dimensional model of the surgical site based on the image data comprises: Performing image segmentation on the image data to obtain segmented sub-images; A three-dimensional model is reconstructed based on the segmented sub-images to obtain a three-dimensional model of the surgical site.

11. The orthopedic surgical robot operation method according to claim 10, characterized in that: The image data of the part to be operated on includes hip joint image data; The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the hip joint image data to obtain segmented hip joint sub-images; The three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the surgical site includes: reconstructing the three-dimensional model based on the segmented hip joint sub-image to obtain a hip bone model and / or a femur model; The determining of the preoperative planning results based on the three-dimensional model includes: determining the preoperative planning results of the hip joint based on the hip model and / or the femur model, the preoperative planning results of the hip joint including the hip prosthesis and / or the femoral prosthesis, the installation position of the hip prosthesis and / or the femoral prosthesis, the grinding angle and the grinding depth.

12. The orthopedic surgical robot operation method according to claim 10, characterized in that: The image data of the part to be operated on includes knee joint image data; The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the knee joint image data to obtain segmented knee joint sub-images; The three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the surgical site includes: reconstructing the three-dimensional model based on the segmented knee joint sub-image to obtain a femur model and a tibia model; The method of determining the preoperative planning results based on the three-dimensional model includes: determining the preoperative planning results of the knee joint based on the femoral model and the tibial model, and the preoperative planning results of the knee joint include the femoral prosthesis and the tibial prosthesis, the installation positions of the femoral prosthesis and the tibial prosthesis, the osteotomy angle and the osteotomy depth.

13. The orthopedic surgical robot operation method according to claim 10, characterized in that: The image data of the part to be operated on includes spinal image data; The performing image segmentation on the image data to obtain segmented sub-images includes: performing image segmentation on the spine image data to obtain segmented spine sub-images; The three-dimensional model reconstruction based on the segmented sub-image to obtain the three-dimensional model of the surgical site includes: reconstructing the three-dimensional model based on the segmented spine sub-image to obtain a spine model; Determining the preoperative planning result based on the three-dimensional model includes: determining the preoperative planning result of the spine based on the spine model, and the preoperative planning result of the spine includes the screw type, screw installation position, screw installation angle and screw installation depth matched with the spine model.

14. The orthopedic surgical robot operation method according to claim 9, characterized in that: The mechanical arm is provided with a registration probe, and the preoperative planning result also includes a running path of the registration probe; The controlling the navigator and the robotic arm to perform surgery registration based on the preoperative planning result includes: Based on the running path, determining the first position information of the registered probe in the robotic arm coordinate system; Controlling the navigator to track the registered probe, and determining second position information of the registered probe in the navigator coordinate system; Based on the first posture information and the second posture information, a coordinate transformation relationship between the navigator and the robotic arm is determined.

15. The orthopedic surgical robot operation method according to claim 9, characterized in that: The surgical site includes real registration points, and the preoperative planning result also includes model registration points corresponding to the real registration points; The controlling the navigator and the robotic arm to perform surgical registration based on the preoperative planning result includes: Control the robotic arm to run to the real registration point, and determine the real posture information of the real registration point, obtain the model posture information of the model registration point corresponding to the real registration point in the three-dimensional model, and determine the spatial conversion relationship between the space of the surgical site and the three-dimensional model space based on the real posture information and the model posture information.

16. The orthopedic surgical robot operation method according to claim 9, characterized in that: The postoperative evaluation of the surgical site after the surgical operation includes: Obtain postoperative imaging data of the surgical site after the surgical operation; The postoperative image data is displayed so that the user can perform a postoperative evaluation based on the displayed postoperative image data.

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