An orthopedic prosthesis implant control system

Abstract

The present invention provides an orthopedic prosthesis implant control system, comprising: a prosthesis design module, a data processing module, a front-end implant module and a power module; the prosthesis design module is used to design bone cutting pattern information, and perform three-dimensional simulation of the implantation process according to the bone cutting pattern information; the data processing module is used to perform three-dimensional display of the orthopedic prosthesis implantation stage, and control the front-end implantation module to perform prosthesis implantation operation; the front-end implantation module is used to collect images and perception information of the implantation process, cut the bone into a shape for receiving the prosthesis device according to the guide structure, and control the actuator to move the prosthesis to a preset surgical operation area; the power module is used to provide the required voltage source for the front-end implantation module. The present invention can generate a prosthesis transplantation operation plan according to simulated transplantation parameters, and control the mechanical arm and the image acquisition device according to the operation instructions and transplantation parameters to assist the operator to complete the surgical operation, with high intelligence.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an orthopedic prosthesis implant control system. Background Art

[0002] With the rapid development of computer technology, computer-based intelligent control technology has been widely used in various fields. In the field of surgery, visual image analysis, precision robotic arm assistance and real-time surgical information detection can better assist doctors and operators to complete surgical operations. However, various complications may occur during the implantation of orthopedic prostheses, making it difficult to perform correct anatomical alignment and placement. Inaccurate placement can lead to difficulties in later correction, and patients may experience neurological symptoms, pain or movement disorders. Researching a computer control system that can accurately assist doctors in prosthesis transplantation is crucial in orthopedic prosthesis transplantation.

[0003] In summary, providing an orthopedic prosthesis implant control system with high intelligence and precision that can assist operators in completing surgical operations according to simulated transplantation parameters and operating instructions is an issue that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In response to the above-mentioned problems and needs, this solution proposes an orthopedic prosthesis implant control system, which can solve the above-mentioned technical problems by adopting the following technical solutions.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an orthopedic prosthesis implant control system, comprising: a prosthesis design module, a data processing module, a front-end implant module and a power supply module;

[0006] The prosthesis design module is used to design bone cutting pattern information and perform three-dimensional simulation of the implantation process according to the bone cutting pattern information;

[0007] The data processing module is electrically connected to the prosthesis design module, and the data processing module is used to perform three-dimensional display of the orthopedic prosthesis implantation stage and control the front-end implantation module to perform the prosthesis implantation operation;

[0008] The front-end implantation module is used to collect images and sensory information of the implantation process, cut the bone into a shape for receiving the prosthetic device according to the guide structure, and control the actuator to move the prosthesis into a preset surgical operation area;

[0009] The power supply module is used to provide the required voltage source for the front-end implant module.

[0010] Furthermore, the prosthesis design module includes an information management module, a bone cutting diagram design module and a simulation module;

[0011] The information management module is used to number the design plans and record the person in charge information, patient information and design cycle;

[0012] The bone cutting diagram design module is used to perform three-dimensional reconstruction of the prosthesis implantation site by using the CT scanning data of the implantation site and a three-dimensional reconstruction algorithm based on bone reconstruction, and to design a shape model of the implantation phantom by using 3dsMax;

[0013] The simulation module is used to simulate the prosthesis implantation process according to the model data of the implant model and the section information of the implantation site, and output the simulation data to the data processing module.

[0014] Furthermore, the data processing module includes a data storage module, a processor and an intelligent display module;

[0015] The data storage module is used to store image data, perception data and parameter data of simulation control during the prosthesis transplantation process;

[0016] The processor is used to call the simulation control parameter data of the data storage module according to the operation instruction, form the control instruction according to the parameter data, and then control the front-end implant module to perform the prosthesis implantation auxiliary operation;

[0017] The intelligent display module is electrically connected to the processor, and is used to display an implantation image of the prosthesis implantation process, status information of the implantation stage, and alarm information.

[0018] Furthermore, the data processing module further includes a command input module, which is used by an operator to input voice control commands or gesture control commands, and the command input module includes a voice input module, a voice analysis module, a gesture image acquisition device and an image analysis module;

[0019] The voice input module is used to input the control voice information of the operator, the voice analysis module is electrically connected to the voice input module, the voice analysis module is used to perform noise removal preprocessing on the control voice information, and perform feature extraction on the preprocessed voice information, compare the extracted voice feature information with the command feature data in the command database, and output a first command signal according to the comparison result;

[0020] The gesture image acquisition device is used to stably track the operator and acquire the operator's hand image. The image analysis module receives the hand image information and performs image preprocessing on the hand image information. The feature extraction of the region of interest is performed on the preprocessed image. The template matching method is used to perform feature matching between the gesture feature data in the instruction database and the extracted feature data, and a second instruction signal is output according to the matching result.

[0021] Furthermore, the data processing module also includes a correction and optimization module, which is electrically connected to the processor, and is used to receive the perception data, analyze the perception data, and output alarm information and optimization control information based on the analysis results.

[0022] Furthermore, the gesture image acquisition device includes a camera for acquiring images, a smart pan-tilt for adjusting the angle of the camera, and a tracking calculation module. The camera acquires image information of the target person to be measured, and transmits the image information to the tracking calculation module. The tracking calculation module identifies and tracks the target to be measured, and sends motion control parameters to the smart pan-tilt according to the tracking results. The smart pan-tilt controls the rotation of the camera through the motion control parameters to continuously track the target, and sends the tracking results to the image analysis module. The specific process of identification and tracking includes:

[0023] S1: The tracking calculation module receives the collected image information, first performs enhancement preprocessing on the image, uses the target recognition algorithm based on YOLOv3 to perform target recognition and classification on the preprocessed image, and obtains the moving target information to be tracked according to the classification result;

[0024] S2: establishing a two-dimensional plane coordinate system with the center of the field of view as the origin of the coordinate system, and obtaining the position information of the center of mass of the moving target in the two-dimensional plane coordinate system;

[0025] S3: Calculate the coordinate difference between the centroid coordinate position of the moving target and the center of the field of view, divide the coordinate difference according to the set difference level range, compare the coordinate difference with each level threshold during division, and judge whether the moving target leaves the center range of the field of view according to the comparison result;

[0026] S4: When the camera does not leave the center of the field of view, the smart gimbal remains stationary. When the camera leaves the center of the field of view, the moving direction and position of the lens are analyzed according to the coordinate difference. The camera is driven by the smart gimbal to rotate so that the imaging center axis moves toward the tracking target. When the vertical and horizontal directions need to move at the same time, the camera moves in the direction with the larger difference first. When the camera moves, the camera moves at a uniform speed according to the set speed.

[0027] Furthermore, the front-end implantation module includes an image acquisition module, a pressure detection module and an execution control module;

[0028] The image acquisition module includes an image synchronous transmission device, an eyeball data acquisition module and a motion control module. The image synchronous transmission device is arranged on the operating table and is used to transmit the image information of the transplanted part to the intelligent display module and the observation window in real time. The eyeball data acquisition module includes an infrared light emitter and a collector. The infrared light emitter and the collector are both arranged on the observation window. The infrared light emitter is used to emit infrared light. The collector is used to receive the infrared light reflected by the eyeball, and analyze the change electrical signal corresponding to the infrared light to obtain the eyeball motion information. According to the movement direction of the eyeball, a control signal is sent to the image synchronous transmission device. The image synchronous transmission device controls the image collector to change the angle.

[0029] The pressure detection module is used to detect the bone gap pressure information and send the bone gap pressure information to the execution control module. The execution control module adjusts the surgical transplantation plan and position according to the pressure information of the patient under different actions during the operation. The pressure detection module includes a plurality of transplantation pads, on which a flexible sensing patch for detecting pressure is arranged. The plurality of transplantation pads are placed in the bone gap;

[0030] The execution control module is used to control the actuator to perform implantation operations according to the control instructions. The execution control module includes a first controller, a motion control module and a robotic arm. The first controller sends a control signal to the motion control module according to the control instructions. The motion control module controls the movement of each motor to drive the robotic arm to move along a set trajectory, thereby assisting the operator in performing wound cutting and phantom movement surgical operations.

[0031] Furthermore, the power supply module includes an overvoltage and overcurrent protection board, an electric energy metering device and a second controller. The electric energy metering device is used to collect power consumption information and power supply status information of the front-end implanted module. The overvoltage and overcurrent protection board is used to perform power supply protection and output an alarm signal to the second controller when the power supply is abnormal. The second controller controls the alarm device to make an audible and visual alarm. The overvoltage and overcurrent protection board and the electric energy metering device are both electrically connected to the second controller.

[0032] It can be seen from the above technical solution that the beneficial effects of the present invention are: the present invention can generate a prosthetic transplantation surgery plan based on simulated transplantation parameters, and control the robotic arm and image acquisition device according to operation instructions and transplantation parameters to assist the operator in completing the surgery, with high intelligence.

[0033] In addition to the objects, features and advantages described above, the best embodiments for implementing the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art, wherein the drawings are only used to show some embodiments of the present invention, rather than limiting all embodiments of the present invention thereto.

[0035] Figure 1 It is a schematic diagram of the composition structure of the orthopedic prosthesis implant control system of the present invention.

[0036] Figure 2 It is a schematic diagram of the composition structure of the data processing module in the present invention.

[0037] Figure 3 It is a schematic diagram of the composition structure of the instruction input module in the present invention.

[0038] Figure 4 It is a schematic diagram of the composition structure of the front-end implantation module in the present invention.

[0039] Figure 5 Schematic diagram of specific steps of the identification and tracking process in this embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Orthopedic prosthesis implantation may cause various complications during implantation, making it difficult to perform correct anatomical alignment and placement. Inaccurate placement can lead to difficulties in later correction and patients may experience neurological symptoms, pain, or movement disorders. Therefore, the present application discloses an orthopedic prosthesis implantation control system that assists doctors in accurately completing orthopedic prosthesis implantation operations such as Figures 1 to 5 As shown, the system includes: a prosthesis design module, a data processing module, a front-end implantation module and a power supply module, wherein the prosthesis design module is used to design bone cutting pattern information and perform three-dimensional simulation of the implantation process according to the bone cutting pattern information.

[0042] Specifically, the prosthesis design module includes an information management module, a bone cutting diagram design module and a simulation module; the information management module is used to number the design scheme and record the person in charge information, patient information and design cycle; the bone cutting diagram design module is used to perform three-dimensional reconstruction of the prosthesis transplantation site through the CT scan data of the implant site using a three-dimensional reconstruction algorithm based on bone reconstruction, and use 3dsMax to design the shape model of the implant model; the simulation module is used to simulate the prosthesis implantation process according to the model data of the implant model and the section information of the implant site, and output the simulation data to the data processing module.

[0043] The degree of matching between the prosthesis and the bone position of the implant site will affect its long-term efficacy. The human body is absolutely personalized, and it is difficult for standard artificial prostheses to match the patient's bones well, and the long-term stability of artificial joints cannot be ensured. In addition, some patients have congenital bone deformities or extensive bone and joint damage due to bone lesions. Such bone joints are obviously different from normal conditions, and standard artificial prostheses cannot be used. Therefore, it is necessary to design individualized prostheses with extremely high matching cavities for different implant sites to improve the long-term stability of artificial joints and effectively prevent joint loosening.

[0044] In this embodiment, the original image data of the patient's bones is obtained by CT scanning, and the original image data is used to perform three-dimensional reconstruction of the bones, and then the prosthesis is designed. After the design is completed, the finite element analysis of the joint bone of the transplanted part is performed through the simulation module to obtain the strain distribution law and anisotropic biomechanical properties of the joint under the natural physiological state of the bone, providing accurate biomechanical parameters for clinical application. During the three-dimensional reconstruction, the image is pre-processed by the neighborhood averaging method to eliminate noise, and then the edge extraction algorithm is used to detect and segment the region of interest, and finally the Z direction function is added on the basis of the regional growth algorithm of the two-dimensional image to achieve three-dimensional reconstruction.

[0045] In addition, information management of responsible person information, patient information, and design cycle can help analyze the prosthetic material and fixation method used, etc.

[0046] In the present system, the data processing module is electrically connected to the prosthesis design module, and the data processing module is used to perform three-dimensional display of the orthopedic prosthesis implantation stage and control the front-end implantation module to perform the prosthesis implantation operation.

[0047] Specifically, the data processing module includes a data storage module, a processor, an intelligent display module and a correction and optimization module; the data storage module is used to store image data, perception data and parameter data of simulation control during the implantation process of the prosthesis, and the data storage module includes a cloud storage server; the processor is used to call the parameter data of simulation control of the data storage module according to the operation instruction, form a control instruction based on the parameter data, and then control the front-end implant module to perform the prosthesis implantation auxiliary operation; the intelligent display module is electrically connected to the processor, and the intelligent display module is used to display the implantation image of the implantation process of the prosthesis, the status information of the implantation stage and the alarm information, and the intelligent display module includes a curved liquid crystal intelligent display screen; the correction and optimization module is electrically connected to the processor, and the correction and optimization module is used to receive the perception data, analyze the perception data, and output the alarm information and optimization control information based on the analysis results. The correction and optimization module is used to output the adjustment direction and position information according to the difference between the simulation analysis data and the perception data.

[0048] The data processing module also includes a command input module, which is used by the operator to input voice control commands or gesture control commands. The command input module includes a voice input module, a voice analysis module, a gesture image acquisition device and an image analysis module. The voice input module is used to input the control voice information of the operator. The voice analysis module is electrically connected to the voice input module. The voice analysis module is used to perform noise removal preprocessing on the control voice information, and to perform feature extraction on the preprocessed voice information, and compare the extracted voice feature information with the command feature data in the command database, and output a first command signal according to the comparison result. During the operation, in order to facilitate control, the movement of the auxiliary robot arm and the operating table can also be controlled by setting special hand commands and voice commands.

[0049] The gesture image acquisition device is used to stably track the operator and acquire the operator's hand image. The image analysis module receives the hand image information, performs image preprocessing on the hand image information, extracts the features of the region of interest from the preprocessed image, uses the template matching method to perform feature matching between the gesture feature data in the instruction database and the extracted feature data, and outputs a second instruction signal according to the matching result. The gesture image acquisition device includes a camera for acquiring images, a smart gimbal for adjusting the camera angle, and a tracking calculation module. The camera acquires the image information of the target person to be measured, and transmits the image information to the tracking calculation module. The tracking calculation module identifies and tracks the target to be measured, and sends motion control parameters to the smart gimbal according to the tracking results. The smart gimbal controls the rotation of the camera through the motion control parameters to continuously track the target, and sends the tracking results to the image analysis module.

[0050] As attached Figure 4 As shown, the specific process of identification and tracking includes:

[0051] S1: The tracking calculation module receives the collected image information, first performs enhancement preprocessing on the image, uses the target recognition algorithm based on YOLOv3 to perform target recognition and classification on the preprocessed image, and obtains the moving target information to be tracked according to the classification result;

[0052] S2: establishing a two-dimensional plane coordinate system with the center of the field of view as the origin of the coordinate system, and obtaining the position information of the center of mass of the moving target in the two-dimensional plane coordinate system;

[0053] S3: Calculate the coordinate difference between the centroid coordinate position of the moving target and the center of the field of view, divide the coordinate difference according to the set difference level range, compare the coordinate difference with each level threshold during division, and judge whether the moving target leaves the center range of the field of view according to the comparison result;

[0054] S4: When the camera does not leave the center of the field of view, the smart gimbal remains stationary. When the camera leaves the center of the field of view, the moving direction and position of the lens are analyzed according to the coordinate difference. The camera is driven by the smart gimbal to rotate so that the imaging center axis moves toward the tracking target. When the vertical and horizontal directions need to move at the same time, the camera moves in the direction with the larger difference first. When the camera moves, the camera moves at a uniform speed according to the set speed.

[0055] The front-end implantation module is used to collect images and perception information of the implantation process, cut the bone into a shape for receiving the prosthetic device according to the guide structure, and control the actuator to move the prosthesis into a preset surgical operation area.

[0056] The front-end implantation module includes an image acquisition module, a pressure detection module and an execution control module. The image acquisition module includes an image synchronization transmission device, an eye data acquisition module and a motion control module. The image synchronization transmission device is arranged on an operating table and is used to transmit the image information of the transplantation site to the intelligent display module and the observation window in real time. The eye data acquisition module includes an infrared light emitter and a collector. The infrared light emitter and the collector are both arranged in the observation window. The infrared light emitter is used to emit infrared light, and the collector is used to receive the infrared light reflected by the eyeball, and analyzes the changing electrical signal corresponding to the infrared light to obtain eyeball movement information, and sends a control signal to the image synchronization transmission device according to the movement direction of the eyeball, and the image synchronization transmission device controls the image collector to change the angle.

[0057] During the operation, the doctor can view the condition of the transplanted site through the observation window on the operating table. At the same time, the eye data acquisition module can automatically adjust the image acquisition angle according to the doctor's eye movement data. No manual adjustment is required, which is very convenient.

[0058] The pressure detection module is used to detect bone gap pressure information and send the bone gap pressure information to the execution control module. The execution control module adjusts the surgical transplantation plan and position according to the pressure information of the patient under different actions during the operation. The pressure detection module includes a plurality of transplantation gaskets, and a flexible sensing patch for detecting pressure is provided on the transplantation gasket. The plurality of transplantation gaskets are placed in the bone gap.

[0059] The execution control module is used to control the actuator to perform implantation operations according to the control instructions. The execution control module includes a first controller, a motion control module and a robotic arm. The first controller sends a control signal to the motion control module according to the control instructions. The motion control module controls the movement of each motor to drive the robotic arm to move along a set trajectory, thereby assisting the operator in performing wound cutting and phantom movement surgical operations.

[0060] The power module is used to provide the required voltage source for the front-end implant module. In this embodiment, the power module includes an overvoltage and overcurrent protection board, an electric energy metering device, and a second controller. The electric energy metering device is used to collect the power consumption information and power supply status information of the front-end implant module. The overvoltage and overcurrent protection board is used to perform power supply protection and output an alarm signal to the second controller when the power supply is abnormal. The second controller controls the alarm device to sound and light alarm. The overvoltage and overcurrent protection board and the electric energy metering device are both electrically connected to the second controller.

[0061] In this embodiment, the prosthesis transplantation process is as follows:

[0062] Design implants for different patients and different parts through the prosthesis design module;

[0063] Determine the status and morphology of the implant site and the implanted prosthesis through a plurality of pressure detection pads located near the implanted prosthesis and data collected through a synchronous image transmission device;

[0064] Correction information is generated and output, and the state and morphology of the implant site are changed according to the correction information to improve the performance of the implanted prosthesis after surgery.

[0065] It should be noted that the embodiments described in the present invention are only preferred ways to implement the present invention, and any obvious modifications that belong to the overall concept of the present invention should fall within the protection scope of the present invention.

Claims

1. An orthopedic prosthesis implant control system, characterized in that: include: Prosthesis design module, data processing module, front-end implantation module and power supply module; The prosthesis design module is used to design bone cutting pattern information and perform three-dimensional simulation of the implantation process according to the bone cutting pattern information; The data processing module is electrically connected to the prosthesis design module, and the data processing module is used to perform three-dimensional display of the orthopedic prosthesis implantation stage and control the front-end implantation module to perform the prosthesis implantation operation; The front-end implantation module is used to collect images and sensory information of the implantation process, cut the bone into a shape for receiving the prosthetic device according to the guide structure, and control the actuator to move the prosthesis into a preset surgical operation area; The power supply module is used to provide the required voltage source for the front-end implant module; The data processing module includes a data storage module, a processor and an intelligent display module; The data storage module is used to store image data, perception data and parameter data of simulation control during the prosthesis transplantation process; The processor is used to call the simulation control parameter data of the data storage module according to the operation instruction, form the control instruction according to the parameter data, and then control the front-end implant module to perform the prosthesis implantation auxiliary operation; The intelligent display module is electrically connected to the processor, and is used to display an implantation image of the prosthesis implantation process, status information of the implantation stage, and alarm information; The data processing module also includes a command input module, which is used by an operator to input voice control commands or gesture control commands. The command input module includes a voice input module, a voice analysis module, a gesture image acquisition device and an image analysis module; The voice input module is used to input the control voice information of the operator, the voice analysis module is electrically connected to the voice input module, the voice analysis module is used to perform noise removal preprocessing on the control voice information, and perform feature extraction on the preprocessed voice information, compare the extracted voice feature information with the command feature data in the command database, and output a first command signal according to the comparison result; The gesture image acquisition device is used to stably track the operator and acquire the operator's hand image. The image analysis module receives the hand image information, performs image preprocessing on the hand image information, extracts features of the region of interest from the preprocessed image, uses a template matching method to perform feature matching between the gesture feature data in the instruction database and the extracted feature data, and outputs a second instruction signal according to the matching result. The front-end implantation module includes an image acquisition module, a pressure detection module and an execution control module; The image acquisition module includes an image synchronous transmission device, an eyeball data acquisition module and a motion control module. The image synchronous transmission device is arranged on the operating table and is used to transmit the image information of the transplanted part to the intelligent display module and the observation window in real time. The eyeball data acquisition module includes an infrared light emitter and a collector. The infrared light emitter and the collector are both arranged on the observation window. The infrared light emitter is used to emit infrared light. The collector is used to receive the infrared light reflected by the eyeball, and analyze the change electrical signal corresponding to the infrared light to obtain the eyeball motion information. According to the movement direction of the eyeball, a control signal is sent to the image synchronous transmission device. The image synchronous transmission device controls the image collector to change the angle. The pressure detection module is used to detect the bone gap pressure information and send the bone gap pressure information to the execution control module. The execution control module adjusts the surgical transplantation plan and position according to the pressure information of the patient under different actions during the operation. The pressure detection module includes a plurality of transplantation pads, on which a flexible sensing patch for detecting pressure is arranged. The plurality of transplantation pads are placed in the bone gap; The execution control module is used to control the actuator to perform implantation operations according to the control instructions. The execution control module includes a first controller, a motion control module and a robotic arm. The first controller sends a control signal to the motion control module according to the control instructions. The motion control module controls the movement of each motor to drive the robotic arm to move along a set trajectory, thereby assisting the operator in performing wound cutting and phantom movement surgical operations.

2. The orthopedic prosthesis implant control system according to claim 1, characterized in that: The prosthesis design module includes an information management module, a bone cutting diagram design module and a simulation module; The information management module is used to number the design plans and record the person in charge information, patient information and design cycle; The bone cutting diagram design module is used to perform three-dimensional reconstruction of the prosthesis implantation site by using the CT scanning data of the implantation site and a three-dimensional reconstruction algorithm based on bone reconstruction, and to design a shape model of the implantation phantom by using 3dsMax; The simulation module is used to simulate the prosthesis implantation process according to the model data of the implant model and the section information of the implantation site, and output the simulation data to the data processing module.

3. The orthopedic prosthesis implant control system according to claim 1, characterized in that: The data processing module also includes a correction and optimization module, which is electrically connected to the processor. The correction and optimization module is used to receive the perception data, analyze the perception data, and output alarm information and optimization control information based on the analysis results.

4. The orthopedic prosthesis implant control system as claimed in claim 3, characterized in that The gesture image acquisition device includes a camera for acquiring images, a smart gimbal for adjusting the angle of the camera, and a tracking calculation module. The camera acquires image information of the target person to be measured and transmits the image information to the tracking calculation module. The tracking calculation module identifies and tracks the target to be measured, and sends motion control parameters to the smart gimbal according to the tracking results. The smart gimbal controls the rotation of the camera through the motion control parameters to continuously track the target, and sends the tracking results to the image analysis module. The specific process of identification and tracking includes: S1: The tracking calculation module receives the collected image information, first performs enhancement preprocessing on the image, uses the target recognition algorithm based on YOLOv3 to perform target recognition and classification on the preprocessed image, and obtains the moving target information to be tracked according to the classification result; S2: establishing a two-dimensional plane coordinate system with the center of the field of view as the origin of the coordinate system, and obtaining the position information of the center of mass of the moving target in the two-dimensional plane coordinate system; S3: Calculate the coordinate difference between the centroid coordinate position of the moving target and the center of the field of view, divide the coordinate difference according to the set difference level range, compare the coordinate difference with each level threshold during division, and judge whether the moving target leaves the center range of the field of view according to the comparison result; S4: When the camera does not leave the center of the field of view, the smart gimbal remains stationary. When the camera leaves the center of the field of view, the moving direction and position of the lens are analyzed according to the coordinate difference. The camera is driven by the smart gimbal to rotate so that the imaging center axis moves toward the tracking target. When the vertical and horizontal directions need to move at the same time, the camera moves in the direction with the larger difference first. When the camera moves, the camera moves at a uniform speed according to the set speed.

5. The orthopedic prosthesis implant control system according to claim 1, characterized in that: The power supply module includes an overvoltage and overcurrent protection board, an electric energy metering device and a second controller. The electric energy metering device is used to collect power consumption information and power supply status information of the front-end implanted module. The overvoltage and overcurrent protection board is used to perform power supply protection and output an alarm signal to the second controller when the power supply is abnormal. The second controller controls the alarm device to make an audible and visual alarm. The overvoltage and overcurrent protection board and the electric energy metering device are both electrically connected to the second controller.

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