Probe device, readable storage medium and orthopedic navigation robot

Abstract

This invention provides a probe device, a readable storage medium, and an orthopedic navigation robot. The navigation system of the orthopedic navigation robot can read a program from the readable storage medium to obtain the structural configuration of the probe device. After osteotomy, the navigation system obtains the spatial pose of the actual osteotomy plane that the measurement plane is attached to based on the structural configuration of the probe device. The probe device includes: a connecting rod; a target support disposed at one end of the connecting rod; an optical positioning mark disposed on the target support, the optical target plane being parallel or intersecting the connecting rod; and a measuring component disposed at the other end of the connecting rod, the measuring component including a horizontal plate having at least one measuring plane, the connecting rod being parallel or intersecting the measuring plane of the horizontal plate; the probe device is configured to attach to all osteotomy planes on the knee joint through at least one measuring plane. This invention can reduce interference between the probe and musculoskeletal tissue during osteotomy measurement and also allows the optical target to be better aligned with the navigation system.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a probe device, a readable storage medium, and an orthopedic navigation robot. Background Technology

[0002] When using orthopedic navigation robots to assist in knee replacement surgery, after osteotomy, surgeons need to use probes to measure the position and angle of the osteotomy planes. In total knee replacement surgery, each knee joint has six osteotomy planes, differentiated between the left and right legs; therefore, the number of osteotomy planes is numerous and their locations are complex. However, the probes provided in existing technologies, when performing measurements on some osteotomy planes, are prone to interference with other bone and muscle tissues around the knee incision, making measurements difficult. Furthermore, the optical targets cannot be properly aligned with the navigation system, hindering tracking and recognition. In addition, to accommodate osteotomy measurements on both legs, some probes in existing solutions are designed as symmetrical double-sided targets, resulting in very complex probe structures, high manufacturing costs, and significant weight, making them inconvenient for surgeons to hold and operate.

[0003] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a probe device, a readable storage medium, and an orthopedic navigation robot. By optimizing the probe configuration, the problem of interference between the probe and other musculoskeletal tissues during osteotomy measurement is solved, as is the problem that the optical target cannot be properly aligned with the navigation system.

[0005] To address the aforementioned technical problems, the present invention provides a probe device, comprising:

[0006] Connecting rod;

[0007] A target holder is disposed at one end of the connecting rod;

[0008] Optical positioning marks are disposed on the target support, at least three of which are coplanar and non-collinear, defining an optical target plane, the optical target plane being parallel to or intersecting the connecting rod; and...

[0009] A measuring component is disposed at the other end of the connecting rod. The measuring component includes at least one horizontal plate, the horizontal plate having at least one measuring plane, and the connecting rod being parallel to or intersecting the measuring plane of the horizontal plate.

[0010] The probe device is configured to fit all osteotomy planes on the knee joint through at least one of the measurement planes.

[0011] Optionally, the optical target plane is perpendicular or obliquely intersecting the connecting rod, the measuring component consists of a horizontal plate, the upper and lower surfaces of the horizontal plate are both measuring planes, and the connecting rod is parallel or obliquely intersecting the measuring plane of the horizontal plate.

[0012] Optionally, when the connecting rod intersects the measuring plane of the horizontal plate at an angle, the angle between the connecting rod and the measuring plane of the horizontal plate shall not exceed 20°, and / or, when the optical target plane intersects the connecting rod at an angle, the angle between the connecting rod and the optical target plane shall not be less than 70°.

[0013] Optionally, when the connecting rod is parallel to the measuring plane of the cross plate, the other end of the connecting rod is connected to the cross plate through an elbow, so that the connecting rod and the cross plate are in an L-shaped configuration; or, the other end of the connecting rod is directly connected to the cross plate, so that the connecting rod and the cross plate are in a straight configuration.

[0014] Optionally, when the connecting rod is parallel to the measuring plane of the horizontal plate, the other end of the connecting rod is connected to the center of the side of the horizontal plate, so that the upper and lower surfaces of the horizontal plate are symmetrical about the connecting rod.

[0015] Optionally, the connecting rod is parallel to the measuring plane of the cross plate, the connecting rod is perpendicular to the optical target plane, and one end of the connecting rod is directly connected to the side of the target bracket away from the optical target plane.

[0016] Optionally, the optical target plane is parallel or obliquely intersecting the connecting rod, the measuring component includes a horizontal plate and a support plate, the support plate is connected to the upper or lower surface of the horizontal plate, and the connecting rod is perpendicular or obliquely intersecting the measuring plane of the horizontal plate; both opposite sides of the support plate are the measuring planes, and at least one of the upper and lower surfaces of the horizontal plate forms two measuring planes with the support plate as the boundary.

[0017] Optionally, the measuring component has an axisymmetric structure with the axis of symmetry passing through the support plate, the other end of the connecting rod is connected to the axis of symmetry of the measuring component, the connecting rod is perpendicular to the measuring plane of the horizontal plate, and the optical target plane is parallel to the connecting rod.

[0018] Optionally, the support plate is vertically connected to the lower surface of the horizontal plate, the connecting rod and the measuring component are arranged in a cross shape, the upper and lower surfaces of the horizontal plate form two measuring planes with the support plate as the boundary, and the measuring component has six measuring planes arranged along the cross shape circumferentially.

[0019] Optionally, the support plate is constructed from two side support plates at an included angle. The two side support plates are connected to the upper surface of the horizontal plate and form an isosceles triangle with the horizontal plate. The other end of the connecting rod is connected to the vertex of the isosceles triangle. The connecting rod and the measuring component are arranged in a triangular configuration. The horizontal plate has edge portions extending from the two side support plates. The upper surfaces of the two edge portions are two measuring planes. The lower surface of the horizontal plate is one measuring plane. The measuring component has five measuring planes arranged circumferentially along the isosceles triangle.

[0020] Optionally, when the connecting rod intersects the optical target plane at an angle, the angle between the connecting rod and the optical target plane does not exceed 20°, and / or, when the connecting rod intersects the measuring plane of the horizontal plate at an angle, the angle between the connecting rod and the measuring plane of the horizontal plate is not less than 70°.

[0021] Optionally, the connecting rod is parallel to the plane of the optical target, and one end of the connecting rod is connected to the side of the target bracket away from the plane of the optical target via an elbow.

[0022] Optionally, a calibration point is provided on the measuring plane, and / or a measuring surface marker is provided on the measuring plane.

[0023] To address the aforementioned technical problems, the present invention also provides a readable storage medium storing a program thereon, the program being used to implement the structural configuration of the probe device according to any one of the claims, the structural configuration including the following steps:

[0024] An optical target coordinate system is established on the probe device, and the spatial pose of key features on the probe device in the optical target coordinate system is calibrated. The key features include at least a measurement plane.

[0025] The spatial pose of the optical target coordinate system and the key features in the optical target coordinate system is saved so that it can be read by the navigation system.

[0026] To address the aforementioned technical problems, the present invention also provides an orthopedic navigation robot, comprising a navigation system, any of the aforementioned probe devices, and any of the aforementioned readable storage media; the navigation system is capable of reading the program in the readable storage media to obtain the structural configuration of the probe device; after completing a knee osteotomy, the navigation system is used to obtain the spatial pose of the actual osteotomy plane that the measuring plane of the probe device is attached to, based on the structural configuration of the probe device.

[0027] The probe device provided by the present invention is used for measuring osteotomy planes of the knee joint, comprising: a connecting rod; a target support disposed at one end of the connecting rod; optical positioning marks disposed on the target support, at least three of the optical positioning marks being coplanar and non-collinear and defining an optical target plane, the optical target plane being parallel to or intersecting the connecting rod; and a measuring component disposed at the other end of the connecting rod, the measuring component comprising at least one horizontal plate having at least one measuring plane, the connecting rod being parallel to or intersecting the measuring plane of the horizontal plate; the probe device is configured to conform to all osteotomy planes on the knee joint through at least one of the measuring planes.

[0028] This configuration minimizes interference between the probe and the target tissue, allowing the measurement plane to better align with all osteotomy planes in total knee replacement surgery. Simultaneously, the optical target is better aligned with the navigation system, ultimately improving measurement efficiency and making measurements more accurate and reliable. Furthermore, a single probe can be used for both knees, eliminating the need for a symmetrical double-sided optical target design. This simplifies the probe structure, effectively reducing processing and manufacturing costs, and does not increase the probe's weight, making manual operation more comfortable and convenient for medical staff.

[0029] Since the readable storage medium and orthopedic navigation robot provided by this invention belong to the same inventive concept as the probe device provided by this invention, the readable storage medium and orthopedic navigation robot provided by this invention have all the advantages of the probe device provided by this invention. Therefore, the beneficial effects of the readable storage medium and orthopedic navigation robot provided by this invention will not be described in detail here. Attached Figure Description

[0030] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0031] Figure 1a This is a bottom view of the probe device according to Embodiment 1 of the present invention;

[0032] Figure 1b This is a front view of the probe device according to Embodiment 1 of the present invention;

[0033] Figure 1c This is a left view of the probe device according to Embodiment 1 of the present invention;

[0034] Figure 1d This is a perspective view of the probe device according to Embodiment 1 of the present invention corresponding to surface A;

[0035] Figure 1e This is a perspective view of the probe device according to Embodiment 1 of the present invention corresponding to side B;

[0036] Figure 2a This is an application scenario diagram of the probe device for measuring the first osteotomy plane according to Embodiment 1 of the present invention;

[0037] Figure 2b This is an application scenario diagram of the probe device for measuring the second osteotomy plane according to Embodiment 1 of the present invention;

[0038] Figure 2c This is an application scenario diagram of the probe device according to Embodiment 1 of the present invention for measuring the third osteotomy plane;

[0039] Figure 2d This is an application scenario diagram of the probe device according to Embodiment 1 of the present invention for measuring the fourth osteotomy plane;

[0040] Figure 2e This is an application scenario diagram of the probe device according to Embodiment 1 of the present invention for measuring the fifth osteotomy plane;

[0041] Figure 2f This is an application scenario diagram of the probe device according to Embodiment 1 of the present invention for measuring the sixth osteotomy plane;

[0042] Figure 3a This is a bottom view of the probe device according to Embodiment 2 of the present invention;

[0043] Figure 3b This is a front view of the probe device according to Embodiment 2 of the present invention;

[0044] Figure 3c This is a right view of the probe device according to Embodiment 2 of the present invention;

[0045] Figure 3d This is a perspective view of the probe device according to Embodiment 2 of the present invention corresponding to surface A;

[0046] Figure 3e This is a perspective view of the probe device according to Embodiment 2 of the present invention, corresponding to side B.

[0047] Figure 4a This is an application scenario diagram of the probe device for measuring the first osteotomy plane according to Embodiment 2 of the present invention;

[0048] Figure 4b This is an application scenario diagram of the probe device for measuring the second osteotomy plane according to Embodiment 2 of the present invention;

[0049] Figure 4c This is an application scenario diagram of the probe device according to Embodiment 2 of the present invention for measuring the third osteotomy plane;

[0050] Figure 4d This is an application scenario diagram of the probe device according to Embodiment 2 of the present invention for measuring the fourth osteotomy plane;

[0051] Figure 4e This is an application scenario diagram of the probe device according to Embodiment 2 of the present invention for measuring the fifth osteotomy plane;

[0052] Figure 4f This is an application scenario diagram of the probe device according to Embodiment 2 of the present invention for measuring the sixth osteotomy plane;

[0053] Figure 5a This is a front view of the probe device according to Embodiment 3 of the present invention;

[0054] Figure 5b This is a right view of the probe device according to Embodiment 3 of the present invention;

[0055] Figure 5c This is a bottom view of the probe device according to Embodiment 3 of the present invention;

[0056] Figure 5d This is a perspective view of the probe device according to Embodiment 3 of the present invention corresponding to the L2 surface, R2 surface, L3 surface and R3 surface;

[0057] Figure 5e This is a perspective view of the probe device according to Embodiment 3 of the present invention, corresponding to the L1 and R1 surfaces;

[0058] Figure 6a This is an application scenario diagram of the probe device for measuring the first osteotomy plane according to Embodiment 3 of the present invention;

[0059] Figure 6b This is an application scenario diagram of the probe device for measuring the second osteotomy plane according to Embodiment 3 of the present invention;

[0060] Figure 6c This is an application scenario diagram of the probe device according to Embodiment 3 of the present invention for measuring the third osteotomy plane;

[0061] Figure 6d This is an application scenario diagram of the probe device according to Embodiment 3 of the present invention for measuring the fourth osteotomy plane;

[0062] Figure 6e This is an application scenario diagram of the probe device according to Embodiment 3 of the present invention for measuring the fifth osteotomy plane;

[0063] Figure 6f This is an application scenario diagram of the probe device according to Embodiment 3 of the present invention for measuring the sixth osteotomy plane;

[0064] Figure 7a This is a front view of the probe device according to Embodiment 4 of the present invention;

[0065] Figure 7b This is a right view of the probe device according to Embodiment 4 of the present invention;

[0066] Figure 7c This is a bottom view of the probe device according to Embodiment 4 of the present invention;

[0067] Figure 7d This is a perspective view of the probe device according to Embodiment 4 of the present invention, corresponding to side B.

[0068] Figure 7e This is a perspective view of the probe device according to Embodiment 4 of the present invention corresponding to the L1 surface, L2 surface, R1 surface and R2 surface;

[0069] Figure 8a This is an application scenario diagram of the probe device for measuring the first osteotomy plane according to Embodiment 4 of the present invention;

[0070] Figure 8b This is an application scenario diagram of the probe device for measuring the second osteotomy plane according to Embodiment 4 of the present invention;

[0071] Figure 8c This is an application scenario diagram of the probe device for measuring the third osteotomy plane according to Embodiment 4 of the present invention;

[0072] Figure 8d This is an application scenario diagram of the probe device according to Embodiment 4 of the present invention for measuring the fourth osteotomy plane;

[0073] Figure 8e This is an application scenario diagram of the probe device for measuring the fifth osteotomy plane according to Embodiment 4 of the present invention;

[0074] Figure 8f This is an application scenario diagram of the probe device according to Embodiment 4 of the present invention for measuring the sixth osteotomy plane;

[0075] Figure 9 This is a schematic diagram of the establishment of the optical target coordinate system on the probe device according to an embodiment of the present invention. Detailed Implementation

[0076] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of the invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0077] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” “third,” “fourth,” “fifth,” or “sixth” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0078] The present invention aims to provide a probe device, a readable storage medium, and an orthopedic navigation robot. The probe device includes: a connecting rod; a target support disposed at one end of the connecting rod; optical positioning marks disposed on the target support, at least three of the optical positioning marks being coplanar and non-collinear, defining an optical target plane, the optical target plane being parallel to or intersecting the connecting rod; and a measuring component disposed at the other end of the connecting rod, the measuring component including at least one horizontal plate having at least one measuring plane, the connecting rod being parallel to or intersecting the measuring plane of the horizontal plate. The probe device is configured to conform to all osteotomy planes on the knee joint via at least one of the measuring planes. When this probe device is used, interference between the probe device and the target tissue can be reduced, and the optical target plane can always face the navigation system on the opposite side of the current knee joint, thereby solving the problems in the prior art where probes easily interfere with other musculoskeletal tissues around the knee joint incision, and where the optical target cannot be properly aligned with the navigation system when considering both legs.

[0079] The following description refers to the accompanying drawings.

[0080] Example 1

[0081] Figures 1a to 1e An exemplary structure of the probe device 1 provided in Embodiment 1 of this application is illustrated. For example... Figures 1a to 1eAs shown, the probe device 1 includes an optical positioning mark 11, a target support 12, a connecting rod 13, and a measuring component 14. The target support 12 is disposed at one end of the connecting rod 13, and the measuring component 14 is disposed at the other end of the connecting rod 13. In this embodiment, the measuring component 14 consists of a horizontal plate 14a, the upper and lower surfaces of which are both measuring planes; that is, the measuring component 14 in this embodiment has two measuring planes. Furthermore, the measuring planes of the connecting rod 13 and the horizontal plate 14a can be parallel, perpendicular, or obliquely intersecting; that is, the angle between the connecting rod 13 and the measuring planes of the horizontal plate 14a is [0°, 90°]. Further, the connecting rod 13 and the measuring planes of the horizontal plate 14a are only parallel or obliquely intersecting. When the connecting rod 13 and the measuring plane of the horizontal plate 14a are obliquely intersecting, the angle between the connecting rod 13 and the measuring planes of the horizontal plate 14a preferably does not exceed 20°. Preferably, the angle between the connecting rod 13 and the measuring plane of the horizontal plate 14a is [0°, 20°], more preferably 0°. When the angle between the connecting rod 13 and the measuring plane of the horizontal plate 14a is 0°, the connecting rod 13 and the horizontal plate 14a are parallel (including coplanar). When the connecting rod 13 and the horizontal plate 14a are coplanar, the connecting rod 13 is preferably coplanar with the central plane between the upper and lower surfaces of the horizontal plate 14a (i.e., the axis of the connecting rod 13 passes through the central plane of the horizontal plate 14a). At this time, the structure has good symmetry and can better accommodate the left and right knee joints. This not only reduces the interference between the probe device 1 and other femoral muscle tissues around the knee joint incision, but also ensures that the optical target is better oriented towards the navigation system on the opposite side of the current knee joint.

[0082] It should be noted that the navigation system is generally placed on the side of the operating table, opposite the affected limb. Therefore, the optical target plane P needs to face the navigation system on the opposite side of the affected limb. For example, when measuring the right leg, the navigation system is placed on the side of the left leg, and when measuring the left leg, the navigation system is placed on the side of the right leg. Therefore, in the embodiment illustrated in this application, when measuring the right leg, the optical target plane P will always face the navigation system in the direction away from the viewer's eyes when looking at the image. The navigation system is generally placed on a trolley and supported by the trolley, which can be moved to the side of the operating table.

[0083] See Figure 1bThe probe device 1 has an optical target plane P, which is defined by at least three coplanar and non-collinear optical positioning marks 11. The optical positioning marks 11 can be tracked and identified by a navigation system and can be any structure capable of reflecting or actively emitting optics, such as a passive infrared reflective sphere, a retroreflective spherical lens, a planar reflective film, or an actively emitting light source. At least three optical positioning marks 11 are mounted on the target support 12, and the installation method is not particularly required. The at least three optical positioning marks 11 need to be coplanar and non-collinear. In this embodiment, four coplanar optical positioning marks 11 are used as an example, but this is not a limitation. As those skilled in the art will understand, in other embodiments, three of the four optical positioning marks 11 may be coplanar, and the third may be non-coplanar. When the number of optical positioning marks 11 exceeds three, such as four or more, at least one optical positioning mark 11 is used as a correction device to correct the relative positions between the other three coplanar optical positioning marks 11, thereby reducing the impact of installation and manufacturing errors. Given the large number and variety of optical target devices, the optical positioning marks 11 are generally fixed on the target support 12 with a predetermined mutual positional relationship. Therefore, in order to distinguish different optical target devices appearing simultaneously, different optical target devices should have different mutual positional relationships of the optical positioning marks 11, so that the navigation system can distinguish between different optical target devices. Generally, the optical positioning marks 11 are distributed in different ways on different target supports 12. The different distribution methods may be due to differences in the distance and / or angle between the optical positioning marks 11. Here, those skilled in the art can understand the mutual positional relationship of the optical positioning marks 11 on the target support 12 based on the prior art, and this application does not limit this.

[0084] The angle between the connecting rod 13 and the optical target plane P needs to be set according to the angle between the connecting rod 13 and the measuring plane of the cross plate 14a, ultimately ensuring that when the probe device 1 is in contact with the osteotomy plane, the optical target plane P always faces the navigation system on the opposite side of the affected limb. Therefore, this application sets the angle between the connecting rod 13 and the optical target plane P to [0°, 90°], that is, the connecting rod 13 and the optical target plane P can be parallel, perpendicular, or obliquely intersecting. In this embodiment, the optical target plane P is perpendicular or obliquely intersecting the connecting rod 13. When the optical target plane P and the connecting rod 13 intersect obliquely, the angle between the connecting rod 13 and the optical target plane P is preferably not less than 70°. Preferably, the angle between the connecting rod 13 and the optical target plane P is [70°, 90°], more preferably 90°. In this embodiment, the connecting rod 13 is parallel to the measuring plane of the horizontal plate 14a, and the connecting rod 13 is perpendicular to the optical target plane P. This is used as an illustration. At this time, it can best take into account both knee joints of the left and right legs. When the probe device 1 is in contact with all the osteotomy planes on any one of the affected limbs through the two measuring planes, it can not only reduce the interference between it and other bone and muscle tissues around the knee joint incision, but also ensure that the optical target plane P is best oriented towards the navigation system on the opposite side of the affected limb.

[0085] It should be noted that when the connecting rod 13 is parallel to any one of the measuring planes of the horizontal plate 14a, the symmetry of the structure is enhanced, allowing the probe device 1 to best accommodate both the left and right legs, and ensuring that the optical target plane P is optimally aligned with the navigation system. However, even if the measuring planes of the connecting rod 13 and the horizontal plate 14a intersect at an angle, the probe device 1 can still accommodate both legs. For example, when measuring the left leg, the optical target plane P can be fully aligned with the navigation system. In the case of measuring the right leg, the angle may be slightly skewed, but the navigation system can still see the optical target plane P. Furthermore, considering that when the measuring planes of the connecting rod 13 and the horizontal plate 14a intersect at an angle, if the angle between them is too large, the navigation system may not be able to see the optical target plane P. Therefore, it is best to design the angle between the connecting rod 13 and the measuring plane of the horizontal plate 14a to be no more than 20°, and more preferably, the angle between the connecting rod 13 and the optical target plane P to be no less than 70°.

[0086] Understandably, the angle between the connecting rod 13 and the measuring plane of the horizontal plate 14a is the angle between the connecting rod 13 and the orthographic projection of the connecting rod 13 on the measuring plane; the angle between the connecting rod 13 and the optical target plane P is the angle between the connecting rod 13 and the orthographic projection of the connecting rod 13 on the optical target plane P.

[0087] This application does not limit the shape of the horizontal plate 14a. The shape of the horizontal plate 14a is not limited to the rectangular plate shown in the figure, but can also be other suitable shapes, preferably symmetrical flat plates. It should also be understood that the upper surface and the lower surface of the horizontal plate 14a are simply two parallel and opposite surfaces, and should not be understood as the upper surface being above the lower surface. That is, the upper surface can be in any position above, below, or to one side of the lower surface.

[0088] In this embodiment, the upper surface of the horizontal plate 14a is the first measuring plane 141 (plane A), and the lower surface of the horizontal plate 14a is the second measuring plane 142 (plane B). Further, the measuring component 14 also has one or more calibration points 143. Preferably, three calibration points 143 are provided on any one measuring plane. For example, in this embodiment, the three calibration points 143 are provided on the first measuring plane 141. Of course, in other embodiments, the second measuring plane 142 can be provided with three calibration points 143. The three non-collinear calibration points 143 define a plane. Before each osteotomy measurement, the accuracy of the probe device 1 and whether the measuring plane of the measuring component 14 has deformed can be verified simply by inserting the probe tip of the calibration target into each calibration point 143. The calibration points 143 can cooperate with the pointed probe of the calibration target; the calibration is completed by inserting the calibrated pointed probe into the calibration point 143. Furthermore, the measuring plane of the transverse plate 14a is provided with measuring surface markings 144, such as A for the first measuring plane 141 and B for the second measuring plane 142. Each measuring plane may optionally have a unique measuring surface marking 144. The measuring surface markings 144 are used to distinguish different measuring planes and facilitate the operator in selecting the appropriate measuring plane to measure the osteotomy plane based on the prompts from the surgical navigation software in the navigation system.

[0089] Furthermore, the other end of the connecting rod 13 is preferably connected to the horizontal plate 14a via an elbow, which makes the connecting rod 13 and the horizontal plate 14a L-shaped. In this case, the connecting rod 13 is an L-shaped rod. Preferably, the connecting rod 13 is parallel to the measuring plane of the horizontal plate 14a. Further still, the other end of the connecting rod 13 is connected to the center of the side of the horizontal plate 14a, so that the upper and lower surfaces of the horizontal plate 14a are symmetrical about the connecting rod 13. This makes the structure between the connecting rod 13 and the measuring component 14 highly compact and symmetrical, allowing the probe device 1 to better accommodate both legs and reduce the risk of interference. Further still, one end of the connecting rod 13 is directly connected to the side of the target support 12 away from the optical target plane P. As in this embodiment, the connecting rod 13 is perpendicular to the optical target plane P, parallel to the measuring plane of the horizontal plate 14a, and one end of the connecting rod 13 is directly connected to the center of the side of the target support 12 away from the optical target plane P.

[0090] The following illustration shows the connecting rod 13 and the horizontal plate 14a arranged in an L-shape, with the connecting rod 13 perpendicular to the optical target plane P. Figures 2a to 2f The osteotomy plane measurement method of the probe device 1 described in Embodiment 1 of this application will be further explained.

[0091] First, it is important to understand that in total knee replacement surgery, the affected limb is kept in a fixed position, which is basically with the knee flexed at 90°, so that the femur 91 and tibia 92 form a 90° angle. There are five osteotomy planes on the femur 91: the first osteotomy plane 911, the second osteotomy plane 912, the third osteotomy plane 913, the fourth osteotomy plane 914, and the fifth osteotomy plane 915. There is one osteotomy plane on the tibia 92: the sixth osteotomy plane 926. 93 is the fibula.

[0092] Taking the osteotomy measurement of the right leg as an example, in the illustrated implementation method:

[0093] Figure 2a The osteotomy measurements at the first osteotomy plane 911 on the femur 91 are illustrated; as follows: Figure 2a As shown, the second measuring plane 142 (B plane) is selected to fit the first osteotomy plane 911 (anterior femoral condyle osteotomy plane). At this time, the connecting rod 13 can extend from the right knee joint incision and face the left leg. The probe device 1 basically does not interfere with other bone and muscle tissues around the knee joint incision, and the optical target plane P can also face the navigation system on the opposite side of the right leg.

[0094] Figure 2b The osteotomy measurements at the second osteotomy plane 912 on the femur 91 are illustrated; as follows: Figure 2b As shown, the second measuring plane 142 (plane B) is used to measure the second osteotomy plane 912 (femoral anteversion osteotomy plane). At this time, the state of probe device 1 is basically the same as... Figure 2a similar;

[0095] Figure 2c The osteotomy measurements at the third osteotomy plane 913 on the femur 91 are illustrated; as follows: Figure 2c As shown, the first measuring plane 141 (plane A) is used to measure the third osteotomy plane 913 (distal femoral osteotomy plane). By switching to plane A for measurement, the orientation of the optical target plane P can be maintained better, which allows the optical target plane P to continue to be oriented well toward the navigation system on the opposite side of the right leg.

[0096] Figure 2d The osteotomy measurements at the fourth osteotomy plane 914 on the femur 91 are illustrated; as follows: Figure 2d As shown, the first measuring plane 141 (plane A) is used to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur). At this time, the state of the probe device 1 is basically the same as... Figure 2c similar;

[0097] Figure 2e The osteotomy measurements at the fifth osteotomy plane 915 on the femur 91 are illustrated; as follows: Figure 2e As shown, the first measuring plane 141 (plane A) is used to measure the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane);

[0098] Figure 2f The osteotomy measurements at the sixth osteotomy plane 926 on the tibia are illustrated; as follows: Figure 2f As shown, the second measurement plane 142 (B plane) is used to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane). By switching back to measurement on plane B, the risk of interference is reduced and the orientation of the optical target plane P is better maintained. This allows the optical target plane P to continue to be well oriented towards the navigation system on the opposite side of the right leg.

[0099] In the above measurement method, when the probe device 1 is aligned with the six osteotomy planes on the right knee joint through two measuring planes, the interference between the probe device 1 and other bone and muscle tissues around the right knee joint incision is effectively reduced, and the optical target plane P is always oriented towards the navigation system on the opposite side of the right leg. Furthermore, it can be seen that during the measurement of the right leg, it is only necessary to rotate the horizontal plate 14a left and right around the connecting rod 13 to align with all the osteotomy planes, making the operation relatively simple and convenient. Although there are fewer measuring planes, it still ensures that the optical target plane P is well oriented towards the navigation system.

[0100] For the left leg, the measurement planes can be selected from opposite planes. Specifically, in one embodiment:

[0101] The first measurement plane 141 (plane A) is selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane);

[0102] The first measuring plane 141 (plane A) is selected to measure the second osteotomy plane 912 (femoral anteversion osteotomy plane);

[0103] The second measuring plane 142 (B plane) was selected to measure the third osteotomy plane 913 (distal femoral osteotomy plane);

[0104] The second measuring plane 142 (B plane) was selected to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur);

[0105] The second measuring plane 142 (B plane) was selected to measure the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane);

[0106] The first measuring plane 141 (plane A) was selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane).

[0107] It should be noted that the above methods for measuring the osteotomy plane for the right and left legs are only preferred recommendations. In fact, any measurement plane can be selected to measure the specified osteotomy plane according to the prompts of the surgical navigation software in the navigation system, and is not limited to the above measurement methods.

[0108] Therefore, the probe device 1 provided in Embodiment 1 of this application can effectively accommodate osteotomy measurements of both legs. Furthermore, when accommodating osteotomy measurements of both legs, there is no need to configure a bi-directional symmetrical target, which greatly simplifies the structure of the probe device 1, thereby reducing manufacturing and processing costs. Simultaneously, the overall weight of the probe device 1 is reduced, making it easier for doctors to hold and operate. Moreover, the probe device 1 can also effectively avoid other bone and muscle tissue around the incision sites of the left and right knee joints, allowing each measurement plane to better conform to the osteotomy plane of total knee replacement surgery. At the same time, the optical target can also be better aligned with the navigation system, ultimately improving measurement efficiency and making measurements more accurate and reliable.

[0109]

Example 2

[0110] It should be understood that the parts of this embodiment that are structurally the same as those in Embodiment 1 are marked with the same symbols. The parts that are the same as those in Embodiment 1 will not be described in detail. The following mainly describes the differences from Embodiment 1.

[0111] Figures 3a to 3e An exemplary structure of the probe device 2 provided in Embodiment 2 of this application is illustrated. For example... Figures 3a to 3eAs shown, the probe device 2 includes an optical positioning mark 11, a target support 12, a connecting rod 23, and a measuring component 14. The target support 12 is disposed at one end of the connecting rod 23, and the measuring component 14 is disposed at the other end of the connecting rod 23. In this embodiment, the measuring component 14 consists of a horizontal plate 14a, the upper and lower surfaces of which are both measuring planes; that is, the measuring component 14 in this embodiment also has two measuring planes. The connecting rod 23 and the measuring plane of the horizontal plate 14a described in this embodiment can be parallel, perpendicular, or obliquely intersecting; that is, the angle between the connecting rod 23 and the measuring plane of the horizontal plate 14a is [0°, 90°]. Further, the connecting rod 23 and the measuring plane of the horizontal plate 14a are only parallel or obliquely intersecting. When the connecting rod 23 and the measuring plane of the horizontal plate 14a are obliquely intersecting, the angle between the connecting rod 23 and the measuring plane of the horizontal plate 14a preferably does not exceed 20°. Preferably, the angle between the connecting rod 23 and the measuring plane of the horizontal plate 14a is [0°, 20°], more preferably 0°. When the angle between the connecting rod 23 and the measuring plane of the horizontal plate 14a is 0°, the connecting rod 23 and the horizontal plate 14a are parallel (including coplanar). When the connecting rod 23 and the horizontal plate 14a are coplanar, the connecting rod 23 is preferably coplanar with the central plane between the upper and lower surfaces of the horizontal plate 14a (i.e., the axis of the connecting rod 23 passes through the central plane of the horizontal plate 14a). At this time, the structure has good symmetry and can better accommodate the left and right knee joints. This not only reduces interference with other femoral muscle tissues around the knee joint incision, but also ensures that the optical target is better oriented towards the navigation system on the opposite side of the current knee joint.

[0112] Furthermore, the connecting rod 23 can be parallel, perpendicular, or obliquely intersecting the optical target plane P; that is, the angle between the connecting rod 23 and the optical target plane P is set to [0°, 90°]. In this embodiment, the optical target plane P is perpendicular or obliquely intersecting the connecting rod 23. When the optical target plane P and the connecting rod 23 are obliquely intersecting, the angle between the connecting rod 23 and the optical target plane P is preferably not less than 70°. Preferably, the angle between the connecting rod 23 and the optical target plane P is [70°, 90°], and more preferably 90°. In this embodiment, the connecting rod 23 is parallel to the measuring plane of the horizontal plate 14a, and the connecting rod 23 is perpendicular to the optical target plane P. This best takes into account both knee joints, so that when the probe device 2 is in contact with all the osteotomy planes on any affected limb through the two measuring planes, it can not only reduce the interference between it and other bone and muscle tissues around the knee joint incision, but also ensure that the optical target plane P is best oriented towards the navigation system on the opposite side of the affected limb. It should be understood that the angle between the connecting rod 23, the horizontal plate 14a, and the optical target plane P described in this embodiment is set in a similar manner to that in Embodiment 1. The specific setting principle can be found in Embodiment 1, and will not be described in detail here.

[0113] The difference between the connecting rod 23 in this embodiment and that in Embodiment 1 is that the other end of the connecting rod 23 is directly connected to the horizontal plate 14a, so that the connecting rod 23 and the horizontal plate 14a are arranged in a straight line. Preferably, the connecting rod 23 is parallel to the measuring plane of the horizontal plate 14a, and the other end of the connecting rod 23 is connected to the center of the side of the horizontal plate 14a. This makes the overall structure formed by the connection of the measuring component 14 and the connecting rod 23 symmetrical both left and right and up and down, with good structural symmetry, which can best take into account both the left and right legs.

[0114] Then, the diagram illustrates the arrangement of the connecting rod 23 in a straight line with the horizontal plate 14a, and the connecting rod 23 perpendicular to the optical target plane P. Figures 4a to 4f The osteotomy plane measurement method of the probe device 2 described in Embodiment 2 of this application will be further explained.

[0115] Taking the osteotomy measurement of the right leg as an example, in this embodiment of the application, all measurements are taken using plane A at the six osteotomy planes on the knee joint of the right leg. Specifically:

[0116] Figure 4a The osteotomy measurements at the first osteotomy plane 911 on the femur 91 are illustrated; as follows: Figure 4a As shown, the first measuring plane 141 (plane A) is selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane). At this time, the connecting rod 23 can extend from the right knee joint incision and face the left leg. The probe device 2 basically does not interfere with other bone and muscle tissues around the knee joint incision, and the optical target plane P can also face the navigation system on the opposite side of the right leg.

[0117] Figure 4b The osteotomy measurements at the second osteotomy plane 912 on the femur 91 are illustrated; as follows: Figure 4b As shown, the first measuring plane 141 (plane A) is used to measure the second osteotomy plane 912 (femoral anteversion osteotomy plane). At this time, the state of probe device 2 is the same as... Figure 4a similar;

[0118] Figure 4c The osteotomy measurements at the third osteotomy plane 913 on the femur 91 are illustrated; as follows: Figure 4c As shown, due to the high symmetry of the structure, the first measuring plane 141 (plane A) can be used to measure the third osteotomy plane 913 (distal femoral osteotomy plane), which can continue to maintain the orientation of the optical target plane P well.

[0119] Figure 4d The osteotomy measurements at the fourth osteotomy plane 914 on the femur 91 are illustrated; as follows: Figure 4d As shown, the first measuring plane 141 (plane A) is selected to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur). At this time, the state of the probe device 2 is the same as... Figure 4c similar;

[0120] Figure 4e The osteotomy measurements at the fifth osteotomy plane 915 on the femur 91 are illustrated; as follows: Figure 4e As shown, the first measuring plane 141 (plane A) is used to measure the fifth osteotomy plane 915 (femoral posterior condyle osteotomy plane). At this time, the optical target plane P is still a good navigation system facing the opposite side of the right leg.

[0121] Figure 4f The osteotomy measurements at the sixth osteotomy plane 926 on the tibia are illustrated; as follows: Figure 4f As shown, the first measuring plane 141 (plane A) is selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane), and the state is the same as... Figure 4e similar.

[0122] Therefore, in the above measurement method for the right leg, the probe device 2 only needs to be aligned with the six osteotomy planes on the right knee joint through a single measurement plane. This also effectively reduces interference between the probe device 2 and other bone and muscle tissues around the right knee joint incision, and ensures that the optical target plane P always faces the navigation system on the opposite side of the right leg. Furthermore, it can be seen that during the right leg measurement, simply rotating the horizontal plate 14a around the connecting rod 23 is sufficient to align with all osteotomy planes, making the operation relatively simple and convenient. Although the number of measurement planes is small, it still ensures that the optical target plane P is well aligned with the navigation system. In addition, this embodiment only requires one measurement plane to complete the measurement of both knee joints, resulting in a simpler structure and more convenient operation.

[0123] In one embodiment, the measurement planes for the left leg are chosen to be opposite planes.

[0124] The second measuring plane 142 (B plane) was selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane);

[0125] The second measurement plane 142 (B plane) is selected to measure the second osteotomy plane 912 (femoral anteversion osteotomy plane);

[0126] The second measuring plane 142 (B plane) was selected to measure the third osteotomy plane 913 (distal femoral osteotomy plane);

[0127] The second measuring plane 142 (B plane) was selected to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur);

[0128] The second measuring plane 142 (B plane) was selected to measure the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane);

[0129] The second measuring plane 142 (B plane) was selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane).

[0130] Similarly, the above methods are only preferred recommendations. You can also select any measurement plane to measure the specified osteotomy plane according to the prompts of the surgical navigation software; the above measurement methods are not limited to these. For example, when measuring the right leg, all six osteotomy planes can be measured using the second measurement plane 142 (surface B). Due to the high degree of symmetry in the configuration of the probe device 2 in this embodiment, all six osteotomy planes of the left leg can also be measured using either the first measurement plane 141 (surface A) or the second measurement plane 142 (surface B).

[0131] Therefore, the probe device 2 provided in Embodiment 2 of this application can contact all osteotomy planes on any affected limb through a measuring plane on a horizontal plate 14a, without interfering with other bone and muscle tissues around the knee joint incision. It also allows the probe device 2 to perform osteotomy measurements on both legs. When measuring the right and left legs, the optical target plane P is well-oriented towards the navigation system and can be seen by the navigation system when contacting all osteotomy planes. Using the probe device 2 provided in this embodiment, osteotomy measurements on both legs can be well taken into account, and there is no need to configure a double-sided symmetrical target when performing osteotomy measurements on both legs. This greatly simplifies the structure of the probe device 2, thereby reducing manufacturing and processing costs and making it easier for doctors to hold and operate.

[0132]

Example 3

[0133] It should be noted that the parts of this embodiment that are structurally identical to those of embodiments one and two use the same symbols. The following mainly describes the differences from embodiments one and two, while for the identical parts, please refer to embodiments one and two.

[0134] Figures 5a to 5e An exemplary structure of the probe device 3 provided in Embodiment 3 of this application is illustrated. For example... Figures 5a to 5e As shown, the probe device 3 includes an optical positioning mark 11, a target support 12, a connecting rod 33, and a measuring component 34. The target support 12 is disposed at one end of the connecting rod 33, and the measuring component 34 is disposed at the other end of the connecting rod 33. In this embodiment, the measuring component 34 includes a horizontal plate 34a and a support plate 34b. The support plate 34b is connected to the lower surface of the horizontal plate 34a (the surface facing away from the connecting rod 33), making the measuring component 34 a T-shaped structure. Furthermore, the upper and lower surfaces of the horizontal plate 34a each form two measuring planes bounded by the support plate 34b, and the two opposite sides of the support plate 34b are also measuring planes, giving the measuring component 34 six measuring planes.

[0135] The measuring plane of the connecting rod 33 and the horizontal plate 34a can be parallel, perpendicular, or obliquely intersecting, i.e., the angle between the connecting rod 33 and the measuring plane of the horizontal plate 34a is [0°, 90°]. In the probe device 3 provided in Embodiment 3, the measuring plane of the connecting rod 33 and the horizontal plate 34a is preferably perpendicular or obliquely intersecting rather than parallel. When the connecting rod 33 and the measuring plane of the horizontal plate 34a are obliquely intersecting, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 34a is preferably not less than 70°. Preferably, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 34a is [70°, 90°], more preferably 90°. When the angle between the connecting rod 33 and the measuring plane of the horizontal plate 34a is 90°, the connecting rod 33 is perpendicular to the horizontal plate 34a. Furthermore, the measuring component 34 has an axisymmetric structure, and the axis of symmetry of the measuring component 34 passes through the support plate 34b. The other end of the connecting rod 33 is connected to the axis of symmetry of the measuring component 34. This gives the measuring component 34 itself a high degree of symmetry, and the structure formed after the measuring component 34 and the connecting rod 33 are connected also has a high degree of symmetry. This high degree of structural symmetry allows the probe device 3 to best balance the left and right legs, reducing the risk of interference and enabling the navigation system to best track and identify the optical target. Therefore, in this embodiment, the measuring component 34, in addition to the horizontal plate 34a, also provides a support plate 34b, which allows the measuring component 34 to provide more measuring planes.

[0136] Furthermore, the connecting rod 33 can be parallel, perpendicular, or obliquely intersecting the optical target plane P; that is, the angle between the connecting rod 33 and the optical target plane P is [0°, 90°]. In the probe device 3 provided in Embodiment 3, the connecting rod 33 is preferably parallel or obliquely intersecting the optical target plane P, rather than perpendicular. When the optical target plane P intersects the connecting rod 33 obliquely, the angle between the connecting rod 33 and the optical target plane P preferably does not exceed 20°. Preferably, the angle between the connecting rod 33 and the optical target plane P is [0°, 20°], more preferably 0°. When the angle between the connecting rod 33 and the optical target plane P is 0°, the connecting rod 33 is parallel (including coplanar) to the optical target plane P. In this embodiment, the connecting rod 33 is perpendicular to the horizontal plate 34a and parallel to the optical target plane P. This is used as an illustration. At this time, it can best take into account both knee joints of the left and right legs. When the probe device 3 is in contact with all the osteotomy planes on any one of the affected limbs through the 6 measurement planes, it can not only reduce the interference between the probe device 3 and other bone and muscle tissues around the knee joint incision, but also ensure that the optical target plane P is best oriented towards the navigation system on the opposite side of the affected limb.

[0137] It should be understood that when the connecting rod 33 is perpendicular to any of the measuring planes of the horizontal plate 34a, it enhances the symmetry of the structure, allowing the probe device 3 to best accommodate both legs and ensuring that the optical target plane P is optimally aligned with the navigation system. However, even if the measuring planes of the connecting rod 33 and the horizontal plate 34a intersect at an angle, the probe device 3 can still accommodate both legs. For example, when measuring the left leg, the optical target plane P can be fully aligned with the navigation system. In contrast, when measuring the right leg, the angle may be slightly skewed, but the navigation system can still see the optical target plane P. Furthermore, considering that when the connecting rod 33 and the measuring planes of the horizontal plate 34a intersect at an angle, if the angle between them is too small, the navigation system may not be able to see the optical target plane P at all. Therefore, it is best to design the angle between the connecting rod 33 and any of the measuring planes of the horizontal plate 34a to be no less than 70°, and more preferably, the angle between the connecting rod 33 and the optical target plane P to be no more than 20°.

[0138] Understandably, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 34a is the angle between the connecting rod 33 and its orthographic projection on the measuring plane; the angle between the connecting rod 33 and the optical target plane P is the angle between the connecting rod 33 and its orthographic projection on the optical target plane P.

[0139] This application does not limit the shape of the horizontal plate 34a and the support plate 34b. The shape of the horizontal plate 34a and the support plate 34b is not limited to the rectangular plate shown in the figure, but can also be other suitable shapes, preferably symmetrical flat plates. It should also be understood that in this embodiment, the upper surface of the horizontal plate 34a is the surface connecting the connecting rod 33, and the lower surface is the surface connecting the support plate 34b.

[0140] Furthermore, the support plate 34b is vertically connected to the lower surface of the cross plate 34a, so that the connecting rod 33 and the measuring component 34 are arranged in a cross shape, and the upper and lower surfaces of the cross plate 34a form two measuring planes bounded by the support plate 34b, thereby giving the measuring component 34 six measuring planes arranged circumferentially along the cross shape. Because the probe device 3 has more measuring planes, it can better avoid other musculoskeletal tissues around the knee joint incision and better align the optical target plane P with the navigation system. More specifically, the measuring component 34 has a first measuring plane 341 (L1 surface), a second measuring plane 342 (L2 surface), a third measuring plane 343 (L3 surface), a fourth measuring plane 344 (R3 surface), a fifth measuring plane 345 (R2 surface), and a sixth measuring plane 346 (R1 surface) arranged circumferentially around the cross shape. For example, from... Figure 5eFrom the perspective of the drawing, the planes arranged counterclockwise around the cross shape are L1, L2, L3, R3, R2, and R1. Specifically, the third measuring plane 343 (L3) and the fourth measuring plane 344 (R3) are two relatively parallel sides of the support plate 34b; the second measuring plane 342 (L2) and the fifth measuring plane 345 (R2) are two measuring planes on the lower surface of the horizontal plate 34a located on either side of the support plate 34b; and the first measuring plane 341 (L1) and the sixth measuring plane 346 (R1) are two measuring planes on the upper surface of the horizontal plate 34a. The probe device 3 in this embodiment has a highly symmetrical structural configuration, which best accommodates osteotomy measurements of both legs, and the large number of measuring planes minimizes the risk of interference.

[0141] Furthermore, each measurement plane may optionally have a unique measurement surface identifier 144. For example, the identifier 144 on the first measurement plane 341 is "L1", the identifier 144 on the second measurement plane 342 is "L2", the identifier 144 on the third measurement plane 343 is "L3", the identifier 144 on the fourth measurement plane 344 is "R3", the identifier 144 on the fifth measurement plane 345 is "R2", and the identifier 144 on the sixth measurement plane 346 is "R1". At least one check point 143 can be set on any measurement plane. Similarly, these measurement surface identifiers 144 are used to distinguish different measurement planes and facilitate the operator in selecting the appropriate measurement plane to measure the osteotomy plane according to the prompts of the surgical navigation software.

[0142] Furthermore, the connecting rod 33 can be a completely straight rod or an L-shaped rod with a bend as shown in the illustration. That is, the connecting rod 33 can be connected to the target support 12 with or without bending. In this embodiment, the connection of the connecting rod 33 to the target support 12 via a bend is for illustrative purposes only, but is not limited thereto. Furthermore, one end of the connecting rod 33 is connected to the side of the target support 12 away from the optical target plane P. As in this embodiment, the connecting rod 33 is parallel to the optical target plane P, and one end of the connecting rod 33 is connected to the center of the side of the target support 12 away from the optical target plane P via a bend. In this case, it can be understood that the non-bend portion of the connecting rod 33 is parallel to the optical target plane P.

[0143] The following illustration will use the example of connecting rod 33 being perpendicular to the horizontal plate 34a and parallel to the optical target plane P, and will refer to... Figures 6a to 6f The osteotomy plane measurement method of the probe device 3 described in Embodiment 3 of this application will be further explained.

[0144] Taking the osteotomy measurement of the right leg as an example, in one implementation method:

[0145] Figure 6aThe osteotomy measurements at the first osteotomy plane 911 on the femur 91 are illustrated; as follows: Figure 6a As shown, the fifth measuring plane 345 (R2 plane) is selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane). At this time, the connecting rod 33 can extend from directly above the right knee joint incision. The probe device 3 can better avoid interfering with other bone and muscle tissues around the knee joint incision, and the optical target plane P can also be better oriented towards the navigation system on the opposite side of the right leg.

[0146] Figure 6b The osteotomy measurements at the second osteotomy plane 912 on the femur 91 are illustrated; as follows: Figure 6b As shown, the fifth measuring plane 345 (R2 plane) is used to measure the second osteotomy plane 912 (anterior oblique femoral osteotomy plane). At this time, compared to Figure 6a The connecting rod 33 and the target bracket 12 will tilt slightly forward, but the optical target plane P will still be well oriented towards the navigation system on the opposite side of the right leg.

[0147] Figure 6c The osteotomy measurements at the third osteotomy plane 913 on the femur 91 are illustrated; as follows: Figure 6c As shown, the second measuring plane 342 (L2 plane) is used instead to measure the third osteotomy plane 913 (distal femoral osteotomy plane). At this point, compared to... Figure 6c The connecting rod 33 and the target bracket 12 are tilted further forward, but the optical target plane P can also be oriented well toward the navigation system on the opposite side of the right leg.

[0148] Figure 6d The osteotomy measurements at the fourth osteotomy plane 914 on the femur 91 are illustrated; as follows: Figure 6d As shown, the measurement can be changed to use the fourth measuring plane 344 (R3 plane) to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur). In this case, compared to Figure 6c The connecting rod 33 can also extend from directly above the incision at the right knee joint;

[0149] Figure 6e The osteotomy measurements at the fifth osteotomy plane 915 on the femur 91 are illustrated; as follows: Figure 6e As shown, the sixth measuring plane 346 (R1 plane) can be used to measure the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane). The measurement state at this time is similar to Figure 6d ;

[0150] Figure 6f The osteotomy measurements at the sixth osteotomy plane 926 on the tibia are illustrated; as follows: Figure 6f As shown, the fifth measuring plane 345 (R2 plane) is selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane). At this time, the connecting rod 33 also extends from above the incision of the right knee joint.

[0151] The measurement planes for the left leg are selected from the opposite planes; that is, the measurement planes for the left leg are selected from the opposite planes with the connecting rod 33 as the center. Specifically:

[0152] The second measuring plane 342 (L2 plane) was selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane);

[0153] The second measurement plane 342 (L2 plane) was selected to measure the second osteotomy plane 912 (anterior oblique osteotomy plane of the femur);

[0154] The fifth measuring plane 345 (R2 plane) was selected to measure the third osteotomy plane 913 (distal femoral osteotomy plane);

[0155] The third measuring plane 343 (L3 plane) was selected to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur);

[0156] The fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane) was measured using the first measuring plane 341 (L1 plane);

[0157] The second measuring plane 342 (L2 plane) was selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane).

[0158] Of course, the above methods are only preferred recommendations. You can also select any measurement plane to measure the specified osteotomy plane according to the prompts of the surgical navigation software, without being limited to the above measurement methods.

[0159] Therefore, in the probe device 3 provided in Embodiment 3 of this application, although the measuring component 34 has an irregular (T-shaped) structure, it can have a high degree of structural symmetry and can also well take into account both legs. Furthermore, when measuring osteotomy in both legs, there is no need to configure a double-sided symmetrical target, which greatly simplifies the structure of the probe device 3, thereby reducing manufacturing and processing costs. At the same time, the overall weight of the probe device 3 is reduced, making it easier for doctors to hold and operate. Moreover, the probe device 3 can also better avoid other bone and muscle tissue around the knee joint incision, allowing each measuring plane to better fit the osteotomy plane of total knee replacement surgery. Simultaneously, the optical target can also be better aligned with the navigation system, ultimately improving measurement efficiency and making the measurement more accurate and reliable. Furthermore, compared to Embodiments 1 and 2, in this embodiment, when the probe device 3 is fitted to the osteotomy plane at certain angles, the connecting rod 33 can extend from above the knee joint incision, where there is almost no muscle tissue, thus reducing the risk of interference.

[0160]

Example 4

[0161] It should be noted that the parts of this embodiment that are structurally identical to those of the above embodiments are marked with the same symbols. The following mainly describes the differences from the above embodiments, while for the identical parts, please refer to embodiments one to three.

[0162] Figures 7a to 7e An exemplary structure of the probe device 4 provided in Embodiment 4 of this application is illustrated. For example... Figures 7a to 7e As shown, the probe device 4 includes an optical positioning mark 11, a target support 12, a connecting rod 33, and a measuring component 44. The target support 12 is disposed at one end of the connecting rod 33, and the measuring component 44 is disposed at the other end of the connecting rod 33. In this embodiment, the measuring component 44 includes a horizontal plate 44a and a support plate 44b. The support plate 44b is connected to the upper surface of the horizontal plate 44a (the surface near the connecting rod 33), making the measuring component 44 generally triangular in shape. Furthermore, the upper surface of the horizontal plate 44a forms two measuring planes with the support plate 34b as the boundary, while the lower surface of the horizontal plate 44a has only one measuring plane. At the same time, the two opposite sides of the support plate 44b are both measuring planes, which gives the measuring component 44 five measuring planes.

[0163] Similar to Embodiment 3, in Embodiment 4, the connecting rod 33 and the measuring plane of the horizontal plate 44a can be parallel, perpendicular, or obliquely intersecting, i.e., the angle between the connecting rod 33 and the measuring plane of the horizontal plate 44a is [0°, 90°]. In the probe device 4 provided in Embodiment 4, the connecting rod 33 and the measuring plane of the horizontal plate 44a are preferably perpendicular or obliquely intersecting rather than parallel. When the connecting rod 33 and the measuring plane of the horizontal plate 44a are obliquely intersecting, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 44a is preferably not less than 70°. Further, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 44a is [70°, 90°], more preferably 90°. When the angle between the connecting rod 33 and the measuring plane of the horizontal plate 44a is 90°, the connecting rod 33 is perpendicular to the horizontal plate 44a. Furthermore, the measuring component 44 itself is an axisymmetric structure, and the axis of symmetry of the measuring component 34 passes through the support plate 44b. The other end of the connecting rod 33 is connected to the axis of symmetry of the measuring component 44. This gives the measuring component 44 itself a high degree of symmetry, and the structure formed after the measuring component 44 and the connecting rod 33 are connected also has good symmetry. The high compactness and symmetry of the structure are beneficial for the probe device 4 to best balance the left and right legs, reduce the risk of interference, and enable the navigation system to best track and identify the optical target. Therefore, in this embodiment, the measuring component 44 is provided with a support plate 44b in addition to the horizontal plate 44a, which allows the measuring component 44 to provide more measuring planes.

[0164] It should also be understood that the measuring component 44 in this embodiment can be understood as an isosceles triangle structure composed of three plates, wherein the base of the isosceles triangle is formed by a horizontal plate 44a, and the two sides of the base extend outwards by a certain distance to form an edge portion. Specifically, the support plate 44b in this embodiment is constructed of two side support plates at an included angle. The two side support plates are connected to the upper surface of the horizontal plate 44a and are connected to the horizontal plate 44a to form an isosceles triangle. The other end of the connecting rod 33 is connected to the vertex of the isosceles triangle, and the upper surface of the horizontal plate 44a extending beyond the edge portion of the two side support plates is defined as two measuring planes. The lower surface of the horizontal plate 44a is a measuring plane, thereby making the connecting rod 33 and the measuring component 44 triangularly configured, and also making the measuring component 44 have five measuring planes arranged circumferentially along the isosceles triangle. More specifically, the measuring component 44 has five measuring planes arranged circumferentially around an isosceles triangle, namely a first measuring plane 441 (L1 plane), a second measuring plane 442 (L2 plane), a third measuring plane 443 (B plane), a fourth measuring plane 444 (R2 plane), and a fifth measuring plane 445 (R1 plane). For example, from... Figure 7e From the perspective of the diagram, the planes surrounding the isosceles triangle in a counter-clockwise direction are L1, L2, B, R2, and R1. It can be understood that the first measuring plane 441 (L1), the fifth measuring plane 445 (R1), and the third measuring plane 443 (B) form an isosceles triangle. The third measuring plane 443 (B) is the base of the isosceles triangle, and the first measuring plane 441 (L1) and the fifth measuring plane 445 (R1) are the two legs of the isosceles triangle. The first measuring plane 441 (L1) and the second measuring plane 442 (L2) are located on the same side of the isosceles triangle, and the fourth measuring plane 444 (R2) and the fifth measuring plane 445 (R1) are located on the other side of the isosceles triangle. The vertex of the isosceles triangle is connected to the connecting rod 33. Extending outwards from the base of the isosceles triangle, a second measuring plane 442 (L2 plane) and a fourth measuring plane 444 (R2 plane) are formed. These two planes are parallel to the third measuring plane 443 (B plane). It should be understood that the probe device 4 in this embodiment also has a highly symmetrical structure, which can effectively accommodate osteotomy measurements of both legs, and the large number of measuring planes minimizes the risk of interference.

[0165] Furthermore, the connecting rod 33 can be parallel, perpendicular, or obliquely intersecting the optical target plane P; that is, the angle between the connecting rod 33 and the optical target plane P is [0°, 90°]. In the probe device 4 provided in Embodiment 4, the connecting rod 33 is preferably parallel or obliquely intersecting the optical target plane P, rather than perpendicular. When the optical target plane P intersects the connecting rod 33 obliquely, the angle between the connecting rod 33 and the optical target plane P preferably does not exceed 20°. Preferably, the angle between the connecting rod 33 and the optical target plane P is [0°, 20°], more preferably 0°. When the angle between the connecting rod 33 and the optical target plane P is 0°, the connecting rod 33 and the optical target plane P are parallel (including coplanar). In this embodiment, the connecting rod 33 is perpendicular to the horizontal plate 44a and parallel to the optical target plane P. This is used as an illustration. At this time, it can best take into account both knee joints of the left and right legs. When the probe device 3 is in contact with all the osteotomy planes on any one of the affected limbs through the 6 measurement planes, it can not only reduce the interference between the probe device 4 and other bone and muscle tissues around the knee joint incision, but also ensure that the optical target plane P is best oriented towards the navigation system on the opposite side of the affected limb.

[0166] Similarly, when the connecting rod 33 is perpendicular to any measuring plane of the horizontal plate 44a, the structural symmetry between the connecting rod 33 and the measuring component 44 is good, which can best take into account both the left and right legs, and also allows the optical target plane P to face the navigation system best. However, even if the connecting rod 33 and the measuring plane of the horizontal plate 44a intersect obliquely, the probe device 4 can still be compatible with both the left and right legs. For example, when measuring the left leg, the optical target plane P can face the navigation system completely. Then, when measuring the right leg, it may be slightly skewed, but the navigation system can still see the optical target plane P. Furthermore, considering that when the connecting rod 33 and the measuring plane of the horizontal plate 44a intersect obliquely, if the included angle between the two is too small, the navigation system may not be able to see the optical target plane P at all. Therefore, it is best to design the included angle between the connecting rod 33 and any measuring plane of the horizontal plate 44a to be not less than 70°, and more preferably, the included angle between the connecting rod 33 and the optical target plane P to be no more than 20°.

[0167] Understandably, the angle between the connecting rod 33 and the measuring plane of the horizontal plate 44a is the angle between the connecting rod 33 and its orthographic projection on the measuring plane; similarly, the angle between the connecting rod 33 and the optical target plane P is the angle between the connecting rod 33 and its orthographic projection on the optical target plane P.

[0168] This application does not limit the shape of the horizontal plate 44a and the support plate 44b, and the shape of the horizontal plate 44a and the support plate 44b is not limited to the rectangular plates shown in the figure. The measuring component 44 of this embodiment can be manufactured separately or integrally. Each measuring plane may optionally have a unique measuring surface mark 144. For example, the measuring surface mark 144 on the first measuring plane 441 is "L1", the measuring surface mark 144 on the second measuring plane 442 is "L2", the measuring surface mark 144 on the third measuring plane 443 is "B", the measuring surface mark 144 on the fourth measuring plane 444 is "R2", and the measuring surface mark 144 on the fifth measuring plane 445 is "R1". At least one calibration point 143 can be set on any measuring plane.

[0169] In this embodiment, the connecting rod 33 can be a completely straight rod or an L-shaped rod with a bend as shown in the figure. That is, the connecting rod 33 can be connected to the target bracket 12 with or without bending. As shown in the figure, the connection of the connecting rod 33 to the target bracket 12 through the bend is for illustrative purposes only, but is not limited thereto. Furthermore, one end of the connecting rod 33 is connected to the center of the side of the target bracket 12 facing away from the optical target plane P.

[0170] The following illustration will use the example of connecting rod 33 being perpendicular to the horizontal plate 44a and parallel to the optical target plane P, and will refer to... Figures 8a to 8f The osteotomy plane measurement method of the probe device 4 described in Embodiment 4 of this application will be further explained.

[0171] Taking the osteotomy measurement of the right leg as an example, in the illustrated implementation method:

[0172] Figure 8a The osteotomy measurements at the first osteotomy plane 911 on the femur 91 are illustrated; as follows: Figure 8a As shown, the third measuring plane 443 (B plane) is selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane). Similar to Embodiment 3, the connecting rod 33 can extend from directly above the right knee joint incision, so that the probe device 4 can better avoid interfering with other bone and muscle tissues around the knee joint incision, and the optical target plane P can also be better oriented towards the navigation system on the opposite side of the right leg.

[0173] Figure 8b The osteotomy measurements at the second osteotomy plane 912 on the femur 91 are illustrated; as follows: Figure 8b As shown, the third measuring plane 443 (plane B) is used to measure the second osteotomy plane 912 (anterior oblique femoral osteotomy plane), compared to... Figure 8a At this time, the connecting rod 33 and the target bracket 12 are slightly tilted forward, but the optical target plane P is still facing the navigation system on the opposite side of the right leg.

[0174] Figure 8cThe osteotomy measurements at the third osteotomy plane 913 on the femur 91 are illustrated; as follows: Figure 8c As shown, the third measurement plane 443 (plane B) is used to measure the third osteotomy plane 913 (distal femoral osteotomy plane). At this time, compared to... Figure 8c The connecting rod 33 and the target bracket 12 are tilted further forward, but the optical target plane P can also be oriented well toward the navigation system on the opposite side of the right leg.

[0175] Figure 8d The osteotomy measurements at the fourth osteotomy plane 914 on the femur 91 are illustrated; as follows: Figure 8d As shown, the measurement was changed to use the fifth measuring plane 445 (R1 plane) to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur), compared to... Figure 8c The connecting rod 33 can also extend from directly above the incision at the right knee joint;

[0176] Figure 8e The osteotomy measurements at the fifth osteotomy plane 915 on the femur 91 are illustrated; as follows: Figure 8e As shown, the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane) can be measured using the fourth measuring plane 444 (R2 plane), and this measurement state is similar to... Figure 8d ;

[0177] Figure 8f The osteotomy measurements at the sixth osteotomy plane 926 on the tibia are illustrated; as follows: Figure 8f As shown, the third measuring plane 443 (plane B) was finally selected to measure the sixth osteotomy plane 916 (tibial plateau osteotomy plane). This measurement state is similar to... Figure 8a .

[0178] In addition, the measurement planes of the left leg are mirrored with respect to the connecting rod 33, and the following operations can be specifically included:

[0179] The third measuring plane 443 (B plane) was selected to measure the first osteotomy plane 911 (anterior femoral condyle osteotomy plane);

[0180] The third measuring plane 443 (B plane) was selected to measure the second osteotomy plane 912 (anterior oblique osteotomy plane of the femur);

[0181] The third measurement plane 443 (B plane) was selected to measure the third osteotomy plane 913 (distal femoral osteotomy plane);

[0182] The first measuring plane 441 (L1 plane) was selected to measure the fourth osteotomy plane 914 (posterior oblique osteotomy plane of the femur);

[0183] The second measuring plane 442 (L2 plane) was selected to measure the fifth osteotomy plane 915 (posterior femoral condyle osteotomy plane);

[0184] The third measuring plane 443 (B plane) was selected to measure the sixth osteotomy plane 926 (tibial plateau osteotomy plane).

[0185] Of course, the above methods are only preferred recommendations. You can also select any measurement plane to measure the specified osteotomy plane according to the prompts of the surgical navigation software, without being limited to the above measurement methods.

[0186] Therefore, in the probe device 4 provided in Embodiment 4 of this application, the measuring component 44 is also an irregular structure (generally triangular), but the measuring component 44 also has a high degree of structural symmetry, which allows the probe device 4 to effectively take into account both the left and right legs. Furthermore, when measuring osteotomy in both legs, there is no need to configure a double-sided symmetrical target, greatly simplifying the structure of the probe device 4 and reducing manufacturing and processing costs. At the same time, the overall weight of the probe device 4 is reduced, making it easier for doctors to hold and operate. Moreover, the probe device 4 can also better avoid other bone and muscle tissue around the incision of the left and right knee joints, allowing each measuring plane to better fit the osteotomy plane of the total knee replacement surgery. Simultaneously, the optical target can also be better aligned with the navigation system, ultimately improving measurement efficiency and making the measurement more accurate and reliable. In addition, compared with Embodiment 3, the probe device 4 in this embodiment has the lowest interference risk and a better fit when it fits the measuring osteotomy plane.

[0187] Finally, this application also provides a readable storage medium having a program stored thereon, the program being used to implement the structural configuration of the probe device described in any embodiment, the structural configuration including the following steps:

[0188] An optical target coordinate system is established on the probe device, and the spatial pose of key features on the probe device in the optical target coordinate system is calibrated. The key features include at least the measurement plane.

[0189] The spatial pose of the optical target coordinate system and the key features in the optical target coordinate system is saved so that it can be read by the navigation system.

[0190] Furthermore, the key feature also includes a calibration point on the measurement plane.

[0191] The program, also referred to as a computer program, software, software application, application, component, or code, includes machine instructions for a programmable processor and can be implemented using a high-level procedural language, an object-oriented programming language, a functional programming language, a logic programming language, and / or assembly / machine language. As used herein, a readable storage medium means any computer program product, apparatus, and / or device for providing machine instructions, such as a disk, optical disk, memory, and programmable logic device (PLD), and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as machine-readable signals.

[0192] like Figure 9 As shown, taking the probe device 1 described in Embodiment 1 as an example, other configurations of probe devices are similar. When performing knee replacement surgery, the use of probe device 1 generally includes the following operations:

[0193] First, a spatial rectangular coordinate system 80 (i.e., the optical target coordinate system is a spatial rectangular coordinate system) is established on the target support 12, and the key features of the probe device 1 are measured and calibrated. The key features include the spatial pose of all measurement planes in the spatial rectangular coordinate system 80. Furthermore, the key features also include the spatial pose of all calibration points 143 in the spatial rectangular coordinate system 80.

[0194] Then, the spatial poses of the current probe device 1 in the Cartesian coordinate system 80 and the lower limit of the Cartesian coordinate system 80 of all key features are saved, such as by converting them into the configuration file corresponding to the probe device 1 through software and algorithms. The configuration file is generally stored in a readable storage medium and is used with the matched probe device. That is to say, the configuration file is a document that can be read by the navigation system and contains the spatial poses of the key features of the corresponding probe device in the Cartesian coordinate system 80. After the osteotomy is completed, before using the probe device 1, the configuration file is imported into the navigation system so that the navigation system can identify the spatial poses of the probe device and its key features corresponding to the configuration file. Then, when the measurement plane of the probe device is attached to the osteotomy plane, the spatial pose of the measurement plane coincides with the spatial pose of the osteotomy plane, so that the navigation system can identify the spatial pose of the attached osteotomy plane, thereby completing the positioning of the osteotomy plane under navigation assistance.

[0195] It should be noted that the spatial rectangular coordinate system 80 can be established at any optical positioning mark 11, or at any position on the target support 12 other than the optical positioning mark 11; this application does not limit this. In this embodiment, four coplanar and non-collinear optical positioning marks 11 are used for illustration. Figure 9 From the perspective of the first optical positioning mark 111, the second optical positioning mark 112, the third optical positioning mark 113, and the fourth optical positioning mark 114 are set in a clockwise direction. The first optical positioning mark 111 is set with a spatial rectangular coordinate system 80, but it should not be limited to this.

[0196] This application also provides an orthopedic navigation robot, comprising: a navigation system, any one of the probe devices described above, and a readable storage medium; the navigation system is capable of reading the program in the readable storage medium to obtain the structural configuration of the probe device; after osteotomy, the navigation system is used to obtain the spatial pose of the actual osteotomy plane that the measuring plane of the probe device is attached to, based on the structural configuration of the probe device. The navigation system may include a control system (computer) and an optical navigation and positioning device; the optical navigation and positioning device tracks and identifies a target and feeds back the identified target information to the control system. The control system is the control center of the orthopedic navigation robot, capable of performing various calculations, processing, and control operations, such as preoperative osteotomy planning, which is completed by the control system, which also includes surgical navigation software.

[0197] Furthermore, the orthopedic navigation robot also includes a navigation cart, a robotic arm, and a robotic arm cart. The navigation system is mounted on the navigation cart, and the robotic arm is mounted on the robotic arm cart. The robotic arm can carry osteotomy tools to automatically complete the osteotomy. After the osteotomy is completed, according to the prompts of the surgical navigation software in the navigation system, within the field of view of the optical navigation positioning device, the measurement plane specified by the probe device is aligned with the specified actual osteotomy plane. The spatial pose of the measurement plane coincides with the spatial pose of the actual osteotomy plane, and the spatial pose parameters of the measurement plane can represent the spatial pose parameters of the actual osteotomy plane. This allows the navigation system to identify and locate the pose of the actual osteotomy plane it is aligned with, and compare it with the osteotomy plane pose data planned for the surgery. The differences in position (offset distance) and posture (tilt angle) between the actual osteotomy plane and the planned osteotomy plane are compared to determine whether the osteotomy accuracy meets the requirements. For example, following the prompts of the navigation software, the probe device can be used to align the specified measurement plane with the designated bone plane after osteotomy to locate the position and angle of the aligned bone plane. This is then compared with the planned osteotomy data to determine the accuracy of the osteotomy. If the accuracy is within the preset values ​​(e.g., distance deviation within ±1mm, tilt angle deviation within ±1°), the navigation software indicates that the osteotomy is qualified. If the accuracy exceeds the preset values, the navigation software indicates that the osteotomy is unqualified and re-plans the osteotomy plane to guide the osteotomy.

[0198] It should be noted that the orthopedic navigation surgical robot disclosed in the above-described examples can be either operated by a human operator directly manipulating the osteotomy tools to perform the osteotomy, or it can be operated by a robotic arm directly manipulating the osteotomy tools to perform the osteotomy; this invention is not limited to either. It should also be noted that the measurement plane markings A, B, R1, L1, etc., are merely examples, and other markings can be used to distinguish different measurement planes; in each embodiment, using the specific measurement plane to measure the specific osteotomy plane is only a recommended operating method, not the only method. Other measurement planes of the probe device can also be used to measure the specific osteotomy plane, which is also within the scope of protection of this invention.

[0199] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A probe device for measuring the osteotomy plane of a knee joint, characterized in that, include: Connecting rod; A target holder is disposed at one end of the connecting rod; Optical positioning marks are set on the target bracket, at least three of the optical positioning marks are coplanar and non-collinear and define an optical target plane, the optical target plane is parallel to or intersects the connecting rod; as well as, A measuring component is disposed at the other end of the connecting rod. The measuring component includes at least one horizontal plate, the horizontal plate having at least one measuring plane, and the connecting rod being parallel to or intersecting the measuring plane of the horizontal plate. The probe device is configured to fit all osteotomy planes on the knee joint through at least one of the measurement planes; In this configuration, the optical target plane is perpendicular or obliquely intersecting the connecting rod; the measuring component consists of a horizontal plate, the upper and lower surfaces of which are both measuring planes; and the connecting rod is parallel or obliquely intersecting the measuring plane of the horizontal plate. Alternatively, the optical target plane is parallel or obliquely intersecting the connecting rod; the measuring component includes a horizontal plate and a support plate, the support plate being connected to the upper or lower surface of the horizontal plate; and the connecting rod is perpendicular or obliquely intersecting the measuring plane of the horizontal plate. Both opposite sides of the support plate are the measuring planes, and at least one of the upper and lower surfaces of the horizontal plate forms two measuring planes with the support plate as the boundary.

2. The probe device according to claim 1, characterized in that, When the connecting rod intersects obliquely with the measuring plane of the horizontal plate, the angle between the connecting rod and the measuring plane of the horizontal plate shall not exceed 20°, and / or, when the optical target plane intersects obliquely with the connecting rod, the angle between the connecting rod and the optical target plane shall not be less than 70°.

3. The probe device according to claim 2, characterized in that, When the connecting rod is parallel to the measuring plane of the horizontal plate, the other end of the connecting rod is connected to the horizontal plate through an elbow, so that the connecting rod and the horizontal plate are in an L-shaped configuration; or, the other end of the connecting rod is directly connected to the horizontal plate, so that the connecting rod and the horizontal plate are in a straight configuration.

4. The probe device according to claim 2, characterized in that, When the connecting rod is parallel to the measuring plane of the horizontal plate, the other end of the connecting rod is connected to the center of the side of the horizontal plate, so that the upper and lower surfaces of the horizontal plate are symmetrical about the connecting rod.

5. The probe device according to claim 2, characterized in that, The connecting rod is parallel to the measuring plane of the horizontal plate, the connecting rod is perpendicular to the optical target plane, and one end of the connecting rod is directly connected to the side of the target bracket away from the optical target plane.

6. The probe device according to claim 1, characterized in that, The measuring component has an axisymmetric structure with the axis of symmetry passing through the support plate. The other end of the connecting rod is connected to the axis of symmetry of the measuring component. The connecting rod is perpendicular to the measuring plane of the horizontal plate, and the optical target plane is parallel to the connecting rod.

7. The probe device according to claim 6, characterized in that, The support plate is vertically connected to the lower surface of the horizontal plate, the connecting rod and the measuring component are arranged in a cross shape, the upper and lower surfaces of the horizontal plate are respectively bounded by the support plate to form two measuring planes, and the measuring component has six measuring planes arranged circumferentially along the cross shape.

8. The probe device according to claim 6, characterized in that, The support plate is constructed from two side support plates that are angled together. The two side support plates are connected to the upper surface of the horizontal plate and form an isosceles triangle with the horizontal plate. The other end of the connecting rod is connected to the vertex of the isosceles triangle. The connecting rod and the measuring component are arranged in a triangular configuration. The horizontal plate has edge portions that extend from the two side support plates. The upper surfaces of the two edge portions are two measuring planes. The lower surface of the horizontal plate is one measuring plane. The measuring component has five measuring planes arranged circumferentially along the isosceles triangle.

9. The probe device according to claim 1, characterized in that, When the connecting rod intersects the optical target plane at an angle, the angle between the connecting rod and the optical target plane shall not exceed 20°, and / or, when the connecting rod intersects the measuring plane of the horizontal plate at an angle, the angle between the connecting rod and the measuring plane of the horizontal plate shall not be less than 70°.

10. The probe device according to claim 1, characterized in that, The connecting rod is parallel to the plane of the optical target, and one end of the connecting rod is connected to the side of the target bracket away from the plane of the optical target via a bend.

11. The probe device according to claim 1, characterized in that, The measurement plane is provided with calibration points, and / or the measurement plane is provided with measurement surface markings.

12. A readable storage medium having a program stored thereon, characterized in that, The program is used to implement the structural configuration of the probe device as described in any one of claims 1-11, the structural configuration comprising the following steps: An optical target coordinate system is established on the probe device, and the spatial pose of key features on the probe device in the optical target coordinate system is calibrated. The key features include at least a measurement plane. The spatial pose of the optical target coordinate system and the key features in the optical target coordinate system is saved so that it can be read by the navigation system.

13. An orthopedic navigation robot, characterized in that, The device includes a navigation system, a probe device as described in any one of claims 1-11, and a readable storage medium as described in claim 12; the navigation system is capable of reading the program in the readable storage medium to obtain the structural configuration of the probe device; after knee osteotomy, the navigation system is used to obtain the spatial pose of the actual osteotomy plane that the measuring plane of the probe device is attached to, according to the structural configuration of the probe device.

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