Joint replacement surgery robot system and control method based on digital twinning technology

Abstract

This invention discloses a joint replacement surgical robot system and control method based on digital twin technology. In the system, the operating table is fixed with a head fixation mechanism, a lumbar fixation mechanism, and a joint motion mechanism for fixing and adjusting the patient's limbs. The robotic arms of the dual-arm robot are equipped with a 3D imaging scanning device, a binocular vision navigation device, and surgical instruments. The main controller of the main carriage is communicatively connected to the joint motion mechanism, the 3D imaging scanning device, the binocular vision navigation device, the surgical instruments, and the dual-arm robot. Through the technical solution of this invention, the surgical process can be planned in real-time using digital twin technology, a digital model of the bone and joint can be established, and real-time synchronous dynamic analysis results can be provided as surgical guidance data. This eliminates the need for a guide plate positioning process, allowing the surgery to be completed in a very short time, greatly improving surgical efficiency and minimizing the trauma to the patient caused by fixation braces and guide plates in conventional surgery.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a joint replacement surgery robot system and a joint replacement surgery robot control method based on digital twin technology. Background Technology

[0002] As is well known, in total knee replacement surgery, reconstructing normal articular surfaces and achieving correct lower limb alignment are prerequisites for restoring ligament balance, joint stability, and even normal joint kinematics. The same principle applies to other joints. However, knee joint dysfunction is caused by multiple factors, including problems with the knee joint itself, as well as injuries to the thigh, calf, ankle, lumbar spine, hip, and buttocks. Therefore, treatment requires a holistic approach, precise analysis, targeted therapy, and comprehensive rehabilitation and functional exercises to help patients recover to their optimal condition.

[0003] Existing joint replacement robots only provide data collection and partial surgical function execution. They can only assist doctors in performing functions, but cannot help doctors to fully consider and analyze the joint condition, nor can they provide constructive guidance for doctors' decision-making during surgery and postoperative rehabilitation. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a joint replacement surgical robot system and control method based on digital twin technology. The system uses an operating table to support and adjust the patient's body, a dual-arm robot equipped with surgical instruments that scan the patient's body, and a main trolley for system control. Data from the operating table and scanning equipment is integrated with the joint condition for real-time dynamic analysis. A synchronized digital model of the bone and joint is constructed based on digital twin technology, providing real-time, synchronized dynamic analysis results as guidance data throughout the pre-operative, intra-operative, and post-operative stages. This eliminates the need for guide plate positioning during surgery, allowing the procedure to be completed in a very short time, significantly improving surgical efficiency and minimizing trauma to the patient caused by fixation braces and guide plates in conventional surgery.

[0005] To achieve the above objectives, the present invention provides a joint replacement surgical robot system, comprising: an operating table and a dual-arm robot and a main trolley respectively disposed on both sides of the operating table;

[0006] The operating table includes a bed base, on which a head fixation mechanism, a waist fixation mechanism, and a joint movement mechanism for fixing and adjusting the patient's limbs are fixed at preset positions.

[0007] The dual-arm robot includes two multi-degree-of-freedom robotic arms, one of which is equipped with a three-dimensional imaging scanning device and a binocular vision navigation device at its front end, and the other is equipped with surgical instruments at its front end.

[0008] The main trolley includes a main controller, which is communicatively connected to the joint motion mechanism, the three-dimensional imaging scanning device, the binocular vision navigation device, the surgical instruments, and the dual-arm robot.

[0009] The joint motion mechanism, the three-dimensional imaging scanning device, and the binocular vision navigation device feed back the collected data to the main controller;

[0010] The joint motion mechanism adjusts its posture according to the control instructions of the main controller, and the two robotic arms of the dual-arm robot drive the three-dimensional imaging scanning device, the binocular vision navigation device and the surgical instruments to move and operate according to the control instructions of the main controller.

[0011] In the above technical solution, preferably, the joint motion mechanism includes a thigh three-degree-of-freedom motion mechanism and a lower leg three-degree-of-freedom motion mechanism. The thigh three-degree-of-freedom motion mechanism and the lower leg three-degree-of-freedom motion mechanism respectively support and adjust the position and angle of the thigh and the lower leg to realize the kinematic analysis of the joint.

[0012] In the above technical solution, preferably, the operating table further includes a tilting module, a lifting module and a movable chassis, the lifting module is fixed above the movable chassis, the tilting module is mounted on the lifting module, and the bed base is fixed above the lifting module;

[0013] The movable chassis is equipped with casters at the bottom, and the lifting module and the tilting module adjust the height and tilting angle of the operating table, respectively.

[0014] In the above technical solution, preferably, the main carriage further includes a keyboard, a mouse, and a monitor, the monitor is mounted on the main carriage, and the monitor, the keyboard, and the mouse are respectively connected to the main controller.

[0015] In the above technical solution, preferably, two displays are installed on the main carriage, one directly installed on the main carriage and the other installed on the main carriage via a display bracket. The display bracket adjusts the position of the installed display within its extension range, and the display content of the two displays is the same.

[0016] The main trolley is also equipped with casters at its bottom, and the main trolley changes position and direction by moving the casters.

[0017] In the above technical solution, preferably, the thigh three-degree-of-freedom motion mechanism and the lower leg three-degree-of-freedom motion mechanism, during the process of driving the human body to perform programmed movements according to the control instructions of the main controller, feed back the detected force to the main controller in real time;

[0018] The 3D imaging scanning device feeds back the scanned image data to the main controller in real time, and the binocular vision navigator feeds back the distance and depth information of the scanned 3D objects to the main controller in real time.

[0019] This invention also proposes a control method for a joint replacement surgery robot based on digital twin technology, applicable to a joint replacement surgery robot system disclosed in any of the above technical solutions, comprising:

[0020] The patient's bone and joint CT images are extracted using a digital twin module, and the corresponding bone and joint centers are calibrated using an AI engine module based on the CT images.

[0021] The joint movement mechanism on the operating table is used to drive the patient's bone joints to perform programmed movements, and the bone joint images are scanned using a three-dimensional imaging scanning device and a binocular vision navigation device;

[0022] The digital twin module matches the CT images and the bone and joint images to obtain the actual bone and joint center of the patient.

[0023] The AI ​​engine module determines the normal force line angle of the patient's joints based on the force data fed back by the joint motion mechanism.

[0024] The digital twin module establishes a digital model of the joints based on the patient's actual joint center and normal force line angle. The AI ​​engine module performs dynamic analysis on the digital model of the joints to determine the surgical plan based on the dynamic analysis results.

[0025] According to the surgical plan, the surgical instruments are controlled to move to the preset bone and joint area for operation, and at the same time, the three-dimensional imaging scanning device and the binocular vision navigation device are controlled to perform three-dimensional scanning of the bone and joint area.

[0026] The AI ​​engine module performs real-time synchronous dynamic analysis on the bone and joint digital model based on the received scan data and the force data fed back by the joint motion mechanism, providing analysis results as guidance data and evaluation for the surgical process in real time.

[0027] In the above technical solution, preferably, the digital twin module forms a three-dimensional dynamic model image based on the established bone and joint digital model, and the three-dimensional dynamic model image realizes synchronous dynamic simulation based on the synchronous dynamic analysis results of the AI ​​engine module during the operation.

[0028] In the above technical solution, preferably, the specific process by which the AI ​​engine module determines the normal force line angle of the patient's joint based on the force data fed back by the joint motion mechanism includes:

[0029] The AI ​​engine module analyzes the patient's actual bone and joint center and the force data fed back by the joint movement mechanism, combined with corresponding bone and joint big data, to determine the force line angle of the patient's current bone and joint under normal conditions.

[0030] In the above technical solution, preferably, the joint motion structure includes a three-degree-of-freedom motion mechanism for the thigh and a three-degree-of-freedom motion mechanism for the lower leg.

[0031] The AI ​​engine module matches and fits the force data fed back by the three-degree-of-freedom motion mechanism of the thigh and the three-degree-of-freedom motion mechanism of the lower leg with the CT images to obtain the actual knee joint center, hip joint center and ankle joint center of the patient.

[0032] The AI ​​engine module analyzes the ligament tightness and tension of the corresponding bones and joints based on the real-time scanning data from the 3D imaging scanning device and the binocular vision navigation device during the operation, thereby achieving kinematic analysis.

[0033] Compared with existing technologies, the beneficial effects of this invention are as follows: the operating table supports and adjusts the patient's body; a dual-arm robot is used to set up surgical instruments with scanning equipment for the patient's body; a main carriage is set up to achieve system control; data obtained from the operating table and scanning equipment are combined with the joint condition for real-time dynamic analysis; a synchronous digital model of the bone and joint is constructed based on digital twin technology; and real-time synchronous dynamic analysis results are provided as guidance data throughout the preoperative, intraoperative, and postoperative stages. This eliminates the need for guide plate positioning during the surgical process, allowing the surgery to be completed in a very short time, greatly improving surgical efficiency, and minimizing the trauma to the patient caused by fixation brackets and guide plates in conventional surgery. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a joint replacement surgery robot system disclosed in one embodiment of the present invention;

[0035] Figure 2 This is an organizational framework diagram of a joint replacement surgical robot system disclosed in one embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of an operating table disclosed in one embodiment of the present invention;

[0037] Figure 4This is a flowchart illustrating a joint replacement surgery robot control method based on digital twin technology, as disclosed in one embodiment of the present invention.

[0038] In the diagram, the correspondence between the components and the reference numerals is as follows:

[0039] 1. Operating table; 11. Bed base; 12. Head fixation mechanism; 13. Waist fixation mechanism; 14. Thigh three-degree-of-freedom motion mechanism; 15. Lower leg three-degree-of-freedom motion mechanism; 16. Pitch module; 17. Lifting module; 18. Movable chassis; 19. Casters; 2. Dual-arm robot; 21. 3D imaging scanning equipment; 22. Binocular vision navigation equipment; 23. Surgical instruments; 3. Main carriage; 31. Main controller; 32. Monitor; 33. Monitor bracket; 34. Keyboard. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The present invention will now be described in further detail with reference to the accompanying drawings:

[0042] like Figure 1 and Figure 2 As shown, a joint replacement surgical robot system provided by the present invention includes: an operating table 1 and a dual-arm robot 2 and a main carriage 3 respectively disposed on both sides of the operating table 1;

[0043] The operating table 1 includes a bed base 11, on which a head fixation mechanism 12, a waist fixation mechanism 13, and a joint movement mechanism for fixing and adjusting the patient's limbs are fixed at preset positions.

[0044] The dual-arm robot 2 includes two multi-degree-of-freedom robotic arms, one of which is fixed with a three-dimensional imaging scanning device 21 and a binocular vision navigation device 22 at its front end, and the other is fixed with a surgical instrument 23 at its front end.

[0045] The main trolley 3 includes a main controller 31, which is connected to the joint motion mechanism, the three-dimensional imaging scanning device 21, the binocular vision navigation device 22, the surgical instrument 23, and the dual-arm robot 2.

[0046] The joint motion mechanism, the three-dimensional imaging scanning device 21, and the binocular vision navigation device 22 feed back the collected data to the main controller 31;

[0047] The joint motion mechanism adjusts its posture according to the control instructions of the main controller 31. The two robotic arms of the dual-arm robot 2 drive the three-dimensional imaging scanning device 21, the binocular vision navigation device 22 and the surgical instruments 23 to move and run according to the control instructions of the main controller 31.

[0048] In this embodiment, the operating table 1 supports and adjusts the patient's body, the dual-arm robot 2 is equipped with surgical instruments 23 that scan the patient's body, and the main carriage 3 is used for system control. The data obtained from the operating table 1 and the scanning equipment are combined with the joint condition for real-time dynamic analysis. Based on digital twin technology, a synchronous digital model of the bone and joint is constructed. Real-time synchronous dynamic analysis results are provided as guidance data throughout the preoperative, intraoperative, and postoperative stages. This eliminates the need for a guide plate positioning process, allowing the surgery to be completed in a very short time, greatly improving the efficiency of the surgery, and minimizing the trauma to the patient caused by fixation brackets and guide plates in conventional surgery.

[0049] like Figure 3 As shown, specifically, the head fixation mechanism 12 and lumbar fixation mechanism 13 on the operating table 1 can fix the patient's head and waist, preventing the patient's head and waist from moving before, during, and after the operation, thus avoiding any impact on the surgical and rehabilitation processes, and also preventing further damage to the patient's body from head and waist movement. The joint motion mechanism is used to perform programmed movements of the corresponding bone joints under the control commands of the main controller 31. Simultaneously, based on the real-time force feedback from the joint motion mechanism, the main controller 31 can construct a digital model of the bone joint by combining the received forces at various points of the bone joint with the pre-acquired CT images of the corresponding bone joints of the patient and the three-dimensional images of the corresponding bone joints obtained through the three-dimensional imaging scanning device 21 and the binocular vision navigation device 22 at the front end of the robotic arm. During the operation, based on the received real-time force feedback and the three-dimensional images of the corresponding bone joints obtained through the three-dimensional imaging scanning device 21 and the binocular vision navigation device 22, the digital model of the bone joint can be analyzed synchronously and dynamically to guide the optimization of the surgical and rehabilitation processes.

[0050] In the above embodiments, preferably, in total knee replacement surgery, reconstructing normal articular surfaces and obtaining correct lower limb alignment are prerequisites for restoring knee ligament balance, joint stability, and even normal joint kinematics. Knee joint dysfunction involves problems with the knee joint itself, as well as injuries to the thigh, calf, ankle, lumbar spine, hip, and buttocks; therefore, treatment requires a holistic approach. Thus, in this invention, the joint motion mechanism includes a thigh three-degree-of-freedom motion mechanism 14 and a calf three-degree-of-freedom motion mechanism 15. The thigh three-degree-of-freedom motion mechanism 14 and the calf three-degree-of-freedom motion mechanism 15 respectively support and adjust the position and angle of the thigh and calf, collecting force data from multiple joints throughout the leg during programmed movements to achieve kinematic analysis of the joints.

[0051] In the above embodiment, preferably, the operating table 1 further includes a pitch module 16, a lifting module 17, and a movable chassis 18. The lifting module 17 is fixed above the movable chassis 18, the pitch module 16 is mounted on the lifting module 17, and the bed base 11 is fixed above the lifting module 17. The lifting module 17 and the pitch module 16 adjust the height and pitch angle of the operating table 1, respectively. Through the adjustment of the pitch module 16 and the lifting module 17, the bed can be at a suitable height and angle, which facilitates the smooth operation of surgery under different conditions.

[0052] The movable chassis 18 is equipped with Foma casters 19 at the bottom, which allows the bed to be easily moved to a preset position.

[0053] In the above embodiment, preferably, the main carriage 3 further includes a keyboard 34, a mouse (not shown in the figure), and a display 32. The display 32 is mounted on the main carriage 3, and the display 32, keyboard 34, and mouse are respectively connected to the main controller 31. The display 32 dynamically displays the digital model of the bone joints before, during, and after the operation, as well as other analysis results and data. The keyboard 34 and mouse are used for human-computer interaction to input and control commands.

[0054] In the above embodiment, preferably, two displays 32 are installed on the main carriage 3. One is directly installed on the main carriage 3, and the other is installed on the main carriage 3 through a display bracket 33. The display bracket 33 adjusts the position of the installed display 32 within the extension range, and the display content of the two displays 32 is the same.

[0055] The monitor 32, which is directly mounted on the main carriage 3, can always display the corresponding content within the range of the main carriage 3. The monitor 32, which is mounted on the monitor bracket 33, can adjust the position and angle of the monitor 32 to adapt to the position and angle of the surgeon during the operation, so that the surgeon can view the content on the monitor 32 in real time.

[0056] The main carriage 3 is also equipped with Foma casters 19 at the bottom. The main carriage 3 changes position and direction by moving the casters 19, which makes it easy to adjust the main carriage 3 to a suitable position and angle before, during and after surgery.

[0057] In the above embodiments, preferably, the thigh three-degree-of-freedom motion mechanism 14 and the lower leg three-degree-of-freedom motion mechanism 15, during the process of driving the human body to perform programmed movements according to the control instructions of the main controller 31, will feed back the detected forces to the main controller 31 in real time.

[0058] Among them, the thigh three-degree-of-freedom motion mechanism 14 and the lower leg three-degree-of-freedom motion mechanism 15 serve as both data acquisition mechanisms at the front end of the main controller 31 and execution mechanisms for adjusting the patient's bone and joint posture.

[0059] The 3D imaging scanning device 21 and the binocular vision navigator also serve as data acquisition mechanisms at the front end of the main controller 31. The 3D imaging scanning device 21 feeds back the scanned image data to the main controller 31 in real time, and the binocular vision navigator feeds back the distance and depth information of the scanned 3D objects to the main controller 31 in real time.

[0060] Data is collected and transmitted in real time by the data acquisition mechanism to the main controller 31, enabling the main controller 31 to provide real-time image and data support for the surgical process and to guide the surgical procedure through data calculation and processing.

[0061] like Figure 4 As shown, the present invention also proposes a joint replacement surgery robot control method based on digital twin technology, applied to the joint replacement surgery robot system disclosed in any of the above embodiments, comprising:

[0062] The patient's bone and joint CT images are extracted using the digital twin module, and the corresponding bone and joint centers are identified using the AI ​​engine module.

[0063] The joint movement mechanism on the operating table 1 is used to drive the patient's bone joints to perform programmed movements, and the bone joint images are scanned using a three-dimensional imaging scanning device 21 and a binocular visual navigation device 22.

[0064] The digital twin module matches CT images and bone and joint images to obtain the actual bone and joint center of the patient.

[0065] The AI ​​engine module determines the normal force line angle of the patient's bones and joints based on the force data fed back by the joint movement mechanism.

[0066] The digital twin module establishes a digital model of the joints based on the patient's actual joint center and normal force line angle. The AI ​​engine module performs dynamic analysis on the digital model of the joints to determine the surgical plan based on the dynamic analysis results.

[0067] According to the surgical plan, the surgical instrument 23 is controlled to move to the preset bone and joint area for operation, while the three-dimensional imaging scanning device 21 and the binocular vision navigation device 22 are controlled to perform three-dimensional scanning of the bone and joint area.

[0068] The AI ​​engine module performs real-time synchronous dynamic analysis on the digital model of the bone joint based on the received scan data and the force data fed back by the joint motion mechanism, providing analysis results as guidance data and evaluation for the surgical process in real time.

[0069] Specifically, by using the AI ​​engine module to annotate the centers of various bones and joints in CT images, the basic structure of the entire bone and joint can be roughly identified. Then, by matching and fitting the data collected by the joint motion mechanism during bone and joint movement and the data obtained by the 3D imaging scanning device 21 and the binocular visual navigation device 22, the location of the centers of various bones and joints can be further determined, thereby ensuring the accuracy and comprehensiveness of the surgical plan. Furthermore, the surgical process can be optimized based on changes in ligament tension and tension amount during the operation, achieving dynamic guidance for the surgery.

[0070] In the above embodiments, preferably taking knee replacement surgery as an example, the joint motion structure includes a thigh three-degree-of-freedom motion mechanism 14 and a lower leg three-degree-of-freedom motion mechanism 15.

[0071] The AI ​​engine module matches and fits the force data fed back by the thigh three-degree-of-freedom motion mechanism 14 and the lower leg three-degree-of-freedom motion mechanism 15 with CT images to obtain the patient's actual knee joint center, hip joint center and ankle joint center.

[0072] The AI ​​engine module analyzes the ligament tightness and tension of the corresponding bones and joints based on the real-time scanning data from the 3D imaging scanning device 21 and the binocular vision navigation device 22 during the operation, thereby achieving kinematic analysis.

[0073] Based on the 3D images of the patient's bone and joint CT images extracted by the digital twin module, the AI ​​engine module calibrates them to display the center of the knee joint, the center of the hip joint, and the center of the ankle joint. Then, the three-degree-of-freedom motion mechanism 14 of the thigh and the three-degree-of-freedom motion mechanism 15 of the lower leg on the operating table 1 are controlled to perform programmed movements on the joints of the patient's leg that need to be operated on, and parameters such as the tension of the patient's ligament tissue are measured. By reading the CT images provided by the digital twin module and the data fed back by the three-degree-of-freedom motion mechanism 14 of the thigh and the three-degree-of-freedom motion mechanism 15 of the lower leg, the actual center of the patient's knee joint, the center of the hip joint, and the center of the ankle joint are fitted.

[0074] The AI ​​engine module combines the patient's bone and joint data with big data analysis to provide the force line angle of the patient in a normal state. Based on this, further surgical planning is carried out, including the placement of the prosthesis, the prosthesis model, and ligament release.

[0075] In the above embodiments, preferably, the digital twin module forms a three-dimensional dynamic model image based on the established bone and joint digital model, and completes the digital twin of the human joint after the prosthesis is installed. The AI ​​engine module performs dynamic analysis on the model, such as knee flexion angle, ligament tension and force, and inter-joint friction.

[0076] After the surgical plan is determined, the surgery can be performed. After the anterior end of the femur is dissected, the main controller 31 controls the robotic arm to move surgical instruments 23, such as the electric bone saw, to the vicinity of the femur. The AI ​​engine module controls the 3D imaging scanner to perform 3D scanning of the bone saw and femur at the end of the robotic arm. The digital twin module completes the intraoperative modeling, thereby creating a complete digital twin of the bone saw, the patient's joint, and the planned procedure.

[0077] Then, the bone saw on the robotic arm cuts the bone according to the plan, and after cutting, the prosthesis is installed.

[0078] During the surgery, the AI ​​engine module releases the ligaments based on their real-time tightness and tension, thus providing the optimal surgical outcome. Based on the synchronous dynamic analysis results from the AI ​​engine module during the surgery, a 3D dynamic model image is used for synchronous dynamic simulation.

[0079] Specifically, the 3D dynamic model image generated by the digital twin module includes the entire hardware of the aforementioned robot system, and is virtually presented on the software page of the display. The dynamic analysis of the bone joints includes multiple parameters such as coordinates, displacement, force, velocity, and acceleration.

[0080] The dynamic analysis process during surgery is crucial because patients are under anesthesia and cannot actively engage their muscles; only bones and ligaments can function. However, muscles are a vital component of movement under normal conditions. In traditional surgery, surgeons rely on manual stretching to assess ligament tension and the friction between the prosthesis and bone. Muscle strength is often neglected in this approach, and abnormal muscle tension can lead to cramps and other issues during postoperative movement without anesthesia. Therefore, considering muscle strength data is just as important as ligament tension during surgery.

[0081] Therefore, in order to collect muscle strength data and ensure the effectiveness of surgery, a three-degree-of-freedom motion mechanism for the thigh and a three-degree-of-freedom motion mechanism for the lower leg are set up on the operating table. Through the movement of the joints driven by these joint motion mechanisms, force data can be fed back in real time to simulate muscle strength data. At the same time, combined with data such as ligament tension and bone strength, muscle strength data can be considered during surgery to evaluate whether the surgical effect is reasonable, accelerate the patient's postoperative recovery process, and ensure the surgical effect and postoperative rehabilitation effect.

[0082] The parameters can be collected autonomously by the corresponding components in the hardware system, or they can be modified by the surgeon based on experience and the real-time situation of the surgery.

[0083] After surgery, patients can periodically use the robotic system to perform kinematic analysis to assess their recovery status and obtain relevant guidance for postoperative rehabilitation.

[0084] The joint replacement surgery robot system and control method based on digital twin technology disclosed in the above embodiments integrate kinematics with traditional CT images through real-time digital twin technology, and are supported by big data for comprehensive preoperative planning. This allows surgeons to accurately select prosthesis models, define installation positions and overall force lines, and intuitively observe parameters such as ligament tension and tension levels. By capturing the entire surgical process, a comprehensive rehabilitation plan for the patient is established. Because it eliminates the need for positioning devices and guides, the surgical procedure can be completed in a very short time, greatly improving surgical efficiency and minimizing trauma to the patient caused by fixation devices and guides.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A joint replacement surgical robot system, characterized in that, include: An operating table and a dual-arm robot and a main trolley respectively located on both sides of the operating table; The operating table includes a bed base, on which a head fixation mechanism, a waist fixation mechanism, and a joint motion mechanism for fixing and adjusting the patient's limbs are fixed at preset positions. The joint motion mechanism includes a thigh three-degree-of-freedom motion mechanism and a lower leg three-degree-of-freedom motion mechanism. The thigh three-degree-of-freedom motion mechanism and the lower leg three-degree-of-freedom motion mechanism respectively support and adjust the position and angle of the thigh and lower leg to realize the kinematic analysis of the joint. The operating table also includes a tilt module, a lifting module, and a movable chassis. The lifting module is fixed above the movable chassis, the tilt module is mounted on the lifting module, and the bed base is fixed above the lifting module. Casters are installed at the bottom of the movable chassis. The lifting module and the tilt module adjust the height and tilt angle of the operating table, respectively. The dual-arm robot includes two multi-degree-of-freedom robotic arms, one of which is equipped with a three-dimensional imaging scanning device and a binocular vision navigation device at its front end, and the other is equipped with surgical instruments at its front end. The main trolley includes a main controller, which is communicatively connected to the joint motion mechanism, the three-dimensional imaging scanning device, the binocular vision navigation device, the surgical instruments, and the dual-arm robot. During the programmed movement of the human body according to the control instructions of the main controller, the three-degree-of-freedom motion mechanism of the thigh and the three-degree-of-freedom motion mechanism of the lower leg feed back the detected force to the main controller in real time; the three-dimensional imaging scanning device feeds back the scanned image data to the main controller in real time; and the binocular vision navigation device feeds back the distance and depth information of the scanned three-dimensional object to the main controller in real time. The joint motion mechanism adjusts its posture according to the control instructions of the main controller, and the two robotic arms of the dual-arm robot drive the three-dimensional imaging scanning device, the binocular vision navigation device and the surgical instruments to move and operate according to the control instructions of the main controller.

2. The joint replacement surgery robot system according to claim 1, characterized in that, The main carriage also includes a keyboard, a mouse, and a monitor. The monitor is mounted on the main carriage, and the monitor, keyboard, and mouse are respectively connected to the main controller.

3. The joint replacement surgery robot system according to claim 2, characterized in that, Two monitors are installed on the main carriage. One monitor is directly installed on the main carriage, and the other monitor is installed on the main carriage via a monitor bracket. The monitor bracket adjusts the position of the installed monitor within its extension range, and the two monitors display the same content. The main trolley is also equipped with casters at its bottom, and the main trolley changes position and direction by moving the casters.

4. A control method for a joint replacement surgery robot based on digital twin technology, applied to a joint replacement surgery robot system as described in any one of claims 1 to 3, characterized in that, include: The patient's bone and joint CT images are extracted using a digital twin module, and the corresponding bone and joint centers are calibrated using an AI engine module based on the CT images. The joint movement mechanism on the operating table is used to drive the patient's bone joints to perform programmed movements, and the bone joint images are scanned using a three-dimensional imaging scanning device and a binocular vision navigation device; The digital twin module matches the CT images and the bone and joint images to obtain the actual bone and joint center of the patient. The AI ​​engine module determines the normal force line angle of the patient's joints based on the force data fed back by the joint motion mechanism. The digital twin module establishes a digital model of the joints based on the patient's actual joint center and normal force line angle. The AI ​​engine module performs dynamic analysis on the digital model of the joints to determine the surgical plan based on the dynamic analysis results.

5. The joint replacement surgery robot control method based on digital twin technology according to claim 4, characterized in that, The digital twin module generates a three-dimensional dynamic model image based on the established bone and joint digital model. The three-dimensional dynamic model image achieves synchronous dynamic simulation based on the synchronous dynamic analysis results of the AI ​​engine module during the operation.

6. The joint replacement surgery robot control method based on digital twin technology according to claim 4, characterized in that, The specific process by which the AI ​​engine module determines the normal force line angle of the patient's joints based on the force data fed back by the joint motion mechanism includes: The AI ​​engine module analyzes the patient's actual bone and joint center and the force data fed back by the joint movement mechanism, combined with corresponding bone and joint big data, to determine the force line angle of the patient's current bone and joint under normal conditions.

7. The joint replacement surgery robot control method based on digital twin technology according to any one of claims 4 to 6, characterized in that, The joint motion mechanism includes a three-degree-of-freedom motion mechanism for the thigh and a three-degree-of-freedom motion mechanism for the lower leg. The AI ​​engine module matches and fits the force data fed back by the three-degree-of-freedom motion mechanism of the thigh and the three-degree-of-freedom motion mechanism of the lower leg with the CT images to obtain the actual knee joint center, hip joint center and ankle joint center of the patient. The AI ​​engine module analyzes the ligament tightness and tension of the corresponding bones and joints based on the real-time scanning data from the 3D imaging scanning device and the binocular vision navigation device during the operation, thereby achieving kinematic analysis.

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