Joint pressure measurement device, method and surgical robotic system

Abstract

The application provides a joint pressure measuring device, method and surgical robot system, the device comprises a pressure bearing module and a core module, the core module comprises a gap adjusting submodule and a control submodule; the pressure bearing module comprises a first platform and a second platform; the gap adjusting submodule is used to drive the first platform to move relative to the second platform along the pressure transmission direction between the first object and the second object, so as to adjust the gap between the first platform and the second platform; the control submodule is configured to obtain the pressure data between the first object and the second object according to the output torque data of the gap adjusting submodule in the process of rotating the joint. The application can save the cumbersome operation of additionally adding a gap device or a gasket to cooperate with the prosthesis in the joint pressure measuring process, and can avoid using a pressure sensor and reduce the requirement for the assembly position according to the output torque data of the gap adjusting submodule to back calculate the pressure.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a joint pressure measuring device, method, and surgical robot system. Background Technology

[0002] Existing joint pressure measurement devices require manual adjustment of the gap or addition / removal of shims to accommodate various prostheses on the market. However, the process of manually adjusting shims and gaps is time-consuming and prone to large matching errors, increasing surgical risks. Furthermore, existing joint pressure measurement devices are all disposable products and cannot be reused, and most of them use pressure sensors to measure pressure, which requires precise assembly.

[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 joint pressure measuring device, method, surgical robot system, electronic device, and readable storage medium, which can not only automatically adjust the gap, saving surgical time and avoiding the problem of large errors caused by manual gap adjustment, but also eliminate the need for pressure sensors to measure pressure, reducing the requirements for assembly position.

[0005] To achieve the above objectives, the present invention provides a joint pressure measuring device for measuring pressure data between a first object and a second object. The joint pressure measuring device includes a pressure bearing module and a core module. The core module includes a clearance adjustment submodule and a control submodule that are connected in communication.

[0006] The pressure bearing module includes a first platform and a second platform arranged opposite to each other along the pressure transmission direction between the first object and the second object. The side of the first platform away from the second platform is used to abut against the first object, and the side of the second platform away from the first platform is used to abut against the second object.

[0007] The gap adjustment submodule is connected to the first platform and is used to drive the first platform to move relative to the second platform along the pressure transmission direction between the first object and the second object under the control of the control submodule, so as to adjust the gap between the first platform and the second platform, so that the side of the first platform away from the second platform abuts against the first object, and the side of the second platform away from the first platform abuts against the second object.

[0008] The control submodule is configured to, after controlling the gap adjustment submodule to complete the gap adjustment between the first platform and the second platform, obtain the pressure data between the first object and the second object based on the output torque data of the gap adjustment submodule during the rotation of the joints corresponding to the first object and the second object.

[0009] Optionally, the pressure bearing module further includes a flexible seal, through which the first platform and the second platform are sealed together to close the gap between the first platform and the second platform.

[0010] Optionally, the gap adjustment submodule includes a power element and a mechanical transmission mechanism, wherein the output shaft of the power element is connected to the input end of the mechanical transmission mechanism, and the output end of the mechanical transmission mechanism is connected to the first platform;

[0011] The control submodule includes a main control unit and a power element drive unit. The power element drive unit is configured to control the power element to rotate according to the control commands issued by the main control unit, so as to drive the mechanical transmission mechanism to move the first platform relative to the second platform along the pressure transmission direction between the first object and the second object, and to detect the drive parameter data of the power element during the rotational movement. The main control unit is configured to obtain the output torque data of the power element according to the drive parameter data of the power element after the first platform and the first object are in contact and the second platform and the second object are in contact, thereby obtaining the pressure data between the first object and the second object.

[0012] Optionally, the mechanical transmission mechanism includes a lifting assembly and a transmission assembly. The input end of the transmission assembly is connected to the output shaft of the power element, and the output end of the transmission assembly is connected to the lifting assembly. The lifting assembly is connected to the first platform. Under the action of the power element, the transmission assembly can drive the lifting assembly to move in a direction parallel to the pressure transmission direction between the first object and the second object, thereby causing the first platform to move relative to the second platform in the pressure transmission direction between the first object and the second object.

[0013] Optionally, the lifting assembly includes a first lifting member and a second lifting member disposed opposite to each other, both extending in a direction parallel to the pressure transmission direction between the first object and the second object; the transmission assembly includes a first transmission sub-assembly and a second transmission sub-assembly, the output end of the first transmission sub-assembly being connected to the first lifting member, and the output end of the second transmission sub-assembly being connected to the second lifting member; the gap adjustment sub-module further includes a slide rail extending in a direction parallel to the pressure transmission direction between the first object and the second object, the first platform being slidably connected to the slide rail.

[0014] Optionally, both the first and second lifting components are racks and pinions. The first transmission sub-assembly includes a first bevel gear, a first worm, a first worm wheel, and a first spur gear. The second transmission sub-assembly includes a second bevel gear, a second worm, a second worm wheel, and a second spur gear. The first bevel gear and the first worm are coaxially connected, and the first worm is coaxially connected to the output shaft of the power element. The first worm meshes with the first worm wheel, and the first worm wheel is coaxially connected to the first spur gear. The first spur gear meshes with the first lifting component. The second bevel gear meshes with the first bevel gear, and the second bevel gear is coaxially connected to the second worm. The second worm meshes with the second worm wheel, and the second worm wheel is coaxially connected to the second spur gear. The second spur gear meshes with the second lifting component.

[0015] Optionally, both the first and second lifting components are racks and pinions. The first transmission sub-assembly includes a first steel wire and a third spur gear, and the second transmission sub-assembly includes a second steel wire and a fourth spur gear. The first and second steel wires are arranged in a ring-like configuration with their ends interconnected. One end of the first steel wire is wound around the output shaft of the power element, and the other end of the first steel wire is wound around the rotating shaft of the third spur gear, which meshes with the first lifting component. One end of the second steel wire is wound around the output shaft of the power element, and the other end of the second steel wire is wound around the rotating shaft of the fourth spur gear, which meshes with the second lifting component. The winding direction of the second steel wire on the power element is opposite to that of the first steel wire on the power element.

[0016] Optionally, both the first and second lifting components are support blocks. The first transmission sub-assembly includes a third steel wire, a first cable, and a first guide wheel assembly. The second transmission sub-assembly includes a second cable, a fourth steel wire, and a second guide wheel assembly. The third and fourth steel wires are arranged in a ring-shaped configuration with their ends interconnected. The first guide wheel assembly includes a first guide wheel and a second guide wheel arranged opposite each other in a direction parallel to the pressure transmission direction between the first and second objects. The second guide wheel assembly includes a third guide wheel and a fourth guide wheel arranged opposite each other in a direction parallel to the pressure transmission direction between the first and second objects.

[0017] One end of the third steel wire is wound around the output shaft of the power element, and the other end of the third steel wire is wound around the first guide wheel and the second guide wheel. One end of the first cable is connected to the third steel wire located between the first guide wheel and the second guide wheel, and the other end of the first cable is connected to the first lifting component.

[0018] One end of the fourth steel wire is wound around the output shaft of the power element, and the winding direction of the fourth steel wire on the output shaft of the power element is opposite to that of the third steel wire on the output shaft of the power element. The other end of the fourth steel wire is wound around the third guide wheel and the fourth guide wheel. One end of the second cable is connected to the fourth steel wire located between the third guide wheel and the fourth guide wheel, and the other end of the second cable is connected to the second lifting member.

[0019] Optionally, the first platform includes a split first sub-platform and a second sub-platform. The gap adjustment sub-module includes two sets of power elements and mechanical transmission mechanisms that are configured one-to-one. One set of the power elements and mechanical transmission mechanisms is used to drive the first sub-platform to move relative to the second platform along the pressure transmission direction between the outer condyle of the first object and the second object under the control of the control sub-module. The other set of the power elements and mechanical transmission mechanisms is used to drive the second sub-platform to move relative to the second platform along the pressure transmission direction between the inner condyle of the first object and the second object under the control of the control sub-module.

[0020] Optionally, the gap adjustment submodule further includes a displacement sensor mounted on the power element, the displacement sensor being used to detect the rotation angle of the power element and transmit it to the main control unit;

[0021] The main control unit is configured to obtain the movement distance of the first platform relative to the second platform based on the rotation angle of the power element and the pre-acquired mapping relationship between the rotation angle and the movement distance.

[0022] To achieve the above objectives, the present invention also provides a joint pressure measurement method for measuring pressure data between a first object and a second object, the joint measurement method comprising:

[0023] After inserting a pressure-bearing module comprising a first platform and a second platform arranged opposite each other along the pressure transmission direction between the first object and the second object between the first object and the second object, the control gap adjustment submodule drives the first platform to move relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object, so as to adjust the gap between the first platform and the second platform until the side of the first platform away from the second platform abuts against the first object, and the side of the second platform away from the first platform abuts against the second object;

[0024] Based on the output torque data of the gap adjustment submodule during the rotation of the joints corresponding to the first object and the second object, the pressure data between the first object and the second object is obtained.

[0025] Optionally, the gap adjustment submodule includes a power element and a mechanical transmission mechanism. The power element is a motor, the output shaft of the power element is connected to the input end of the mechanical transmission mechanism, and the output end of the mechanical transmission mechanism is connected to the first platform.

[0026] The control gap adjustment submodule drives the first platform to move relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object, in order to adjust the gap between the first platform and the second platform, including:

[0027] The power element is controlled to rotate to drive the mechanical transmission mechanism to move the first platform relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object, and the driving current of the power element during the rotation process is obtained.

[0028] If the driving current is greater than or equal to a preset current threshold, the power element is controlled to stop rotating to stop adjusting the gap between the first platform and the second platform; otherwise, the power element is controlled to continue rotating to continue adjusting the gap between the first platform and the second platform.

[0029] To achieve the above objectives, the present invention also provides a surgical robot system, which includes the joint pressure measuring device described above.

[0030] To achieve the above objectives, the present invention also provides an electronic device, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the joint pressure measurement method described above.

[0031] To achieve the above objectives, the present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the joint pressure measurement method described above.

[0032] Compared with the prior art, the joint pressure measuring device, method, surgical robot system, electronic device, and readable storage medium provided by the present invention have the following advantages:

[0033] The joint pressure measuring device provided by this invention includes a pressure bearing module and a core module. The core module includes a clearance adjustment submodule and a control submodule connected in communication. The pressure bearing module includes a first platform and a second platform arranged opposite to each other along the pressure transmission direction between a first object and a second object. The side of the first platform away from the second platform is used to abut against the first object, and the side of the second platform away from the first platform is used to abut against the second object. The clearance adjustment submodule is connected to the first platform and is used to drive the first platform to move relative to the second platform along the pressure transmission direction between the first object and the second object under the control of the control submodule, so as to adjust the clearance between the first platform and the second platform, thereby making the side of the first platform away from the second platform abut against the first object, and the side of the second platform away from the first platform abut against the second object. The control submodule is configured to, after controlling the clearance adjustment submodule to complete the clearance adjustment between the first platform and the second platform (i.e., after the side of the first platform away from the second platform abuts against the first object, and the side of the second platform away from the first platform abuts against the second object), obtain pressure data between the first object and the second object based on the output torque data of the clearance adjustment submodule during the rotation of the joints corresponding to the first object and the second object. Therefore, this invention automatically adjusts the gap between the first and second platforms in the pressure-bearing module through the gap adjustment submodule. This eliminates the need for cumbersome operations during joint pressure measurement, such as adding additional gap devices or shims to accommodate the prosthesis, thus saving surgical time and avoiding the large errors caused by manual gap adjustment. Furthermore, this invention derives the pressure data between the first and second objects by inferring the pressure on the pressure-bearing module based on the output torque data of the gap adjustment submodule during the rotation of the joints corresponding to the first and second objects (i.e., during the pressure-bearing module's compression process). This eliminates the need for pressure sensors and reduces the requirements for assembly position.

[0034] Since the joint pressure method, surgical robot system, electronic device, and readable storage medium provided by this invention belong to the same inventive concept as the joint pressure measuring device provided by this invention, the joint pressure method, surgical robot system, electronic device, and readable storage medium provided by this invention have all the advantages of the joint pressure measuring device provided by this invention. Therefore, the beneficial effects of the joint pressure method, surgical robot system, electronic device, and readable storage medium provided by this invention will not be described in detail here. Attached Figure Description

[0035] Figure 1 This is a left view of a joint pressure measuring device provided according to an embodiment of the present invention;

[0036] Figure 2 A schematic diagram illustrating an application scenario of the joint pressure measuring device provided in one embodiment of the present invention;

[0037] Figure 3 A circuit block diagram of a core module provided in one embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of a pressure-bearing module provided in one embodiment of the present invention;

[0039] Figure 5 A flowchart illustrating the core module provided in one embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the gap adjustment process provided in one embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of a joint measurement process provided in one embodiment of the present invention;

[0042] Figure 8 A front sectional view of a pressure-bearing module provided according to an embodiment of the present invention;

[0043] Figure 9 A flowchart illustrating the operation of a joint pressure measuring device according to an embodiment of the present invention;

[0044] Figure 10 This is a side sectional view of the joint pressure measuring device provided in the first embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of the structure of the power element and mechanical transmission mechanism provided in the first embodiment of the present invention;

[0046] Figure 12 A partial structural schematic diagram of the mechanical transmission mechanism provided in the first embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of the meshing of the first bevel gear and the second bevel gear in the mechanical transmission mechanism provided in the first embodiment of the present invention;

[0048] Figure 14 A top view of the mechanical transmission mechanism provided in the first embodiment of the present invention;

[0049] Figure 15 A left view of the mechanical transmission mechanism provided in the first embodiment of the present invention;

[0050] Figure 16 This is a top view of two sets of mechanical transmission mechanisms in the gap adjustment submodule provided in the first embodiment of the present invention;

[0051] Figure 17 This is a schematic diagram of the structure of the power element and mechanical transmission mechanism provided in the second embodiment of the present invention;

[0052] Figure 18 This is a schematic diagram of the structure of the power element and mechanical transmission mechanism provided in the third embodiment of the present invention;

[0053] Figure 19 A flowchart of a joint pressure measurement method provided in one embodiment of the present invention;

[0054] Figure 20 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0055] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the joint pressure measurement device, method, surgical robot system, electronic device, and readable storage medium proposed in this invention. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clarify the illustration of the embodiments of the invention. Please refer to the drawings for a clearer understanding of the objectives, features, and advantages of the invention. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read the invention, and are not intended to limit the implementation conditions of the invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided they produce the same or similar effects and achieve the same objectives as the invention, should still fall within the scope of the technical content disclosed in this invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the specific application and usage environment. Furthermore, in the embodiments described below, the same reference numerals are sometimes used across different figures to denote the same parts or parts having the same function, omitting repeated descriptions. In this specification, similar reference numerals and letters are used to denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures. Additionally, if the methods described herein comprise a series of steps, and the order of these steps presented herein is not necessarily the only possible order in which these steps can be performed, some described steps may be omitted and / or other steps not described herein may be added to the method.

[0056] The core idea of ​​this invention is to provide a joint pressure measuring device, method, surgical robot system, electronic device, and readable storage medium, which can not only automatically adjust the gap, saving surgical time and avoiding the problem of large errors caused by manual gap adjustment, but also eliminate the need for pressure sensors to measure pressure, reducing the requirements for assembly position.

[0057] To achieve the above-mentioned goal, this invention provides a joint pressure measuring device for measuring pressure data between a first object and a second object. Please refer to [reference needed]. Figures 1 to 3 ,like Figures 1 to 3 As shown, the joint pressure measuring device provided by the present invention includes a pressure bearing module 100 and a core module 200. The core module 200 includes a gap adjustment submodule 210 and a control submodule 220 connected in communication. The pressure bearing module 100 includes a first platform 110 and a second platform 120 arranged opposite to each other along the pressure transmission direction between a first object and a second object. The side of the first platform 110 away from the second platform 120 is used to abut against the first object, and the side of the second platform 120 away from the first platform 110 is used to abut against the second object. The gap adjustment submodule 210 is connected to the first platform 110 and is used to drive the first platform 110 to move relative to the second platform 120 along the pressure transmission direction between the first object and the second object under the control of the control submodule 220. The gap between the first platform 110 and the second platform 120 is adjusted so that the side of the first platform 110 away from the second platform 120 abuts against the first object, and the side of the second platform 120 away from the first platform 110 abuts against the second object. The control submodule 220 is configured to, after the control gap adjustment submodule 210 completes the gap adjustment between the first platform 110 and the second platform 120 (i.e., the side of the first platform 110 away from the second platform 120 abuts against the first object, and the side of the second platform 120 away from the first platform 110 abuts against the second object), obtain pressure data between the first object and the second object based on the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first object and the second object.

[0058] Therefore, this invention automatically adjusts the gap between the first platform 110 and the second platform 120 in the pressure-bearing module 100 through the gap adjustment submodule 210. This eliminates the need for cumbersome operations during joint pressure measurement, such as adding additional gap devices or shims to accommodate the prosthesis, thus saving surgical time and avoiding the large errors caused by manual gap adjustment. Furthermore, this invention infers the pressure on the pressure-bearing module 100 by using the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first and second objects (i.e., during the pressure-bearing module 100 under pressure). This allows for the determination of pressure data between the first and second objects, thereby eliminating the need for pressure sensors and reducing requirements on assembly position. It should be noted that, as those skilled in the art will understand, after the gap between the first platform 110 and the second platform 120 is adjusted, the doctor rotates the joint. At this time, the pressure between the joints is applied to the first platform 110 and the second platform 120 of the pressure bearing module 100. The force on the first platform 110 changes with the rotation of the joint. In order to keep the gap between the first platform 110 and the second platform 120 unchanged, the output torque of the gap adjustment submodule 210 will also change accordingly. Thus, by converting the output torque of the gap adjustment submodule 210 into a pressure value, the pressure data between the first object and the second object can be obtained.

[0059] Please continue to refer to this. Figure 1 and Figure 4 ,like Figure 1 and Figure 4 As shown, the pressure-bearing module 100 also includes a flexible seal 130. The first platform 110 and the second platform 120 are sealed together by the flexible seal 130 to close the gap between the first platform 110 and the second platform 120. Because the first platform 110 and the second platform 120 are sealed together by the flexible seal 130, repeated sterilization can be achieved, thereby enabling the reusability of the joint pressure measuring device provided by this invention. Furthermore, since the seal is made of a flexible material, it can be ensured that the seal can expand and contract with the movement of the first platform 110.

[0060] Please continue to refer to this. Figure 2 ,like Figure 2As shown, the core module 200 also includes a housing 230, within which the gap adjustment submodule 210 and the control submodule 220 are located. Thus, by enclosing the various components of the core module 200, including but not limited to the gap adjustment submodule 210 and the control submodule 220, the housing 230 not only facilitates the placement of the gap adjustment submodule 210 and the control submodule 220, but also protects the components of the core module 200 from external contamination. Furthermore, it facilitates the sterilization of the joint pressure measuring device provided by this invention after surgery, enabling the joint pressure measuring device provided by this invention to be reused.

[0061] Please continue to refer to this. Figure 3 and Figure 5 ,like Figure 3 and Figure 5 As shown, the gap adjustment submodule 210 includes a power element 211 and a mechanical transmission mechanism 212, and the control submodule 220 includes a main control unit 221 and a power element drive unit 222. The output shaft of the power element 211 is connected to the input end of the mechanical transmission mechanism 212, and the output end of the mechanical transmission mechanism 212 is connected to the first platform 110. The power element drive unit 222 is configured to control the power element 211 to rotate according to the control command issued by the main control unit 221, so as to drive the mechanical transmission mechanism 212 to move the first platform 110 relative to the second platform 120 along the pressure transmission direction between the first object and the second object, and detect the drive parameter data of the power element 211 during the rotational movement. The main control unit 221 is configured to obtain the output torque data of the power element 211 according to the drive parameter data of the power element 211 after the first platform 110 abuts against the first object and the second platform 120 abuts against the second object, thereby obtaining the pressure data between the first object and the second object. It should be noted that, as those skilled in the art will understand, the main control unit 221 is a circuit unit composed of a main control chip and peripheral devices, responsible for sending and receiving various instructions and processing data. It should also be noted that, as those skilled in the art will understand, a torque sensor can be installed on the output shaft of the power element 211 to detect the output torque data of the power element 211 in real time. Furthermore, it should be noted that, as those skilled in the art will understand, the control submodule 220 can be integrated with the power element 211 or can be set separately from the power element 211; this invention does not limit this.

[0062] Please continue to refer to this. Figure 3 ,like Figure 3As shown, the control submodule 220 also includes a wireless transmission unit 223 connected to the main control unit 221. Therefore, by setting up the wireless transmission unit 223, data transmission between the main control unit 221 and the external terminal device 400 can be realized. Specifically, the wireless transmission unit 223 consists of a wireless chip, an antenna, and peripheral components.

[0063] Furthermore, such as Figure 3 As shown, the core module 200 also includes a battery 240, a charging dock 250, and a power receiver 260. The control submodule 220 also includes an electronic control unit 224 connected to the main control unit 221, the power receiver 260, and the battery 240. The battery 240 provides power to the various electrical components in the core module 200; the charging dock 250 is an external wireless charger used to charge the battery 240; the power receiver 260 is a receiving device using an induction coil or other charging methods used to charge the battery 240; the electronic control unit 224 consists of a power management chip and peripheral components, and is responsible for charging and discharging the battery 240. Therefore, by designing the joint pressure measuring device provided by this invention to be capable of multiple charging cycles, physical consumption can be saved and environmental pollution reduced.

[0064] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the control submodule 220 also includes a switch circuit 225, which can be implemented by any one of a button, a Hall switch, or a photoelectric switch.

[0065] In one exemplary embodiment, the core module 200 also includes a power indicator light. The main control unit 221 is further configured to detect the power level of the battery 240 of the joint measuring device provided by the present invention after it is powered on, and control the corresponding power indicator light to light up according to the power level of the battery 240. At the same time, the current data of the battery 240 is transmitted to the terminal device 400 through the wireless transmission unit 223. Thus, the surgeon can determine whether to continue using the device to measure the joint pressure during surgery based on the power level of the battery 240.

[0066] Please continue to refer to this. Figure 2 ,like Figure 2 As shown, the joint pressure measuring device provided by the present invention also includes an auxiliary display module 300 that is communicatively connected to the main control unit 221. Thus, the auxiliary display module 300 can assist in displaying various data during the joint pressure measurement process, including but not limited to the pressure data of the first platform 110 and the second platform 120.

[0067] In one exemplary embodiment, the power element 211 is a rotary cylinder or a motor, preferably a motor. Therefore, by using a motor as the power element 211, not only can precise control of the power element 211 be achieved, further improving the accuracy of gap adjustment, but the output torque of the power element 211 can also be directly calculated based on its drive current, thereby simplifying the algorithm flow for pressure measurement.

[0068] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the gap adjustment submodule 210 also includes a displacement sensor 213 mounted on the power element 211. The displacement sensor 213 is used to detect the rotation angle of the power element 211 and transmit it to the main control unit 221. The main control unit 221 is configured to obtain the movement distance of the first platform 110 relative to the second platform 120 based on the rotation angle of the power element 211 and a pre-acquired mapping relationship between the rotation angle and the movement distance. Therefore, by calculating the movement distance of the first platform 110 relative to the second platform 120 in real time, and combining it with the original gap between the first platform 110 and the second platform 120, the real-time gap between the first platform 110 and the second platform 120 can be calculated. Thus, based on the calculated gap value between the first platform 110 and the second platform 120, the prosthesis thickness value can be automatically compensated, facilitating the modification of the prosthesis model data after trial molding. It should be noted that, as those skilled in the art will understand, the displacement sensor 213 includes, but is not limited to, an encoder, a Hall sensor, etc.

[0069] Furthermore, when the power element 211 is a motor, the driving parameter is the driving current. The main control unit 221 is configured to determine whether the driving current is greater than or equal to a preset current threshold. If so, it determines that the side of the first platform 110 away from the second platform 120 is in contact with the first object, and the side of the second platform 120 away from the first platform 110 is in contact with the second object. The power element 211 is then controlled to stop moving to stop adjusting the gap between the first platform 110 and the second platform 120. If not, the power element 211 is controlled to continue rotating to continue adjusting the gap between the first platform 110 and the second platform 120. Since the output torque of the power element 211 (motor) can be calculated based on the drive current of the power element 211 (motor), and the pressure value can be deduced from the output torque of the power element 211 (motor), when the drive current of the power element 211 (motor) is greater than or equal to the preset current threshold, it indicates that the output torque of the power element 211 (motor) is greater than or equal to the corresponding preset torque threshold, which also indicates that the pressure value received by the pressure bearing module 100 is greater than or equal to the corresponding preset pressure threshold. When the pressure value received by the pressure bearing module 100 is greater than or equal to the corresponding preset pressure threshold, it indicates that the side of the first platform 110 away from the second platform 120 is in contact with the first object, and the side of the second platform 120 away from the first platform 110 is in contact with the second object. At this time, the adjustment of the gap between the first platform 110 and the second platform 120 should be stopped.

[0070] For details, please refer to Figure 6 ,like Figure 6 As shown, after the doctor inserts the pressure-bearing module 100 between the first object and the second object, the power element 211 (motor) works to raise the first platform 110 (i.e., drive the first platform 110 toward the position of the first object). During this process, the driving current of the power element 211 is detected, and it is determined whether the driving current of the power element 211 reaches (i.e., whether it is greater than or equal to) the preset current threshold. If not, the power element 211 (motor) is controlled to continue working to continue raising the first platform 110. If yes, it indicates that the first platform 110 is against the first object, the second platform 120 is against the second object, and the gap adjustment is completed. The displacement (i.e., rotation angle) of the power element 211 is recorded to calculate the moving distance of the first platform 110 relative to the second platform 120 at this time, thereby calculating the gap between the first platform 110 and the second platform 120 at this time. Then, the gap data between the first platform 110 and the second platform 120 is uploaded, and pressure measurement begins.

[0071] Please continue to refer to this. Figure 7 ,like Figure 7As shown, after adjusting the gap between the first platform 110 and the second platform 120, the surgeon will rotate the joint. At this time, the pressure between the joints is applied to the first platform 110 and the second platform 120 of the pressure bearing module 100. The force on the first platform 110 will change with the rotation of the joint. In order to prevent the first platform 110 from being compressed, the output torque of the power element 211 (motor) changes, and the drive current of the power element 211 (motor) will also change accordingly. By detecting the drive current of the power element 211 (motor), the output torque can be calculated, and then converted into the pressure between the joints. The obtained pressure data can be uploaded to the terminal device 400 for processing and display.

[0072] Please continue to refer to this. Figure 2 ,like Figure 2As shown, in one application scenario, the knee joint is used as an example for illustration. However, it should be understood that the joint pressure measuring device provided by this invention is not limited to the knee joint. The joint pressure measuring device provided by this invention can also be applied to other similar joints. For the knee joint, the objects connected on both sides are the femur 01 and the tibia 02, respectively. The first object is defined as the femoral prosthesis, and the second object is defined as the tibial prosthesis. In practice, after the osteotomy is completed, the femoral prosthesis is installed at the distal end of the femur 01 (the end away from the head, i.e., the lower end), and the tibial prosthesis is installed at the proximal end of the tibia 02 (the end closer to the head, i.e., the upper end). The total thickness h1 of the prosthesis is recorded (the total thickness h1 is the distance from the proximal surface of the femoral prosthesis to the distal surface of the tibial prosthesis, which includes the thickness of the femoral prosthesis, the thickness of the tibial prosthesis, and the thickness of the joint pad located between the femoral and tibial prostheses). It should be understood that the femoral and tibial trial prostheses only abut against the osteotomy surface and do not require bonding with bone cement. Then, the pressure-bearing module 100 of the joint pressure measuring device provided in this invention is inserted into the gap between the distal face of the femoral trial prosthesis and the proximal face of the tibial trial prosthesis, and the axial distance between the first platform 110 and the second platform 120 is adjusted so that the first platform 110 abuts against the femoral trial prosthesis and the second platform 120 abuts against the tibial trial prosthesis. At this time, the total thickness between the proximal face of the first platform 110 and the distal face of the second platform 120 is h2 (this total thickness h2 includes the thickness of the first platform 110, the thickness of the second platform 120, and the gap between the first platform 110 and the second platform 120). When h1-h2≤threshold t, it indicates that the femoral and tibial trial prostheses have been installed in place. Understandably, h1-h2 reflects the sum of the thicknesses of the femoral and tibial trial prostheses. Since the trial prostheses and the final prostheses generally have the same thickness, when h1-h2 ≤ threshold t, it can be understood that the femoral and tibial trial prostheses have been installed in positions roughly the same as the final prostheses. Of course, in some other embodiments, the second object can also be set as the tibia, that is, without installing the femoral trial prosthesis, the second platform 120 directly abuts against the osteotomy surface of the tibia, which can also achieve pressure measurement.

[0073] Due to differences in race, age, gender, and the severity of joint lesions, the amount of osteotomy required varies from patient to patient. Consequently, there are many different specifications of prostheses, with varying thicknesses, and the gaps between femoral and tibial trial prostheses also differ. To accommodate the needs of various gaps, the relative positions of the first platform 110 and the second platform 120 can be adjusted to fit the gap between the first object (such as the femoral trial prosthesis) and the second object (such as the tibial trial prosthesis or the tibia). This allows the first platform 110 of the pressure-bearing module 100 to directly abut against the first object, and the second platform 120 of the pressure-bearing module 100 to directly abut against the second object. Consequently, the joint pressure measuring device provided by this invention can directly measure the pressure value based on the output torque of the power element 211, thereby avoiding the need for structural deformation or the use of intermediate components such as shims, reducing or avoiding the influence of nonlinear deformation factors such as materials, and effectively improving the accuracy and precision of pressure measurement.

[0074] Please continue to refer to this. Figure 4 and Figure 8 ,like Figure 4 and Figure 8 As shown, the first platform 110 includes a split first sub-platform 111 and a second sub-platform 112. Correspondingly, the gap adjustment submodule 210 includes two sets of corresponding power elements 211 and mechanical transmission mechanisms 212. One set of corresponding power elements 211 and mechanical transmission mechanisms 212 is used to drive the first sub-platform 111 to move relative to the second platform 120 along the pressure transmission direction between the outer condyle of the first object and the second object under the control of the control submodule 220, so as to adjust the gap between the first sub-platform 111 and the second platform 120; the other set of corresponding power elements 211 and mechanical transmission mechanisms 212 is used to drive the second sub-platform 112 to move relative to the second platform 120 along the pressure transmission direction between the inner condyle of the first object and the second object under the control of the control submodule 220, so as to adjust the gap between the second sub-platform 112 and the second platform 120. For ease of distinction, as Figure 16 As shown, the power element 211 and mechanical transmission mechanism 212 used to drive the first sub-platform 111 to perform axial displacement are referred to as the first power element and the first mechanical transmission mechanism 212A, and the power element 211 and mechanical transmission mechanism 212 used to drive the second sub-platform 112 to perform axial displacement are referred to as the second power element and the second mechanical transmission mechanism 212B.

[0075] Correspondingly, the control submodule 220 is configured to, after the control gap adjustment submodule 210 completes the gap adjustment between the first sub-platform 111 and the second platform 120 and the gap adjustment between the second sub-platform 112 and the second platform 120 (i.e., the side of the first sub-platform 111 away from the second platform 120 abuts against the outer condyle of the first object, the side of the second sub-platform 112 away from the second platform 120 abuts against the inner condyle of the first object, and the side of the second sub-platform 112 away from the first platform 110 abuts against the second object), obtain pressure data between the outer condyle of the first object and the second object based on the output torque data of the first power element 211 during the rotation of the joints corresponding to the first object and the second object; and obtain pressure data between the inner condyle of the first object and the second object based on the output torque data of the second power element 211 during the rotation of the joints corresponding to the first object and the second object.

[0076] Specifically, when both the first power element and the second power element are motors, after adjusting the gap between the first sub-platform 111 and the second platform 120 and the gap between the second sub-platform 112 and the second platform 120, the surgeon will rotate the joint. At this time, the pressure between the joints is applied to the pressure bearing module 100. The force on the first sub-platform 111 and the second sub-platform 112 will change with the rotation of the joint. In order to prevent the first sub-platform 111 and the second sub-platform 112 from being compressed, the output torque of the first power element and the second power element will change accordingly. By detecting the driving current of the first power element and the second power element, the output torque of the first power element and the second power element can be obtained. Then, it can be converted into pressure data respectively to obtain the pressure data between the outer condyle of the first object and the second object and the pressure data between the inner condyle of the first object and the second object.

[0077] Please continue to refer to this. Figure 2 ,like Figure 2 As shown, this illustration uses the knee joint as an example in one application scenario. However, it should be understood that the joint pressure measuring device provided by this invention is not limited to the knee joint; it can also be applied to other similar joints. For the knee joint, the objects connected to its two sides are the femur O1 and the tibia O2, respectively. Please refer to... Figure 9 ,like Figure 9 As shown, during knee joint prosthesis surgery, it is often necessary to perform osteotomy on the distal end of femur O1 (the end furthest from the head, i.e., the lower end) and the proximal end of tibia O2 (the end closest to the head, i.e., the upper end) based on preoperative medical imaging (such as CT scans), and then install femoral and tibial trial prostheses. Figure 1(Not shown in the image), and record the thickness of the trial prosthesis. Then, based on the initial power level self-check, insert a joint pressure measuring device with appropriate power level. The pressure bearing module 100 is inserted into the gap between the femoral and tibial trial prostheses. According to the driving current, the power element 211 is driven to automatically adjust the gap through the mechanical transmission mechanism 212. The output torque value of the power element 211 is detected in real time, and the pressure value is deduced until the torque value reaches the preset torque threshold (that is, the first sub-platform 111 abuts against the lateral condyle of the femoral trial prosthesis, and the first sub-platform 111 abuts against the medial condyle of the femoral trial prosthesis). The side of the second platform 120 away from the first platform 110 abuts against the tibial trial prosthesis. The system records the displacement of the power element 211 (motor) at this time, converts it into a gap value, and uploads it to the terminal device 400. Then, the surgeon moves the patient's knee joint to begin measuring the joint soft tissue pressure. The joint pressure measuring device detects the pressure values ​​between the lateral condyle of the femoral prosthesis and the tibial prosthesis, as well as between the medial condyle of the femoral prosthesis and the tibial prosthesis. When the difference between these two pressure values ​​is within a preset range, it indicates that the soft tissues on the medial and lateral sides of the knee joint have reached balance, thus indicating that the prosthesis selection is reasonable. When the difference between these two pressure values ​​exceeds the preset range, it indicates that the prosthesis selection is unreasonable and a redesign of the prosthesis is required. After the surgery, the joint measuring device is cleaned, and charging is performed based on the remaining battery power. After charging is complete, sterilization is carried out.

[0078] Please continue to refer to this. Figure 10 ,like Figure 10As shown, the mechanical transmission mechanism 212 includes a lifting assembly 2121 and a transmission assembly 2122. The input end of the transmission assembly 2122 is connected to the output shaft of the power element 211, and the output end of the transmission assembly 2122 is connected to the lifting assembly 2121. The lifting assembly 2121 is connected to the first platform 110. Under the action of the power element 211, the transmission assembly 2122 can drive the lifting assembly 2121 to move in a direction parallel to the pressure transmission direction between the first object and the second object, thereby driving the first platform 110 to move relative to the second platform 120 in the pressure transmission direction between the first object and the second object. Therefore, by setting the mechanical transmission mechanism 212 to include the lifting assembly 2121 and the transmission assembly 2122, not only can the overall structure of the mechanical transmission mechanism 212 be simplified, but it can also effectively ensure that the mechanical transmission mechanism 212 can drive the first platform 110 to move relative to the second platform 120 in the pressure transmission direction between the first object and the second object under the action of the power element 211. It should be noted that, as those skilled in the art will understand, the input end of the transmission component 2122 in the first mechanical transmission mechanism 212A used to drive the first sub-platform 111 of the first platform 110 is connected to the output shaft of the first power element 211, and its lifting component 2121 is connected to the first sub-platform 111; the input end of the transmission component 2122 in the second mechanical transmission mechanism 212B used to drive the second sub-platform 112 of the first platform 110 is connected to the output shaft of the second power element 211, and its lifting component 2121 is connected to the second sub-platform 112.

[0079] Furthermore, such as Figure 10As shown, the lifting assembly 2121 includes a first lifting member 21211 and a second lifting member 21212 disposed opposite to each other. Both the first lifting member 21211 and the second lifting member 21212 extend in a direction parallel to the pressure transmission direction between the first object and the second object. The transmission assembly 2122 includes a first transmission sub-assembly 21221 and a second transmission sub-assembly 21222. The output end of the first transmission sub-assembly 21221 is connected to the first lifting member 21211, and the output end of the second transmission sub-assembly 21222 is connected to the second lifting member 21212. Therefore, this arrangement ensures the stability of the first platform 110 during movement. It should be noted that, as those skilled in the art will understand, the first lifting member 21211 and the second lifting member 21212 of the lifting assembly 2121 in the first mechanical transmission mechanism 212A used to drive the first sub-platform 111 of the first platform 110 are both connected to the first sub-platform 111; similarly, the first lifting member 21211 and the second lifting member 21212 of the lifting assembly 2121 in the second mechanical transmission mechanism 212B used to drive the second sub-platform 112 of the first platform 110 are both connected to the second sub-platform 112. It should also be noted that, as those skilled in the art will understand, the first mechanical transmission mechanism 212A used to move the first sub-platform 111 in the first platform 110 and the second mechanical transmission mechanism 212B used to move the second sub-platform 112 in the first platform 110 can be the same or different, and this invention does not limit this.

[0080] Please continue to refer to this. Figure 8 and Figure 10 ,like Figure 8 and Figure 10 As shown, the gap adjustment submodule 210 also includes a slide rail 214 extending in a direction parallel to the pressure transmission direction between the first object and the second object, and the first platform 110 is slidably connected to the slide rail 214. Therefore, by setting the slide rail 214, it can be effectively ensured that the first platform 110 moves along the pressure transmission direction between the first object and the second object, further improving the stability of the first platform 110 during movement, thereby further improving the accuracy of gap adjustment. Specifically, as... Figure 8 As shown, the first sub-platform 111 of the first platform 110 is connected to the slide rail 214A, and the second sub-platform 112 of the first platform 110 is connected to the slide rail 214B.

[0081] Please continue to refer to this. Figures 11 to 15 ,like Figures 10 to 15As shown, in this embodiment, both the first lifting member 21211 and the second lifting member 21212 are racks. The first transmission sub-assembly 21221 includes a first bevel gear 201, a first worm 202, a first worm wheel 203, and a first spur gear 204. The second transmission sub-assembly 21222 includes a second bevel gear 205, a second worm 206, a second worm wheel 207, and a second spur gear 208. The first bevel gear 201 and the first worm 202 are coaxially connected, and the first worm 202 is coaxially connected to the output shaft of the power element 211. 2 meshes with the first worm gear 203, which is coaxially connected to the first spur gear 204. The first spur gear 204 meshes with the first lifting member 21211. The second bevel gear 205 meshes with the first bevel gear 201, and is perpendicular to the first bevel gear 201. The second bevel gear 205 is coaxially connected to the second worm 206, which meshes with the second worm gear 207. The second worm gear 207 is coaxially connected to the second spur gear 208, and the second spur gear 208 meshes with the second lifting member 21212. Therefore, the power element 211 can drive the first worm gear 202 connected to it to rotate coaxially, which in turn drives the first bevel gear 201 coaxially connected to the first worm gear 202 to rotate coaxially and drives the first worm wheel 203 meshing with the first worm gear 202 to rotate. The first bevel gear 201 will drive the second bevel gear 205 meshing with it to rotate. The first worm wheel 203 will drive the first spur gear 204 coaxially connected to it to rotate, which in turn drives the first lifting member 21211 meshing with the first spur gear 204 to move axially (i.e., move in a direction parallel to the pressure transmission direction between the first object and the second object). The second bevel gear 205 will drive the first lifting member 21211 coaxially connected to it to rotate. The rotation of the second worm gear 206 drives the second worm wheel 207, which in turn drives the second spur gear 208, which in turn drives the second lifting member 21212, which in turn drives the second lifting member 21211, to move axially in sync with the first lifting member 21211 (that is, when the first lifting member 21211 moves toward the first object, the second lifting member 21212 also moves toward the first object, and the two move the same distance; when the second lifting member 21212 moves toward the second object, the two also move toward the second object, and the two move the same distance). Therefore, this configuration, by using the same power element 211, can simultaneously drive the first sub-transmission assembly 2122 and the second sub-transmission assembly 2122. This not only reduces the number of parts and lowers the production cost of the joint pressure measuring device provided by this invention, but also makes the joint pressure measuring device more compact and effectively saves internal space.

[0082] Please continue to refer to this. Figure 16 ,like Figure 16 As shown, in this embodiment, the first mechanical transmission mechanism 212A used to move the first sub-platform 111 in the first platform 110 is the same as the second mechanical transmission mechanism 212B used to move the second sub-platform 112 in the first platform 110, and the two are arranged in a mirror symmetrical manner. Both adopt the gear and worm gear transmission method.

[0083] Please continue to refer to this. Figure 17 ,like Figure 17 As shown, in this embodiment, both the first lifting member 21211 and the second lifting member 21212 are racks and pinions. The first transmission sub-assembly 21221 includes a first steel wire 301 and a third spur gear 302. The second transmission sub-assembly 21222 includes a second steel wire 303 and a fourth spur gear 304. The first steel wire 301 and the second steel wire 303 are arranged in a ring with their ends interconnected. One end of the first steel wire 301 is wound around the output shaft of the power element 211, and the other end of the first steel wire 301... One end of the first wire 303 is wound around the shaft of the third spur gear 302, which meshes with the first lifting member 21211; one end of the second wire 303 is wound around the output shaft of the power element 211, and the other end of the second wire 303 is wound around the shaft of the fourth spur gear 304, which meshes with the second lifting member 21212, and the winding direction of the second wire 303 on the power element 211 is opposite to the winding direction of the first wire 301 on the power element 211. Therefore, the power element 211 can drive the first steel wire 301 and the second steel wire 303 to rotate. The first steel wire 301 will drive the third spur gear 302 to rotate, and the second steel wire 303 will drive the fourth spur gear 304 to rotate. Since the winding directions of the first steel wire 301 and the second steel wire 303 are opposite, their transmission directions are opposite, that is, the directions of the third spur gear 302 and the fourth spur gear 304 are opposite. The rotating third spur gear 302 will drive the first lifting member 21211 meshing with it to move axially (i.e., along the axis between the first object and the second object). The rotating fourth spur gear 304 drives the second lifting member 21212, which meshes with it, to move axially in sync with the first lifting member 21211 (that is, when the first lifting member 21211 moves toward the first object, the second lifting member 21212 also moves toward the first object, and the two move the same distance; when the second lifting member 21212 moves toward the second object, the second lifting member 21212 also moves toward the second object, and the two move the same distance). Therefore, this arrangement can further reduce the number of parts and reduce the production cost of the joint measuring device provided by this invention.

[0084] Furthermore, such as Figure 17 As shown, the second transmission subassembly 21222 also includes a guide wheel 305 disposed between the third spur gear 302 and the power element 211, and at least a portion of the second steel wire 303 passes through the guide wheel 305. Thus, by setting the guide wheel 305, it can be effectively ensured that the power element 211 can smoothly drive the second steel wire 303 to rotate, thereby driving the fourth spur gear 304 to rotate.

[0085] Please continue to refer to this. Figure 18 ,like Figure 18As shown, in this embodiment, both the first lifting component 21211 and the second lifting component 21212 are support blocks. The first transmission sub-assembly 21221 includes a third steel wire 401, a first cable 402, and a first guide wheel 4031 group 403. The second transmission sub-assembly 21222 includes a second cable 405, a fourth steel wire 404, and a second guide wheel 4032 group. The third steel wire 401 and the fourth steel wire 404 are arranged in a ring with their ends interconnected. The first guide wheel 4031 group 403 includes a first guide wheel 4031 and a second guide wheel 4032 arranged opposite each other in a direction parallel to the pressure transmission direction between the first object and the second object. The second guide wheel 4032 group includes a third guide wheel 4061 and a fourth guide wheel 4062 arranged opposite each other in a direction parallel to the pressure transmission direction between the first object and the second object. One end of the third steel wire 401 is wound around the power element 21. On the output shaft of component 1, the other end of the third steel wire 401 is wound around the first guide wheel 4031 and the second guide wheel 4032. One end of the first cable 402 is connected to the third steel wire 401 located between the first guide wheel 4031 and the second guide wheel 4032. The other end of the first cable 402 is connected to the first lifting component 21211. One end of the fourth steel wire 404 is wound around the output shaft of the power component 211, and the winding direction of the fourth steel wire 404 on the output shaft of the power component 211 is opposite to the winding direction of the third steel wire 401 on the output shaft of the power component 211. The other end of the fourth steel wire 404 is wound around the third guide wheel 4061 and the fourth guide wheel 4062. One end of the second cable 405 is connected to the fourth steel wire 404 located between the third guide wheel 4061 and the fourth guide wheel 4062. The other end of the second cable 405 is connected to the second lifting component 21212. Therefore, the power element 211 can drive the third steel wire 401 and the fourth steel wire 404 for transmission. The third steel wire 401 drives the first cable 402 to pull the first lifting member 21211 to slide between the first guide wheel 4031 and the second guide wheel 4032. Similarly, the fourth steel wire 404 drives the second cable 405 to pull the second lifting member 21212 to slide between the third guide wheel 4061 and the fourth guide wheel 4062. Since the winding directions of the third steel wire 401 and the fourth steel wire 404 are opposite, it can be ensured that the first lifting member 21211 and the second lifting member 21212 can move axially synchronously (that is, when the first lifting member 21211 moves toward the direction closer to the first object, the second lifting member 21212 also moves toward the direction closer to the first object, and the two move the same distance; when the second lifting member 21212 moves toward the direction closer to the second object, the second lifting member 21212 also moves toward the direction closer to the second object, and the two move the same distance). Furthermore, the first cable 402 and the second cable 405 may be composed of multiple strands of steel wire.It should be noted that, as those skilled in the art will understand, as an alternative implementation, the third steel wire 401 and the fourth steel wire 404 can be replaced with a transmission chain, and the first guide wheel group 4031 and the second guide wheel group 4032 can be replaced with a gear set that cooperates with the transmission chain.

[0086] Based on the same inventive concept, this invention also provides a surgical robot system, which includes the joint pressure measuring device described above. Since the surgical robot system and the joint pressure measuring device provided by this invention belong to the same inventive concept, the surgical robot system provided by this invention possesses all the advantages of the joint pressure measuring device provided by this invention. For details, please refer to the relevant description above; therefore, it will not be repeated here. It should be noted that, as those skilled in the art will understand, the structure and principles of other components of the surgical robot system are based on existing technology, and will not be elaborated upon here.

[0087] This invention also provides a method for measuring joint pressure, applied to the joint pressure measuring device provided by this invention. Please refer to... Figure 19 ,like Figure 19 As shown, the joint pressure measurement method provided by the present invention includes the following steps:

[0088] Step S100: After inserting the pressure-bearing module 100, which includes a first platform 110 and a second platform 120 arranged opposite each other along the pressure transmission direction between the first object and the second object, into the space between the first object and the second object, the control gap adjustment submodule 210 drives the first platform 110 to move relative to the second platform 120 toward the first object along the pressure transmission direction between the first object and the second object, so as to adjust the gap between the first platform 110 and the second platform 120 until the side of the first platform 110 away from the second platform 120 abuts against the first object, and the side of the second platform 120 away from the first platform 110 abuts against the second object.

[0089] Step S200: Based on the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first object and the second object, obtain the pressure data between the first object and the second object.

[0090] Therefore, the joint pressure measurement method provided by this invention automatically adjusts the gap between the first platform 110 and the second platform 120 by controlling the gap adjustment submodule 210. This eliminates the cumbersome operation of adding an extra gap device or shim to accommodate the prosthesis during joint pressure measurement, thus saving surgical time and avoiding the large errors caused by manual gap adjustment. Furthermore, this invention infers the pressure on the pressure bearing module 100 by using the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first and second objects (i.e., during the compression of the first platform 110 and the second platform 120), thereby obtaining the pressure data between the first and second objects. This eliminates the need for a pressure sensor and reduces the requirements for assembly position.

[0091] In one exemplary embodiment, when the power element 211 is a motor, the control gap adjustment submodule 210 drives the first platform 110 to move relative to the second platform 120 toward the first object along the pressure transmission direction between the first object and the second object, in order to adjust the gap between the first platform 110 and the second platform 120, including:

[0092] The power element 211 is controlled to rotate to drive the mechanical transmission mechanism 212 to move the first platform 110 relative to the second platform 120 toward the first object along the pressure transmission direction between the first object and the second object, and the driving current of the power element 211 during the rotation process is obtained.

[0093] If the drive current is greater than or equal to a preset current threshold, the power element 211 is controlled to stop rotating to stop adjusting the gap between the first platform 110 and the second platform 120; otherwise, the power element 211 is controlled to continue rotating to continue adjusting the gap between the first platform 110 and the second platform 120.

[0094] In one exemplary embodiment, when the first platform 110 includes a split first sub-platform 111 and a second sub-platform 112, and the gap adjustment submodule 210 includes a connected first power element 211 and a first mechanical transmission mechanism 212, and a connected second power element 211 and a second mechanical transmission mechanism 212, controlling the gap adjustment submodule 210 to drive the first platform 110 to move relative to the second platform 120 toward the first object along the pressure transmission direction between the first object and the second object, to adjust the gap between the first platform 110 and the second platform 120, including:

[0095] The first power element 211 is controlled to rotate to drive the first mechanical transmission mechanism 212 to move the first sub-platform 111 relative to the second platform 120 toward the outer condyle of the first object along the pressure transmission direction between the outer condyle of the first object and the second object, and the first driving current of the first power element 211 during the rotation process is obtained.

[0096] If the first driving current is greater than the preset current threshold, the first power element 211 is controlled to stop rotating to stop adjusting the gap between the first sub-platform 111 and the second platform 120. If not, the first power element 211 is controlled to continue rotating to continue adjusting the gap between the first sub-platform 111 and the second platform 120.

[0097] The second power element 211 is controlled to rotate to drive the second mechanical transmission mechanism 212 to move the second sub-platform 112 relative to the second platform 120 toward the inner condyle of the first object along the pressure transmission direction between the inner condyle of the first object and the second object, and the second driving current of the second power element 211 during the rotation process is obtained.

[0098] If the second driving current is greater than the preset current threshold, the second power element 211 is controlled to stop rotating to stop adjusting the gap between the second sub-platform 112 and the second platform 120. If not, the second power element 211 is controlled to continue rotating to continue adjusting the gap between the second sub-platform 112 and the second platform 120.

[0099] Based on the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first and second objects, pressure data between the first and second objects is obtained, including:

[0100] Based on the output torque value of the first power element 211 during the rotation of the joints corresponding to the first object and the second object, the pressure value between the outer condyle of the first object and the second object is obtained;

[0101] Based on the output torque value of the second power element 211 during the rotation of the joints corresponding to the first object and the second object, the pressure value between the inner condyle of the first object and the second object is obtained.

[0102] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 20 ,like Figure 20As shown, the electronic device includes a processor 101 and a memory 103. The memory 103 stores a computer program. When the computer program is executed by the processor 101, it implements the joint pressure measurement method described above. Since the electronic device provided by this invention and the joint pressure measurement method provided by this invention belong to the same inventive concept, the electronic device provided by this invention has all the advantages of the joint pressure measurement method provided by this invention. For details, please refer to the relevant description above, which will not be repeated here.

[0103] like Figure 20 As shown, the electronic device also includes a communication interface 102 and a communication bus 104, wherein the processor 101, communication interface 102, and memory 103 communicate with each other through the communication bus 104. The communication bus 104 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 104 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 102 is used for communication between the aforementioned electronic device and other devices.

[0104] The processor 101 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 101 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0105] The memory 103 can be used to store computer programs. The processor 101 implements various functions of the electronic device by running or executing the computer programs stored in the memory 103 and calling the data stored in the memory 103.

[0106] The memory 103 may include non-volatile and / or volatile memory.

[0107] This invention also provides a readable storage medium storing a computer program, which, when executed by a processor, can implement the joint pressure measurement method described above. Since the readable storage medium provided by this invention and the joint pressure measurement method provided by this invention belong to the same inventive concept, the readable storage medium provided by this invention possesses all the advantages of the joint pressure measurement method provided by this invention. For details, please refer to the relevant descriptions above, which will not be repeated here.

[0108] The readable storage medium provided by this invention can be any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium.

[0109] In summary, the joint pressure measuring device, method, surgical robot system, electronic device, and readable storage medium provided by this invention automatically adjust the gap between the first platform 110 and the second platform 120 in the pressure bearing module 100 through the gap adjustment submodule 210. This eliminates the cumbersome operation of adding additional gap devices or shims to accommodate the prosthesis during joint pressure measurement, thus saving surgical time and avoiding the large errors caused by manual gap adjustment. Furthermore, this invention infers the pressure on the pressure bearing module 100 by using the output torque data of the gap adjustment submodule 210 during the rotation of the joints corresponding to the first and second objects (i.e., during the pressure bearing module 100 being compressed), thereby obtaining the pressure data between the first and second objects. This eliminates the need for pressure sensors and reduces the requirements for assembly position.

[0110] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0111] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A joint pressure measuring device for measuring pressure data between a first object and a second object, characterized in that, The joint pressure measuring device includes a pressure bearing module and a core module. The core module includes a clearance adjustment submodule and a control submodule that are connected in communication. The pressure bearing module includes a first platform and a second platform arranged opposite to each other along the pressure transmission direction between the first object and the second object. The side of the first platform away from the second platform is used to abut against the first object, and the side of the second platform away from the first platform is used to abut against the second object. The gap adjustment submodule is connected to the first platform and is used to drive the first platform to move relative to the second platform along the pressure transmission direction between the first object and the second object under the control of the control submodule, so as to adjust the gap between the first platform and the second platform, so that the side of the first platform away from the second platform abuts against the first object, and the side of the second platform away from the first platform abuts against the second object. The control submodule is configured to, after controlling the gap adjustment submodule to complete the gap adjustment between the first platform and the second platform, obtain the pressure data between the first object and the second object based on the output torque data of the gap adjustment submodule during the rotation of the joints corresponding to the first object and the second object; The gap adjustment submodule includes a power element and a mechanical transmission mechanism. The output shaft of the power element is connected to the input end of the mechanical transmission mechanism, and the output end of the mechanical transmission mechanism is connected to the first platform. The control submodule includes a main control unit and a power element drive unit. The power element drive unit is configured to control the power element to rotate according to the control commands issued by the main control unit, so as to drive the mechanical transmission mechanism to move the first platform relative to the second platform along the pressure transmission direction between the first object and the second object, and detect the drive parameter data of the power element during the rotational motion. The main control unit is configured to obtain the output torque data of the power element based on the drive parameter data of the power element after the first platform and the first object are brought into contact and the second platform and the second object are brought into contact, thereby obtaining the pressure data between the first object and the second object.

2. The joint pressure measuring device according to claim 1, characterized in that, The pressure-bearing module also includes a flexible seal, through which the first platform and the second platform are sealed together to close the gap between the first platform and the second platform.

3. The joint pressure measuring device according to claim 1, characterized in that, The mechanical transmission mechanism includes a lifting assembly and a transmission assembly. The input end of the transmission assembly is connected to the output shaft of the power element, and the output end of the transmission assembly is connected to the lifting assembly. The lifting assembly is connected to the first platform. Under the action of the power element, the transmission assembly can drive the lifting assembly to move in a direction parallel to the pressure transmission direction between the first object and the second object, thereby causing the first platform to move relative to the second platform in the pressure transmission direction between the first object and the second object.

4. The joint pressure measuring device according to claim 3, characterized in that, The lifting assembly includes a first lifting member and a second lifting member disposed opposite to each other, both the first lifting member and the second lifting member extending in a direction parallel to the pressure transmission direction between the first object and the second object; the transmission assembly includes a first transmission sub-assembly and a second transmission sub-assembly, the output end of the first transmission sub-assembly is connected to the first lifting member, and the output end of the second transmission sub-assembly is connected to the second lifting member. The gap adjustment submodule further includes a slide rail extending in a direction parallel to the pressure transmission direction between the first object and the second object, and the first platform is slidably connected to the slide rail.

5. The joint pressure measuring device according to claim 4, characterized in that, Both the first and second lifting components are rack and pinion mechanisms. The first transmission sub-assembly includes a first bevel gear, a first worm, a first worm wheel, and a first spur gear. The second transmission sub-assembly includes a second bevel gear, a second worm, a second worm wheel, and a second spur gear. The first bevel gear and the first worm are coaxially connected, and the first worm is coaxially connected to the output shaft of the power element. The first worm meshes with the first worm wheel, and the first worm wheel is coaxially connected to the first spur gear. The first spur gear meshes with the first lifting component. The second bevel gear meshes with the first bevel gear, and the second bevel gear is coaxially connected to the second worm. The second worm meshes with the second worm wheel, and the second worm wheel is coaxially connected to the second spur gear. The second spur gear meshes with the second lifting component. Or... Both the first and second lifting components are rack and pinion mechanisms. The first transmission subassembly includes a first steel wire and a third spur gear, and the second transmission subassembly includes a second steel wire and a fourth spur gear. The first and second steel wires are arranged in a ring-like configuration, interconnected end-to-end. One end of the first steel wire is wound around the output shaft of the power element, and the other end is wound around the shaft of the third spur gear, which meshes with the first lifting component. One end of the second steel wire is wound around the output shaft of the power element, and the other end is wound around the shaft of the fourth spur gear, which meshes with the second lifting component. The winding direction of the second steel wire on the power element is opposite to that of the first steel wire on the power element. Or... Both the first and second lifting components are support blocks. The first transmission sub-assembly includes a third steel wire, a first cable, and a first guide wheel assembly. The second transmission sub-assembly includes a second cable, a fourth steel wire, and a second guide wheel assembly. The third and fourth steel wires are arranged in a ring-like configuration with their ends interconnected. The first guide wheel assembly includes a first guide wheel and a second guide wheel arranged opposite each other in a direction parallel to the pressure transmission direction between the first and second objects. The second guide wheel assembly includes a third guide wheel and a fourth guide wheel arranged opposite each other in a direction parallel to the pressure transmission direction between the first and second objects. One end of the third steel wire is wound around the output shaft of the power element, and the other end of the third steel wire is wound around the first guide wheel and the second guide wheel. One end of the first cable is connected to the third steel wire located between the first guide wheel and the second guide wheel, and the other end of the first cable is connected to the first lifting component. One end of the fourth steel wire is wound around the output shaft of the power element, and the winding direction of the fourth steel wire on the output shaft of the power element is opposite to that of the third steel wire on the output shaft of the power element. The other end of the fourth steel wire is wound around the third guide wheel and the fourth guide wheel. One end of the second cable is connected to the fourth steel wire located between the third guide wheel and the fourth guide wheel, and the other end of the second cable is connected to the second lifting member.

6. The joint pressure measuring device according to claim 1, characterized in that, The first platform includes a split first sub-platform and a second sub-platform. The gap adjustment sub-module includes two sets of power elements and mechanical transmission mechanisms that are configured one-to-one. One set of the power elements and mechanical transmission mechanisms is used to drive the first sub-platform to move relative to the second platform along the pressure transmission direction between the outer condyle of the first object and the second object under the control of the control sub-module. The other set of the power elements and mechanical transmission mechanisms is used to drive the second sub-platform to move relative to the second platform along the pressure transmission direction between the inner condyle of the first object and the second object under the control of the control sub-module.

7. The joint pressure measuring device according to claim 1, characterized in that, The gap adjustment submodule also includes a displacement sensor mounted on the power element, which is used to detect the rotation angle of the power element and transmit it to the main control unit; The main control unit is configured to obtain the movement distance of the first platform relative to the second platform based on the rotation angle of the power element and the pre-acquired mapping relationship between the rotation angle and the movement distance.

8. A method for measuring joint pressure, used to measure pressure data between a first object and a second object, characterized in that, The measurement method includes: After inserting a pressure-bearing module comprising a first platform and a second platform arranged opposite each other along the pressure transmission direction between the first object and the second object between the first object and the second object, the control gap adjustment submodule drives the first platform to move relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object, so as to adjust the gap between the first platform and the second platform until the side of the first platform away from the second platform abuts against the first object, and the side of the second platform away from the first platform abuts against the second object; Based on the output torque data of the gap adjustment submodule during the rotation of the joints corresponding to the first object and the second object, the pressure data between the first object and the second object is obtained; The gap adjustment submodule includes a power element and a mechanical transmission mechanism. The output shaft of the power element is connected to the input end of the mechanical transmission mechanism, and the output end of the mechanical transmission mechanism is connected to the first platform. The control gap adjustment submodule drives the first platform to move relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object, including: The power element is controlled to rotate to drive the mechanical transmission mechanism, causing the first platform to move relative to the second platform toward the first object along the pressure transmission direction between the first object and the second object. The method further includes: After the first platform comes into contact with the first object and the second platform comes into contact with the second object, the output torque data of the power element is obtained based on the drive parameter data of the power element.

9. The joint pressure measurement method according to claim 8, characterized in that, The power component is an electric motor; Adjusting the gap between the first platform and the second platform includes: Obtain the driving current of the power element during its rotational motion; If the driving current is greater than or equal to a preset current threshold, the power element is controlled to stop rotating to stop adjusting the gap between the first platform and the second platform; otherwise, the power element is controlled to continue rotating to continue adjusting the gap between the first platform and the second platform.

10. A surgical robot system, characterized in that, The joint pressure measuring device includes any one of claims 1 to 7.

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