Mechanical arm assisted navigation system and surgical system for hip joint replacement surgery

Abstract

The application provides a mechanical arm assisted navigation system and a surgical system for hip replacement surgery. The mechanical arm assisted navigation system comprises: a preoperative planning module, which is used for obtaining a three-dimensional bone model according to collected medical images, performing surgical planning, and determining a femoral side surgical scheme and an acetabular side surgical scheme; an interactive selection module, which is used for determining an intraoperative navigation mode according to an interactive instruction; and an intraoperative navigation module, which is used for executing and adjusting the femoral side surgical scheme and the acetabular side surgical scheme in the navigation mode. In one aspect, different navigation modes are provided for hip replacement surgery, different navigation modes can be executed according to the selection of an operator, and the application is more flexible. In another aspect, the intraoperative execution module measures the femoral anteversion angle, and then adjusts the acetabular anteversion angle, adjusts the surgical scheme, and further improves the applicability of the mechanical arm assisted navigation system, and helps to improve the surgical effect of the mechanical arm assisted hip replacement surgery.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically to a robotic arm-assisted navigation system and surgical system for hip replacement surgery. Background Technology

[0002] Hip replacement surgery involves inserting a prosthesis into the body's normal bone structure to replace the diseased joint, thereby helping patients restore normal hip function. For conditions such as avascular necrosis of the femoral head, hip dysplasia, degenerative osteoarthritis of the hip, and rheumatoid arthritis, hip replacement is one of the most effective treatments.

[0003] The main procedures of hip replacement surgery include acetabular and femoral reconstruction, and prosthesis implantation. Currently, there are two main methods for hip replacement: manual operation and robotic-assisted navigation. The disadvantage of manual operation is its heavy reliance on the operator's experience, leading to variations in surgical precision and stability. Its advantage lies in the ability to quickly assess and adjust the surgical plan based on the operator's experience, offering greater flexibility. The advantage of robotic-assisted navigation is its ability to precisely anatomically reconstruct the surgical site, resulting in better surgical precision and stability. However, it requires extensive data processing, is time-consuming, and lacks flexibility. Summary of the Invention

[0004] To address the issue of poor flexibility in existing robotic arm-assisted navigation systems, this application provides a robotic arm-assisted navigation system for hip replacement surgery. This system offers different navigation modes for hip replacement surgery and can execute different navigation modes according to the operator's selection, thereby adapting to different surgical needs.

[0005] The robotic arm-assisted navigation system includes:

[0006] The preoperative planning module is used to plan the surgery and determine the surgical plan for the femoral side and the acetabular side after obtaining a three-dimensional model of the skeleton based on the acquired medical images.

[0007] The interactive selection module is used to determine the navigation mode during surgery based on interactive instructions;

[0008] The intraoperative navigation module is used to execute and adjust the femoral side surgical plan and the acetabular side surgical plan in the navigation mode.

[0009] According to some embodiments of this application, the intraoperative navigation module further includes a first registration module, a first execution module, a second registration module, and a second execution module, and the navigation mode includes:

[0010] In the first navigation mode, after registering the acetabular side image through the first registration module, the first execution module executes and adjusts the acetabular side surgical plan; and / or

[0011] In the second navigation mode, after the acetabular side image is registered and the femoral side image is registered by the first registration module and the second registration module respectively, the acetabular side surgical plan is executed and adjusted by the first execution module, and the femoral side surgical plan is executed and adjusted by the second execution module.

[0012] According to some embodiments of this application, the first execution module is used to perform acetabular reconstruction by means of a robotic arm according to the acetabular side surgical plan, and adjust the acetabular anteversion angle according to the measured femoral anteversion angle and the set combined anteversion angle during the reconstruction process, thereby updating the acetabular side surgical plan.

[0013] According to some embodiments of this application, the first execution module is further configured to limit the range of motion of the robotic arm by setting a three-dimensional safety boundary according to the acetabular side surgical plan.

[0014] According to some embodiments of this application,

[0015] When the tool at the end of the robotic arm approaches the three-dimensional safety boundary, the first execution module feeds back a gradually increasing robotic arm operating force to the operator through the robotic arm; or

[0016] When the tool at the end of the robotic arm exceeds the three-dimensional safety boundary, the first execution module automatically cuts off the power to the end tool.

[0017] According to some embodiments of this application, the first execution module is also used to display the current acetabular morphology and / or acetabular prosthesis position information in real time.

[0018] According to some embodiments of this application, the first execution module is further configured to control the robotic arm to track the position of the acetabular side in real time via the navigation and positioning device.

[0019] According to some embodiments of this application, the second execution module is used to display the femoral side surgical plan to the operator and measure the femoral anteversion angle after the femoral osteotomy is completed.

[0020] According to some embodiments of this application, the first execution module is further configured to adjust the acetabular side surgical plan based on the femoral anteversion angle obtained by the second execution module and the set combined anteversion angle.

[0021] According to another aspect of this application, a robotic arm-assisted surgical system for hip replacement surgery is also provided, comprising:

[0022] Navigation and positioning devices;

[0023] The aforementioned robotic arm-assisted navigation system communicates with the navigation and positioning device.

[0024] The robotic arm, guided by the robotic arm-assisted navigation system, assists in executing the surgical plan.

[0025] The robotic arm-assisted navigation system and surgical system for hip replacement surgery provided in this application offer two main advantages. First, they provide different navigation modes for hip replacement surgery, allowing for different navigation modes to be executed based on the operator's selection, thus adapting to various surgical needs and offering greater flexibility. Second, the intraoperative execution module measures the femoral anteversion angle and adjusts the acetabular anteversion angle to modify the surgical plan, further enhancing the applicability of the robotic arm-assisted navigation system and helping to improve the surgical outcomes of robotic arm-assisted hip replacement surgery. During acetabular reconstruction, establishing safety boundaries enhances the safety of the reconstruction process. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0027] Figure 1 This diagram illustrates a block diagram of a robotic arm-assisted navigation system according to a first exemplary embodiment of this application.

[0028] Figure 2 This diagram illustrates the composition of a preoperative planning module according to an example embodiment of this application.

[0029] Figure 3 This diagram illustrates an image segmentation result according to an example embodiment of this application.

[0030] Figure 4 A schematic diagram illustrating reference datum in surgical planning according to an example embodiment of this application is shown;

[0031] Figure 5 This diagram illustrates the composition of an intraoperative navigation module according to an example embodiment of this application.

[0032] Figure 6 This diagram illustrates the planning of the acetabular anteversion angle and acetabular abduction angle during the execution of an example embodiment of this application.

[0033] Figure 7 This diagram illustrates an osteotomy marking line provided by a second execution module according to an example embodiment of this application.

[0034] Figure 8 A schematic diagram of femoral medullary cavity reconstruction according to an example embodiment of this application is shown;

[0035] Figure 9 A schematic diagram illustrating the workflow of a robotic arm-assisted navigation system according to an example embodiment of this application is shown. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a predetermined order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0038] In this document, the term "embodiment" means that a predetermined feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] In hip replacement surgery, the reconstruction and prosthesis implantation on the acetabular side are typically complex and require high precision. In contrast, the reconstruction and prosthesis implantation on the femoral side are simpler. When high precision is not required, using robotic arm-assisted navigation does not significantly improve surgical outcomes; on the contrary, it prolongs surgery time due to the need for extensive data computation. Therefore, to make the application of robotic arm-assisted navigation systems in hip replacement surgery more flexible and improve efficiency while maintaining precision, this application provides a robotic arm-assisted navigation system with different navigation modes, more complete functions, simpler operation, and the ability to adjust the surgical plan based on the patient's intraoperative data, further enhancing the flexibility of the robotic arm-assisted navigation system.

[0040] Figure 1 A block diagram of a robotic arm-assisted navigation system according to a first exemplary embodiment of this application is shown.

[0041] like Figure 1As shown, the robotic arm-assisted navigation system 1000 for hip replacement surgery provided in this application includes a preoperative planning module 100, an interactive selection module 200, and an intraoperative navigation module 300. The preoperative planning module 100 is used to obtain a three-dimensional model of the skeleton based on acquired medical images, and then plan the surgery and determine the femoral and acetabular surgical plans. The interactive selection module 200 is used to determine the intraoperative navigation mode based on interactive instructions. The intraoperative navigation module 300 is used to execute and adjust the femoral and acetabular surgical plans under the navigation mode.

[0042] The preoperative planning module 100 may include a data import submodule 110, a model reconstruction submodule 120, and a surgical planning submodule 130, such as... Figure 2 As shown. The data import submodule 110 is used to examine the acquired patient medical imaging data and import the imaging data that meets the surgical criteria into the preoperative planning module 100. The patient medical imaging data can be three-dimensional CT or MRI images including the pelvis, the proximal femur of the affected and contralateral sides, and the hip joint.

[0043] The model reconstruction submodule 120 is used for image segmentation processing and image coordinate system establishment of imported 3D images. For example, after importing patient 3D image data, the corresponding images can be segmented based on coronal, sagittal, transverse, and interactively selected regions of interest (ROIs). ROIs include bilateral pelvis, bilateral proximal femurs, and bilateral hip joints. After selecting an ROI, automatic segmentation of bones and soft tissues, as well as automatic segmentation of the pelvis and femur, can be completed based on set soft tissue and bone thresholds. Thus, a 3D model can be segmented from the 3D image. Figure 3 The segmented 3D model of the pelvis is shown.

[0044] The surgical planning submodule 130 is used to plan the surgical procedures for the femoral side and the acetabular side. After segmentation, establishing the corresponding image coordinate system completes the model reconstruction process. For example, it can be done on the segmented image (see...). Figure 3 In the model reconstruction, the anterior pelvic plane is determined by the left anterior superior iliac spine 11, the right anterior superior iliac spine 12, and the pubic tubercle 30, thus establishing the pelvic coordinate system. After establishing the pelvic coordinate system, the model is aligned, completing the model reconstruction. Once reconstruction is complete, the reference benchmarks on the image can be used as reference values ​​for preoperative planning, further guiding the surgical procedure.

[0045] Figure 4 A schematic diagram of the reference baseline for preoperative planning is shown.

[0046] For surgical planning on the femoral side, see [link to surgical plan]. Figure 4In the reconstructed 3D skeletal model, the anatomical and mechanical axes of the femur can be determined based on selected bony landmarks such as the center of the femoral head, the center of the proximal femoral medullary canal, the center of the distal femoral medullary canal, and the center of the femoral condyles. The conical ridge (lesser trochanter) located inferiorly to the junction of the femoral neck and body can serve as a reference for determining lower limb length variations during surgical planning. The posterior condylar line or transcondylar line can serve as a reference for determining the femoral anteversion angle during surgical planning. For example, the lower limb length and syndesmotic deviation can be determined based on these references. Lower limb length is defined as the distance from the lesser trochanter to the ASIS axis (the line connecting the left anterior superior iliac spine 11 and the right anterior superior iliac spine 12). Syndesmotic deviation is the distance from the pelvic centerline 50° to the femoral anatomical axis 41 or 42. Furthermore, after determining the lower limb length and syndesmotic deviation on both the affected and contralateral sides, the prosthesis type, size, position, and angle can be adjusted during surgery based on data from the contralateral side. For example, during surgery, based on measurement data from the surgical side, parameters such as the prosthesis model are adjusted while ensuring the syndesmotic deviation is maintained. During the planning of the prosthesis position and angle, the model, size, and position of the prosthesis can be adjusted appropriately in real time based on changes in lower limb length and syndesmotic deviation compared to contralateral parameters and preoperative parameters.

[0047] When planning femoral stem parameters, to ensure close contact between the femoral stem and the cortical bone surface of the femoral medullary cavity, the femoral anteversion angle can be pre-set. The femoral anteversion angle is the angle between the projection of the femoral neck prosthesis axis and the transcondylar line (or posterior condylar line) onto a plane perpendicular to the femoral anatomical axis. The femoral anteversion angle and the acetabular anteversion angle together determine the combined anteversion angle. Based on the physiological characteristics of the human body, the surgical plan should ensure that the combined anteversion angle is within a reasonable range. After setting the femoral anteversion angle, the acetabular anteversion angle can be adjusted during surgery based on the combined anteversion angle and the measured femoral anteversion angle, thereby optimizing the surgical plan.

[0048] For surgical planning on the acetabular side, the acetabular rotation center and radius can be determined using a fitting algorithm based on several marked points selected on the acetabular articular surface. Then, a suitable acetabular prosthesis is planned based on the acetabular radius, followed by the planning of the matching acetabular liner, femoral head prosthesis, and femoral stem prosthesis. In addition to prosthesis parameters, the insertion angle of the acetabular prosthesis also needs to be planned, such as the abduction and anteversion angles, to ensure that the acetabular prosthesis is inserted into the acetabular fossa at the predetermined angle. During the planning process, the acetabular prosthesis can be adjusted to the appropriate position in multiple dimensions based on the contact between the acetabular prosthesis and the bone to obtain the final planning result.

[0049] According to some embodiments of this application, the interactive selection module 200 can provide different intraoperative navigation modes to adapt to different surgical needs. According to example embodiments of this application, the navigation mode may include a first navigation mode and / or a second navigation mode, but this application is not limited thereto. According to some embodiments of this application, the first navigation mode is a fast mode, providing robotic arm-assisted navigation only for surgical execution on the acetabular side. See also Figure 5 The intraoperative navigation module 300 includes a first registration module 310, a second registration module 320, a first execution module 330, and a second execution module 340.

[0050] In the first navigation mode, after the acetabular side image is registered by the first registration module 310, the acetabular side surgical plan is executed and adjusted by the first execution module 330. The acetabular side image registration process is as follows: the spatial position of the patient's acetabulum is determined using a navigation and positioning device, such as a pelvic tracker or optical navigation system; when the pelvic tracker is visible to the optical navigation camera, a series of bony feature points are selected on the surface of the patient's acetabulum using an optical probe, thereby achieving image registration between the patient's acetabulum and the acetabular three-dimensional model. After registration, a mapping relationship is established between the acetabular three-dimensional model space and the patient's physical space, and the acetabular side surgical plan, based on the preoperative plan, can be executed by the first execution module 330.

[0051] During the procedure, acetabular reconstruction can begin with a robotic arm. For example, the robotic arm is adjusted and fixed in place based on the patient's spatial position and posture. Guided by an optical navigation system, the robotic arm moves to the planned spatial position and adjusts to the appropriate posture, ensuring that the axis of the end effector coincides with the planned midline of the acetabular prosthesis. At this point, the end effector can be activated to perform acetabular reconstruction. For example, an acetabular reamer can be used for acetabular reshaping.

[0052] According to some embodiments of this application, during acetabular reconstruction using a robotic arm, the first execution module 330 can limit the range of motion of the robotic arm by setting a three-dimensional safety boundary, based on the acetabular surgical plan. For example, a three-dimensional safety boundary can be set during acetabular reaming. The navigation and positioning device monitors the pose of the acetabular reamer in real time; when the tool at the end of the robotic arm is within the three-dimensional safety boundary, acetabular reaming can be performed; when the tool at the end of the robotic arm is detected to be approaching the three-dimensional safety boundary, the first execution module 330 feeds back a gradually increasing robotic arm operating force to the operator, enabling the operator to clearly perceive the three-dimensional safety boundary; when the tool at the end of the robotic arm is detected to exceed the three-dimensional safety boundary, the first execution module 330 automatically cuts off the power to the end tool to ensure safety. According to some embodiments of this application, during acetabular reconstruction, the current acetabular morphology and the differences in three spatial dimensions between it and the planned scheme can also be displayed in real time, thereby providing guidance for acetabular reconstruction.

[0053] After reconstruction, during acetabular cup prosthesis placement, the first execution module 310 can determine the acetabular anteversion angle and acetabular abduction angle as specified in the planning scheme (see...). Figure 6 The system controls the robotic arm to automatically move to the planned position and completes the placement of the acetabular prosthesis through the acetabular cup inserter connected to its end. According to some embodiments of the application, during the placement of the acetabular prosthesis, the first execution module 330 can also display the acetabular prosthesis position information in real time, such as the acetabular cup insertion depth information, thereby providing a more intuitive display.

[0054] According to an example embodiment of this application, the first execution module 330 can also adjust the acetabular anteversion angle during the reconstruction process based on the measured femoral anteversion angle and the set combined anteversion angle, thereby updating the acetabular side surgical plan. For example, after the acetabular cup prosthesis is inserted, an optical probe can be used to collect a series of marker points on the surface of the acetabular cup prosthesis. The collected data can be used to further fit a plane, and the actual acetabular anteversion angle and acetabular abduction angle of the acetabular cup prosthesis can be measured. Based on the actual acetabular anteversion angle and the femoral anteversion angle measured during the femoral side reconstruction, it can be determined whether the combined anteversion angle meets the physiological structural requirements. If it does not meet the requirements, the acetabular anteversion angle can be further adjusted based on the set combined anteversion angle, thereby updating the acetabular side surgical plan.

[0055] During the acetabular reconstruction and prosthesis placement, the first execution module 330 can also determine the motion control commands for the robotic arm based on the pelvic tracker, robotic arm tracker, and end-effector tracker using a navigation and positioning device, thereby controlling the robotic arm to track the position of the acetabular side in real time. For example, when the patient's pelvic position shifts, the robotic arm can track it in real time to ensure the correct angle.

[0056] In the first navigation mode, the surgical plan for the femoral side can be executed by the operator, which is faster and more flexible. According to some embodiments of this application, the surgical plan for the femoral side can be displayed, providing the operator with guidance for femoral reconstruction and prosthesis implantation.

[0057] According to some embodiments of this application, the second navigation mode is a full-function mode, providing robotic arm-assisted navigation for both acetabular and femoral side surgical procedures. In the second navigation mode, after acetabular and femoral side image registration is performed by the first registration module 310 and the second registration module 320 respectively, the acetabular side surgical plan is executed and adjusted by the first execution module 330, and the femoral side surgical plan is executed and adjusted by the second execution module 340. The acetabular side image registration and surgical plan execution in the second navigation mode are the same as in the first navigation mode and will not be described again. The execution of the femoral side surgical plan in the second navigation mode will be described in detail below.

[0058] First, femoral image registration is performed using the second registration module 320. For example, a proximal femoral tracker and an optical navigation system can be used to determine the patient's femoral spatial position. With the femoral tracker visible to the optical navigation system, bony feature points are selected on the patient's femoral surface using an optical probe, thus achieving registration between the patient's femur and the preoperative 3D image. After image registration, a mapping relationship is established between the 3D femoral model and the patient's physical space during surgery. After importing the preoperatively planned surgical procedure, it can be executed.

[0059] During femoral reconstruction, the second execution module 340 can display the surgical plan on the femoral side to the operator, such as providing information on the femoral neck osteotomy surface. When both the optical probe and the femoral tracker are visible to the optical navigation system, the operator can use the optical probe to mark the planned osteotomy location on the patient's femoral neck (e.g., ...). Figure 7 (As shown). The operator can perform osteotomy according to the osteotomy line marks provided by the second execution module 340, and sequentially increase the size of the medullary canal reamer to ream the femur until the planned size is reached (see...). Figure 8 ).

[0060] After medullary canal reconstruction is completed, the femoral anteversion angle can be measured by the second execution module 340. For example, the sleeve at the end of the femoral anteversion angle measuring tool is aligned with the femoral neck axis, ensuring that the axes coincide; the optical tracker at the other end, under the recognition of the optical navigation system, combined with the position of the femoral tracker, obtains the femoral anteversion angle. When there is a deviation between the measured femoral anteversion angle and the planned result, the first execution module 330 can adjust the acetabular anteversion angle according to the measured femoral anteversion angle, thereby ensuring the combined anteversion angle.

[0061] According to some embodiments of this application, after the femoral prosthesis and acetabular prosthesis are inserted, the robotic arm-assisted navigation system provided by this application can also measure the patient's postoperative bony feature markers to obtain changes in the patient's postoperative leg length and syndesmotic deviation, including changes relative to the preoperative period and changes relative to the contralateral side, thereby providing the operator with a basis for judgment.

[0062] Figure 9 A schematic diagram illustrating the workflow of a robotic arm-assisted navigation system according to an example embodiment of this application is shown.

[0063] The usage process of the total hip arthroplasty surgical execution system provided in this application is as follows: Figure 9 As shown, it includes the following steps:

[0064] Step S910, Patient Image Acquisition. For example, images of the patient's femur and hip joint pelvis can be acquired using a CT scanner or magnetic resonance imaging (MRI).

[0065] Step S920, Image Segmentation and Reconstruction. Based on the acquired images of the patient's femur and hip joint pelvis, the images of the femur and pelvis can be segmented using image processing algorithms, and a three-dimensional model of the femur and a three-dimensional model of the pelvis can be reconstructed.

[0066] Step S930, Preoperative planning. Based on the reconstructed 3D femoral and pelvic models, surgical planning is performed to determine a surgical plan that includes information such as prosthesis type, size, and location.

[0067] Step S940, import the surgical plan, including importing the patient's surgical plan generated from the preoperative planning.

[0068] Step S950, navigation mode selection, including selecting the first navigation mode or the second navigation mode.

[0069] In step S960, in the first navigation mode, the robotic arm navigation assistance function is used to perform acetabular side image registration, reconstruction, and execution and adjustment of the surgical plan; and to provide the operator with a femoral side surgical plan for execution.

[0070] In step S970, in the second navigation mode, the acetabular side image registration and femoral side registration are performed through the navigation assistance function, and the reconstruction and acetabular side prosthesis placement plan are performed using the robotic arm; the femoral side reconstruction and prosthesis placement are performed using the handheld tool.

[0071] According to another aspect of this application, a robotic arm-assisted surgical system for hip replacement surgery is also provided, comprising the aforementioned robotic arm-assisted navigation system, navigation and positioning device, and robotic arm. The robotic arm-assisted navigation system communicates with the navigation and positioning device to obtain the actual spatial positions of the patient's surgical site, the robotic arm, and the surgical end effector; the robotic arm assists in executing the surgical plan under the guidance of the robotic arm-assisted navigation system.

[0072] According to some embodiments of this application, a robotic arm-assisted navigation system may include a host controller and a human-machine interface (HMI) device. The navigation and positioning device may include a navigation camera, a patient tracker, a robotic arm end effector tracker, an end-tool tracker, and an optical probe. The host controller is communicatively connected to the HMI device, the robotic arm, and the navigation camera, receiving information transmitted from the HMI device and the navigation camera, and sending relevant information or instructions to the HMI device, the robotic arm, and the navigation camera. The HMI device can provide an interactive interface for the operator to select navigation modes and obtain interactive commands input by the operator.

[0073] The upper-level controller also communicates with optical probes, robotic arm end effector trackers, patient trackers, and end-tool trackers, for example, to control the activation of these components. The patient tracker may include an acetabular-side tracker and a femoral-side tracker, which are fixed to the patient's pelvis and femur, respectively, to determine the spatial position of the patient's acetabulum and femur during surgery.

[0074] An end-effector tracker, mounted at the end of the robotic arm, is used to determine the spatial position of the end-effector. The end-effector tracker may include an acetabular reamer tracker and an acetabular cup prosthesis placement tracker, respectively fixed to the acetabular reamer connecting rod and the acetabular cup prosthesis insertion rod, for determining the spatial position of the acetabular reamer and the acetabular cup prosthesis. Optical probes include probes for acquiring bony landmarks from the patient and probes for measuring the anteversion angle of the femoral prosthesis.

[0075] The navigation camera receives signals from the robotic arm end effector tracker, patient tracker, and end-effector tracker to determine the relative spatial positions of the robotic arm, end-effector, and patient's pelvis and femur in the same coordinate system. Given the determined spatial positions of the patient's pelvis, femur, robotic arm, and end-effector, the navigation camera receives signals from the optical probe to acquire bony landmarks of the acetabulum and femur, and also receives signals from the optical probe to acquire the femoral prosthesis anteversion angle.

[0076] This application provides a robotic arm-assisted navigation system and surgical system for hip replacement surgery. On one hand, the system offers different navigation modes for hip replacement surgery, allowing for different navigation modes to be executed according to the operator's selection, thus adapting to various surgical needs and offering greater flexibility. On the other hand, the intraoperative execution module measures the femoral anteversion angle and adjusts the acetabular anteversion angle to modify the surgical plan, further improving the applicability of the robotic arm-assisted navigation system and helping to improve the surgical outcome of robotic arm-assisted hip replacement surgery. During acetabular reconstruction, establishing safety boundaries enhances the safety of the reconstruction process.

[0077] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robotic arm-assisted navigation system for hip replacement surgery, characterized in that, include: The preoperative planning module is used to plan the surgery and determine the surgical plan for the femoral side and the acetabular side after obtaining a three-dimensional model of the skeleton based on the acquired medical images. The interactive selection module is used to determine the navigation mode during surgery based on interactive instructions; Intraoperative navigation module, used to execute and adjust the femoral side surgical plan and the acetabular side surgical plan in the navigation mode; The intraoperative navigation module further includes a first registration module, a second registration module, a first execution module, and a second execution module, and the navigation modes include: In the first navigation mode, after registering the acetabular side image through the first registration module, the surgical plan for the acetabular side is executed and adjusted through the first execution module. and In the second navigation mode, after the acetabular side image and the femoral side image are registered by the first registration module and the second registration module respectively, the acetabular side surgical plan is executed and adjusted by the first execution module, and the femoral side surgical plan is executed and adjusted by the second execution module.

2. The robotic arm-assisted navigation system according to claim 1, characterized in that, The first execution module is used to perform acetabular reconstruction via a robotic arm according to the acetabular side surgical plan, and adjust the acetabular anteversion angle according to the measured femoral anteversion angle and the set combined anteversion angle during the reconstruction process, thereby updating the acetabular side surgical plan.

3. The robotic arm-assisted navigation system according to claim 2, characterized in that, The first execution module is also used to limit the range of motion of the robotic arm by setting a three-dimensional safety boundary according to the acetabular side surgical plan.

4. The robotic arm-assisted navigation system according to claim 3, characterized in that, When the tool at the end of the robotic arm approaches the three-dimensional safety boundary, the first execution module feeds back a gradually increasing robotic arm operating force to the operator through the robotic arm; or When the tool at the end of the robotic arm exceeds the three-dimensional safety boundary, the first execution module automatically cuts off the power to the end tool.

5. The robotic arm-assisted navigation system according to claim 2, characterized in that, The first execution module is also used to display the current acetabular shape and / or acetabular prosthesis position information in real time.

6. The robotic arm-assisted navigation system according to claim 2, characterized in that, The first execution module is also used to control the robotic arm to track the position of the acetabulum side in real time via a navigation and positioning device.

7. The robotic arm-assisted navigation system according to claim 1, characterized in that, The second execution module is used to display the femoral side surgical plan to the operator and to measure the femoral anteversion angle after the femoral osteotomy is completed.

8. The robotic arm-assisted navigation system according to claim 7, characterized in that, The first execution module is also used to adjust the acetabular side surgical plan based on the femoral anteversion angle obtained by the second execution module and the set combined anteversion angle.

9. A robotic arm-assisted surgical system for hip replacement surgery, characterized in that, include: Navigation and positioning devices; The robotic arm-assisted navigation system according to any one of claims 1-8 communicates with the navigation and positioning device; The robotic arm, guided by the robotic arm-assisted navigation system, assists in executing the surgical plan.

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