Positioning method for orthopedic surgery

Abstract

The invention relates to the technical field of orthopedic surgery, and discloses a positioning method for orthopedic surgery, which comprises the following steps: step 1, acquiring image data: acquiring image data of legs of a patient by using CT (Computed Tomography) and MRI (Magnetic Resonance Imaging) equipment; step 2, three-dimensional modeling: generating a three-dimensional skeleton model of the legs of the patient based on the image data; 3, preoperative planning, wherein a preoperative operation path is planned on software according to the three-dimensional model. According to the positioning method for the orthopedic surgery, image data are obtained through CT and MRI equipment, three-dimensional modeling is carried out, the leg skeleton structure of a patient can be accurately presented, an accurate basis is provided for surgical path planning, optical positioning and electromagnetic positioning technology registration, mechanical arm navigation and real-time monitoring adjustment are utilized in the surgery, and the positioning accuracy is improved. And the problem of positioning deviation caused by the experience of medical staff and a simple fixing device traditionally is effectively avoided, and correct alignment of surgical parts is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic surgery, and in particular to a positioning method for orthopedic surgery. Background Art

[0002] Orthopedics is an important branch of medicine. It mainly studies the anatomy, physiology and pathology of the musculoskeletal system, and uses drugs, surgery and physical methods to maintain and develop the normal form and function of this system. Bones, as the supporting structure of the human body, have key functions such as supporting body weight, protecting internal organs, and assisting movement. Muscles drive bone movement through contraction and relaxation. The synergistic effect of the two enables the human body to complete various complex movements. Orthopedic surgery is a common treatment method, including fracture fixation, joint replacement, and spinal surgery. After orthopedic surgery on the leg, leg positioning is crucial to the surgical effect and patient recovery. It can ensure the correct alignment and functional recovery of the surgical site; Traditional leg positioning mostly relies on the experience of medical staff and simple fixation devices, such as ordinary leg braces or sandbag compression. This method is difficult to accurately control the angle and position of the legs and is prone to deviations.

[0003] In order to solve the above problems, this application proposes a positioning method for orthopedic surgery. Summary of the invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes a positioning method for orthopedic surgery.

[0005] The present invention provides a positioning method for orthopedic surgery, comprising the following steps: Step 1, obtaining image data: using CT or MRI equipment to obtain image data of the patient's legs; Step 2, 3D modeling: Generate a 3D skeletal model of the patient's leg based on the imaging data; Step 3: Preoperative planning: Preoperative surgical path planning based on the 3D model. The surgical path is planned on the software before surgery. Step 4: Intraoperative registration: Use optical positioning and electromagnetic positioning technology to align the patient's legs with the preoperative model during surgery; Step 5: Robotic arm navigation: According to the planned surgical path, the robotic arm navigation system is used to control the robotic arm to reach the predetermined position; Step 6: Real-time monitoring: During the operation, the position relationship between the robotic arm and the patient's leg is monitored in real time through visual sensors; Step 7, dynamic adjustment: According to the real-time monitoring results, the position of the robotic arm is dynamically adjusted to adapt to the slight movement of the patient's legs; Step 8. Complete the operation: Complete the precise positioning and fixation of the leg orthopedic surgery with the assistance of the robotic arm.

[0006] As a further optimization solution of the present invention, the acquisition of image data includes the following steps: Step 1: using medical imaging equipment to collect image data of the patient's legs; Step 2: Preprocess the collected images, including denoising, contrast enhancement, and normalization; Step 3: Save the preprocessed image data into a format suitable for 3D reconstruction.

[0007] As a further optimization scheme of the present invention, the three-dimensional modeling includes the following steps: Step 1: Select appropriate 3D modeling software based on the collected reference materials and modeling requirements; Step 2: Build a basic model, use simple geometric bodies to represent the overall shape of the object, and gradually add details; Step 3: Refine the model details by modifying the model's topological structure and adding subdivision surface methods.

[0008] As a further optimization scheme of the present invention, the preoperative planning includes the following steps: Step 1: Segment and model the region of interest on the computer and select the best surgical path; Step 2: Develop a surgical plan, considering the feasibility and safety of the surgery; Step 3: Align the preoperative information with the intraoperative images and render them in real time to provide guidance for the surgery.

[0009] As a further optimization solution of the present invention, the intraoperative registration includes the following steps: Step 1: Use optical or electromagnetic technology to align the patient's leg with the preoperative model during surgery; Step 2: Optimize the rigid or non-rigid transformation model parameters through online iterative similarity measurement to achieve multi-modal image alignment; Step 3: Use deep learning methods to learn the linear or nonlinear mapping relationship between image pairs offline.

[0010] As a further optimization solution of the present invention, the robot arm navigation includes the following steps: Step 1: Set the target position and path of the robotic arm navigation system according to the planned surgical path; Step 2: Use the robotic arm navigation system to control the robotic arm to accurately reach the predetermined position to assist the surgical operation; Step 3: During the operation, adjust the position and posture of the robotic arm based on real-time feedback to ensure the accuracy of the operation.

[0011] As a further optimization scheme of the present invention, the real-time monitoring comprises the following steps: Step 1: Use visual sensors to capture the positional relationship between the robotic arm and the patient's legs in real time; Step 2: Process the captured images through image processing technology, image filtering, and interpolation to improve the accuracy of monitoring; Step 3: Compare the processed image data with the preoperative model and update the surgical navigation system in real time.

[0012] As a further optimization solution of the present invention, the dynamic adjustment includes the following steps: Step 1: Evaluate the patient's leg micro-movements and deformations based on real-time monitoring results; Step 2: Dynamically adjust the position and posture of the robotic arm to adapt to changes in the patient's legs; Step 3: Re-perform intraoperative registration to ensure the consistency of the surgical path with the patient's current condition.

[0013] As a further optimization solution of the present invention, the completion of the operation includes the following steps: Step 1: Perform surgical operations, including drilling and screw fixation, with the assistance of the robotic arm; Step 2: During the operation, continuously monitor the patient's condition and surgical results to ensure the safety of the operation; Step 3: After the surgery is completed, a final check and confirmation is performed to ensure proper alignment and restoration of function of the surgical site.

[0014] The above technical solution of the present invention has the following beneficial technical effects: 1. The imaging data is acquired through CT and MRI equipment and three-dimensional modeling is performed, which can accurately present the patient's leg bone structure and provide an accurate basis for surgical path planning. During the operation, optical positioning, electromagnetic positioning technology, robotic arm navigation and real-time monitoring adjustment are used to effectively avoid the positioning deviation caused by traditional reliance on medical staff experience and simple fixing devices, ensuring the correct alignment of the surgical site.

[0015] 2. In preoperative planning, the region of interest is segmented and modeled, and a plan is formulated considering the feasibility and safety of the operation. The preoperative information is aligned with the intraoperative images and rendered in real time. During the operation, the patient's condition and surgical effect are continuously monitored, and possible problems can be discovered and handled in a timely manner to ensure the safety of the operation.

[0016] 3. Monitor the position relationship between the robotic arm and the patient's legs in real time, dynamically adjust the position of the robotic arm according to the monitoring results to adapt to the slight movement of the patient's legs, and re-perform intraoperative registration to ensure that the surgical path is consistent with the patient's current state. It can cope with changes in the position of the patient's legs during surgery to ensure the smooth progress of the operation.

[0017] 4. Accurate positioning and adjustment to adapt to intraoperative changes help to accurately perform surgical operations, making drilling and screw fixation operations more accurate, thereby promoting functional recovery of the surgical site and improving the overall effect of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flowchart of a positioning method for orthopedic surgery. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0020] like Figure 1 As shown, a positioning method for orthopedic surgery proposed by the present invention comprises the following steps: Step 1, obtaining image data: using CT or MRI equipment to obtain image data of the patient's legs; Step 2, 3D modeling: Generate a 3D skeletal model of the patient's leg based on the imaging data; Step 3: Preoperative planning: Preoperative surgical path planning based on the 3D model. The surgical path is planned on the software before surgery. Step 4: Intraoperative registration: Use optical positioning and electromagnetic positioning technology to align the patient's legs with the preoperative model during surgery; Step 5: Robotic arm navigation: According to the planned surgical path, the robotic arm navigation system is used to control the robotic arm to reach the predetermined position; Step 6: Real-time monitoring: During the operation, the position relationship between the robotic arm and the patient's leg is monitored in real time through visual sensors; Step 7, dynamic adjustment: According to the real-time monitoring results, the position of the robotic arm is dynamically adjusted to adapt to the slight movement of the patient's legs; Step 8. Complete the operation: Complete the precise positioning and fixation of the leg orthopedic surgery with the assistance of the robotic arm.

[0021] In this embodiment, the acquisition of image data includes the following steps: Step 1: using medical imaging equipment to collect image data of the patient's legs; Step 2: Preprocess the collected images, including denoising, contrast enhancement, and normalization; Step 3: Save the preprocessed image data into a format suitable for 3D reconstruction.

[0022] It should be noted that: use medical imaging equipment, such as CT scanners or MRI equipment, to conduct a comprehensive scan of the patient's legs to ensure that sufficiently clear image data containing key bone structures and lesions are collected. During the scanning process, the appropriate scanning parameters should be adjusted according to the patient's specific conditions (such as the location of the leg injury and physical condition) to obtain high-quality images; The collected images are preprocessed. The denoising process uses advanced filtering algorithms, such as Gaussian filtering and median filtering, to remove noise interference in the image and make the image clearer. The contrast enhancement operation adjusts the gray value distribution of the image to highlight the difference between the bone structure and the surrounding tissue, which is convenient for subsequent image analysis. The normalization process adjusts the image's brightness, contrast and other features to a unified standard, which is convenient for subsequent data processing and model building. The preprocessed image data is saved in a format suitable for 3D reconstruction, such as the common DICOM format, to ensure the integrity and compatibility of the data so that it can be smoothly imported into the 3D modeling software for subsequent processing.

[0023] In this embodiment, the three-dimensional modeling includes the following steps: Step 1: Select appropriate 3D modeling software based on the collected reference materials and modeling requirements; Step 2: Build a basic model, use simple geometric bodies to represent the overall shape of the object, and gradually add details; Step 3: Refine the model details by modifying the model's topological structure and adding subdivision surface methods.

[0024] It should be noted that: based on the large amount of reference materials collected (including normal human leg bone structure data, 3D models of similar cases) and the specific modeling requirements of this operation (such as focusing on the details of specific fracture sites and simulating the impact of surgical operations on bones), a powerful and suitable software for orthopedic surgery modeling was selected from a variety of 3D modeling software; When building the basic model, we first use simple geometric bodies (such as cylinders and cubes) to roughly outline the overall shape of the leg bones, determine the approximate position, length, and thickness of the bones, and then gradually add details. By referring to the bone contours and structural features in the image data, we gradually refine the basic model to make it closer to the real leg bone morphology. By modifying the topological structure of the model and optimizing the grid layout of the model to make it more reasonable and regular, it is convenient for subsequent editing and processing. By adding subdivision surface methods and increasing the level of detail on the model surface, the bone model is made smoother and more realistic, and can accurately present the surface morphology and fine structure of the bone, providing a more accurate model basis for surgical planning.

[0025] In this embodiment, the preoperative planning includes the following steps: Step 1: Segment and model the region of interest on the computer and select the best surgical path; Step 2: Develop a surgical plan, considering the feasibility and safety of the surgery; Step 3: Align the preoperative information with the intraoperative images and render them in real time to provide guidance for the surgery.

[0026] It should be noted that: professional medical image processing software is used on the computer to accurately segment the area of ​​interest (such as fracture site, lesion area), separate it from the entire leg image, and separately model and analyze it. When selecting the best surgical path, multiple factors such as bone structure, blood vessel and nerve distribution, and the difficulty of surgical operation are comprehensively considered. By simulating different surgical paths and comparing their advantages and disadvantages, the safest and most effective surgical path is determined; When formulating a surgical plan, a multidisciplinary team (including orthopedic surgeons, anesthesiologists, and rehabilitation therapists) is organized to discuss and conduct a comprehensive assessment of the feasibility of the surgery (such as whether the patient's body can withstand the surgery, whether the existing medical equipment and technology support it) and safety (such as possible risks and countermeasures during the surgery, and prevention of postoperative complications). Detailed surgical steps, surgical instrument selection, anesthesia plan, and postoperative rehabilitation plan content are formulated; The patient information collected before the operation (such as medical history and imaging data) is registered with the images acquired in real time during the operation. Advanced image registration algorithms are used to ensure that the two accurately correspond. Real-time rendering technology presents the registered information to the surgeon in the form of intuitive three-dimensional images, providing real-time and accurate guidance for the operation and helping the doctor better understand the structure and positional relationship of the surgical site during the operation.

[0027] In this embodiment, the intraoperative registration includes the following steps: Step 1: Use optical or electromagnetic technology to align the patient's leg with the preoperative model during surgery; Step 2: Optimize the rigid or non-rigid transformation model parameters through online iterative similarity measurement to achieve multi-modal image alignment; Step 3: Use deep learning methods to learn the linear or nonlinear mapping relationship between image pairs offline.

[0028] It should be noted that: using a high-precision optical positioning system (such as an infrared optical positioning device) or an electromagnetic positioning system (such as an electromagnetic positioning sensor) to locate the patient's legs in real time during surgery, by installing positioning markers on the patient's legs and the operating table, the actual position and posture information of the legs during surgery is accurately transmitted to the surgical navigation system, and is aligned with the three-dimensional model constructed before surgery; Through the online iterative similarity measurement algorithm, the rigid (such as overall bone movement) or non-rigid (such as soft tissue deformation) transformation model parameters are continuously optimized to achieve the best matching alignment state between the image collected during the operation and the preoperative model in terms of shape and position. In the iterative process, the similarity is calculated based on the feature points and contour information of the image, and the model parameters are gradually adjusted to improve the accuracy of the registration. Using deep learning methods, a large number of image pairs (preoperative model images and actual images collected during surgery) are used for offline learning in advance to train a model that can accurately identify the linear or nonlinear mapping relationship between image pairs. During the intraoperative registration process, the real-time collected images are input into the trained model to quickly obtain the mapping relationship with the preoperative model, assist the registration process, and improve the speed and accuracy of the registration.

[0029] In this embodiment, the robot navigation includes the following steps: Step 1: Set the target position and path of the robotic arm navigation system according to the planned surgical path; Step 2: Use the robotic arm navigation system to control the robotic arm to accurately reach the predetermined position to assist the surgical operation; Step 3: During the operation, adjust the position and posture of the robotic arm based on real-time feedback to ensure the accuracy of the operation.

[0030] It should be noted that: according to the surgical path determined by the preoperative plan, the target position and path parameters are accurately set in the robotic arm navigation system. These parameters include the motion trajectory of the robotic arm, the angle and force of reaching each key position, to ensure that the robotic arm can accurately perform the operation according to the predetermined surgical plan; The high-precision control function of the robotic arm navigation system is used to drive the robotic arm to reach the predetermined position accurately. During the movement, the robotic arm monitors its position and posture in real time through internal sensors, compares it with the target position in the navigation system, and continuously adjusts the movement direction and strength to ensure that it reaches the position required for the surgical operation accurately, assisting doctors in performing surgical operations, such as accurately drilling holes, implanting prostheses, etc., to improve the accuracy and stability of the surgery. During the operation, the robotic arm navigation system continuously receives real-time feedback information from multiple sensors such as visual sensors and force sensors. If the actual situation of the surgical site is found to be different from the preoperative plan (such as a slight shift in the position of the bone due to the patient's muscle tension, or the surgical instrument is subjected to unexpected resistance), the position and posture of the robotic arm will be adjusted immediately to ensure that the surgical operation is always kept in the best state and to ensure the accuracy and safety of the operation.

[0031] In this embodiment, the real-time monitoring includes the following steps: Step 1: Use visual sensors to capture the positional relationship between the robotic arm and the patient's legs in real time; Step 2: Process the captured images through image processing technology, image filtering, and interpolation to improve the accuracy of monitoring; Step 3: Compare the processed image data with the preoperative model and update the surgical navigation system in real time.

[0032] It should be noted that: a high-resolution visual sensor (such as a high-definition camera or a three-dimensional visual camera) is used to capture the positional relationship between the robotic arm and the patient's leg in real time. The installation position of the visual sensor should ensure that the surgical area can be fully and clearly photographed, and image information of the robotic arm and leg can be obtained from different angles to avoid visual blind spots; The captured images are processed through image processing technologies, such as image filtering (removing interference factors in the image) and interpolation (improving image resolution and clarity). The adaptive filtering algorithm is used to automatically adjust the filtering parameters according to the local features of the image to improve the filtering effect. The interpolation algorithm uses bilinear interpolation or cubic convolution interpolation methods to increase image details, so that the processed image can more accurately reflect the real position relationship between the robot arm and the leg, providing a reliable basis for subsequent analysis and judgment; The processed image data is compared in real time with the three-dimensional model constructed before surgery. The difference between the two is calculated through feature point matching, contour comparison and other methods. The surgical navigation system is updated in real time based on the difference information, providing accurate guidance for the adjustment of the robotic arm and surgical operations, ensuring that the surgical process is always consistent with the preoperative plan.

[0033] In this embodiment, the dynamic adjustment includes the following steps: Step 1: Evaluate the patient's leg micro-movements and deformations based on real-time monitoring results; Step 2: Dynamically adjust the position and posture of the robotic arm to adapt to changes in the patient's legs; Step 3: Re-perform intraoperative registration to ensure the consistency of the surgical path with the patient's current condition.

[0034] It should be noted that: based on the real-time monitoring results, the image analysis algorithm and motion tracking technology are used to accurately evaluate the slight movement (including translation, rotation) and deformation (such as soft tissue deformation) of the patient's legs. By analyzing multiple consecutive frames of images, the displacement, deformation degree and speed parameters of the legs are calculated to provide accurate data support for dynamic adjustment; Based on the evaluation results, the position and posture of the robotic arm are dynamically adjusted. The robotic arm control system quickly drives the motor and joints to perform corresponding movements according to the received adjustment instructions, so that the robotic arm can follow the changes of the legs in real time, maintain a stable relative position and angle relationship with the surgical site, ensure that the surgical instrument always acts accurately on the target position, and avoid surgical errors caused by leg movement; After the position of the robotic arm is adjusted, the intraoperative registration operation is performed again, and the latest position information of the leg is obtained again using optical positioning, electromagnetic positioning and other technologies, and then registered with the preoperative model. By optimizing the registration algorithm and model parameters, it is ensured that the surgical path is highly consistent with the current actual state of the patient's leg, providing accurate navigation information for subsequent surgical operations, ensuring the continuity and accuracy of the operation.

[0035] In this embodiment, the operation is performed including the following steps: Step 1: Perform surgical operations, including drilling and screw fixation, with the assistance of the robotic arm; Step 2: During the operation, continuously monitor the patient's condition and surgical results to ensure the safety of the operation; Step 3: After the surgery is completed, a final check and confirmation is performed to ensure proper alignment and restoration of function of the surgical site.

[0036] It should be noted that: with the precise assistance of the robotic arm, the doctor performs the surgical operation according to the surgical plan. When drilling, the robotic arm holds the drill steadily and drills at a predetermined angle and depth to ensure that the drilling position is accurate. In the screw fixation operation, the robotic arm accurately implants the screw at the predetermined position and applies appropriate torque to fix it, ensuring a reliable fixation effect. During the operation, the patient's vital signs (such as heart rate, blood pressure, blood oxygen saturation), leg neuromuscular status (such as muscle tension, nerve reflexes) and surgical results (such as the stability of bone fixation, the accuracy of the position of the prosthesis implanted) are continuously monitored. Through various monitoring devices connected to the patient and intraoperative imaging examinations, possible problems (such as bleeding, nerve damage, loose fixation) are discovered in time, and appropriate measures are taken to deal with them to ensure the safety and smooth progress of the operation; After the operation, the surgical site is comprehensively inspected and confirmed, including X-ray and CT imaging examinations to observe the alignment of the bones, whether the position of the internal fixation device is correct, check the healing of the surgical incision, whether there are signs of bleeding or infection, and evaluate the functional recovery of the patient's legs, such as joint mobility and muscle strength. Only when it is ensured that the surgical site is correctly aligned, the function is well recovered and there are no obvious complications, will the entire operation be completed and the patient will be safely sent back to the ward for subsequent rehabilitation treatment.

[0037] The principle of the method of the present invention is as follows: based on modern medical imaging technology, detailed image data of the patient's legs are obtained, and based on this, an accurate three-dimensional skeletal model of the legs is constructed using three-dimensional modeling software. Preoperatively, the surgical path is planned based on the model, a scientific surgical plan is formulated, and the preoperative information is aligned with the intraoperative images to guide the surgery in real time. During the surgery, optical positioning and electromagnetic positioning technologies are used to achieve accurate alignment of the patient's legs with the preoperative model. The robotic arm navigation system controls the robotic arm to reach the predetermined position according to the planned path to assist the surgical operation. The visual sensor monitors the position relationship between the robotic arm and the leg in real time. Once a slight movement of the leg is detected, the position of the robotic arm is dynamically adjusted according to the monitoring data, and the alignment is performed to ensure that the surgical path is always consistent with the actual state of the patient's legs. Finally, accurate surgical positioning and fixation operations are completed with the assistance of the robotic arm to ensure the accuracy, safety and effectiveness of the surgery.

[0038] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A positioning method for orthopedic surgery, characterized in that: The following steps are involved: Step 1, obtaining image data: using CT or MRI equipment to obtain image data of the patient's legs; Step 2, 3D modeling: Generate a 3D skeletal model of the patient's leg based on the imaging data; Step 3: Preoperative planning: Preoperative surgical path planning based on the 3D model. The surgical path is planned on the software before surgery. Step 4: Intraoperative registration: Use optical positioning and electromagnetic positioning technology to align the patient's legs with the preoperative model during surgery; Step 5: Robotic arm navigation: According to the planned surgical path, the robotic arm navigation system is used to control the robotic arm to reach the predetermined position; Step 6: Real-time monitoring: During the operation, the position relationship between the robotic arm and the patient's leg is monitored in real time through visual sensors; Step 7, dynamic adjustment: According to the real-time monitoring results, the position of the robotic arm is dynamically adjusted to adapt to the slight movement of the patient's legs; Step 8. Complete the operation: Complete the precise positioning and fixation of the leg orthopedic surgery with the assistance of the robotic arm.

2. A positioning method for orthopedic surgery according to claim 1, characterized in that: The acquisition of image data comprises the following steps: Step 1: using medical imaging equipment to collect image data of the patient's legs; Step 2: Preprocess the collected images, including denoising, contrast enhancement, and normalization; Step 3: Save the preprocessed image data into a format suitable for 3D reconstruction.

3. A positioning method for orthopedic surgery according to claim 2, characterized in that: The three-dimensional modeling comprises the following steps: Step 1: Select appropriate 3D modeling software based on the collected reference materials and modeling requirements; Step 2: Build a basic model, use simple geometric bodies to represent the overall shape of the object, and gradually add details; Step 3: Refine the model details by modifying the model's topological structure and adding subdivision surface methods.

4. A positioning method for orthopedic surgery according to claim 3, characterized in that: The preoperative planning includes the following steps: Step 1: Segment and model the region of interest on the computer and select the best surgical path; Step 2: Develop a surgical plan, considering the feasibility and safety of the surgery; Step 3: Align the preoperative information with the intraoperative images and render them in real time to provide guidance for the surgery.

5. A positioning method for orthopedic surgery according to claim 4, characterized in that: The intraoperative registration comprises the following steps: Step 1: Use optical or electromagnetic technology to align the patient's leg with the preoperative model during surgery; Step 2: Optimize the rigid or non-rigid transformation model parameters through online iterative similarity measurement to achieve multi-modal image alignment; Step 3: Use deep learning methods to learn the linear or nonlinear mapping relationship between image pairs offline.

6. A positioning method for orthopedic surgery according to claim 5, characterized in that: The robot navigation comprises the following steps: Step 1: Set the target position and path of the robotic arm navigation system according to the planned surgical path; Step 2: Use the robotic arm navigation system to control the robotic arm to accurately reach the predetermined position to assist the surgical operation; Step 3: During the operation, adjust the position and posture of the robotic arm based on real-time feedback to ensure the accuracy of the operation.

7. A positioning method for orthopedic surgery according to claim 6, characterized in that: The real-time monitoring comprises the following steps: Step 1: Use visual sensors to capture the positional relationship between the robotic arm and the patient's legs in real time; Step 2: Process the captured images through image processing technology, image filtering, and interpolation to improve the accuracy of monitoring; Step 3: Compare the processed image data with the preoperative model and update the surgical navigation system in real time.

8. A positioning method for orthopedic surgery according to claim 7, characterized in that: The dynamic adjustment comprises the following steps: Step 1: Evaluate the patient's leg micro-movements and deformations based on real-time monitoring results; Step 2: Dynamically adjust the position and posture of the robotic arm to adapt to changes in the patient's legs; Step 3: Re-perform intraoperative registration to ensure the consistency of the surgical path with the patient's current condition.

9. A positioning method for orthopedic surgery according to claim 8, characterized in that: The operation includes the following steps: Step 1: Perform surgical operations, including drilling and screw fixation, with the assistance of the robotic arm; Step 2: During the operation, continuously monitor the patient's condition and surgical results to ensure the safety of the operation; Step 3: After the surgery is completed, a final check and confirmation is performed to ensure proper alignment and restoration of function of the surgical site.

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