Orthopedic surgical robot system and computer program product

Abstract

The embodiment of the invention is suitable for the technical field of computer-aided medical treatment, and provides an orthopedic surgery robot system and a computer program product, and the orthopedic surgery robot system comprises an orthopedic surgery robot and a flexible pressure sensor connected with the orthopedic surgery robot; wherein the flexible pressure sensor is used for collecting first data of the knee joint in the operation process and transmitting the first data to the orthopedic operation robot, and the first data at least comprises stress information of the knee joint in the operation process; the orthopedic surgery robot is used for obtaining second data corresponding to the first data in the surgery process, visual knee joint stress distribution information is generated according to the first data and the second data, the knee joint stress distribution information is displayed through the display interface, and the second data at least comprises the flexion and extension angle and the joint gap of the knee joint. By the adoption of the orthopedic surgery robot system, the stress condition of the knee joint in the surgery process can be accurately monitored, and accurate mechanical feedback is provided for the surgery.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of computer-assisted medical technology, and in particular, relate to an orthopedic surgical robot system and a computer program product. Background Art

[0002] During total knee arthroplasty (TKA) surgery, proper stress distribution in the knee joint is crucial for both surgical success and patient recovery. Traditional orthopedic surgery relies on the surgeon's experience to adjust knee stress, which can fail to accurately and in real time reflect the patient's knee stress distribution during surgery, hindering the surgeon's technique and, in turn, compromising surgical accuracy and effectiveness. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide an orthopedic surgical robot system and a computer program product for accurately and in real time monitoring the stress conditions of the knee joint during surgery, and providing precise mechanical feedback for the surgery.

[0004] A first aspect of an embodiment of the present application provides an orthopedic surgical robot system, comprising an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot; wherein:

[0005] The flexible pressure sensor is used to collect first data of the knee joint during surgery and transmit the first data to the orthopedic surgery robot, wherein the first data at least includes force information of the knee joint during surgery;

[0006] The orthopedic surgical robot is used to obtain second data corresponding to the first data during the operation, generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface. The second data includes at least the flexion and extension angle and joint gap of the knee joint.

[0007] Optionally, the flexible pressure sensor is installed at the tibial osteotomy of the knee joint and is respectively fitted with the femoral trial mold and the tibial trial mold installed on the knee joint; the flexible pressure sensor consists of a shell in the shape of the tibial trial mold and a plurality of thin film pressure sensors.

[0008] Optionally, the force information includes the medial tibial pressure value and the lateral tibial pressure value, and the first data also includes the bone surface contact point distribution information at the knee joint, and the bone surface contact point distribution information includes the contact point distribution information between the medial tibial and the femoral trial mold and the contact point distribution information between the lateral tibial and the femoral trial mold.

[0009] Optionally, the first data and the second data respectively have corresponding timestamp information, and the second data corresponding to the first data is second data having the same timestamp information as the first data.

[0010] Optionally, the orthopedic surgical robot is specifically used to: determine the pressure difference between the femur and tibia at the knee joint based on the force information, and generate visualized knee joint force distribution information based on the pressure difference and the flexion and extension angles and joint gap of the knee joint, wherein the knee joint force distribution information displays the pressure difference and the joint gap corresponding to different flexion and extension angles.

[0011] Optionally, the orthopedic surgical robot is further used to: in response to the operation of moving the control in the display interface, display relevant data in the knee joint force distribution information corresponding to the patient's leg flexion and extension process.

[0012] Optionally, the knee joint force distribution information includes a column-broken line composite distribution graph, the x-axis of the column-broken line composite distribution graph represents the flexion and extension angle, the y-axis of the column-broken line composite distribution graph includes a first y-axis and a second y-axis, the first y-axis represents the pressure difference, and the second y-axis represents the joint gap. The relevant data in the knee joint force distribution information includes the pressure difference corresponding to different flexion and extension angles displayed in the form of a broken line graph in the column-broken line composite distribution graph, and the joint gaps corresponding to different flexion and extension angles displayed in the form of a column graph, and the joint gaps include the medial tibial joint gap value and the lateral tibial joint gap value.

[0013] Optionally, the knee joint force distribution information also includes a bone surface contact point distribution map, the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial end point. The relevant data in the knee joint force distribution information includes bone surface contact points at different positions displayed in the form of a dot graph in the bone surface contact point distribution map.

[0014] Optionally, the orthopedic surgical robot is also used to: perform an alarm operation when it is monitored that the force value of the knee joint exceeds a threshold value, wherein the force value exceeds the threshold value, including that the pressure difference between the femur and tibia at the knee joint is greater than a first threshold value, and / or the femoral pressure value and / or tibial pressure value at the knee joint is greater than a second threshold value.

[0015] A second aspect of an embodiment of the present application provides a method for generating knee joint force distribution information, comprising:

[0016] receiving first data of the knee joint during surgery collected by the flexible pressure sensor, wherein the first data at least includes force information of the knee joint during surgery;

[0017] Acquiring second data corresponding to the first data during the operation, the second data at least including the flexion and extension angles and the joint gap of the knee joint;

[0018] Visualized knee joint force distribution information is generated according to the first data and the second data, and the knee joint force distribution information is displayed through a display interface.

[0019] Optionally, the flexible pressure sensor is installed at the tibial osteotomy of the knee joint and is respectively fitted with the femoral trial mold and the tibial trial mold installed on the knee joint; the flexible pressure sensor consists of a shell in the shape of the tibial trial mold and a plurality of thin film pressure sensors.

[0020] Optionally, the force information includes the medial tibial pressure value and the lateral tibial pressure value, and the first data also includes the bone surface contact point distribution information at the knee joint, and the bone surface contact point distribution information includes the contact point distribution information between the medial tibial and the femoral trial mold and the contact point distribution information between the lateral tibial and the femoral trial mold.

[0021] Optionally, the first data and the second data respectively have corresponding timestamp information, and the second data corresponding to the first data is second data having the same timestamp information as the first data.

[0022] Optionally, generating visualized knee joint force distribution information according to the first data and the second data includes:

[0023] determining a pressure difference between the femur and the tibia at the knee joint according to the force information;

[0024] Visualized knee joint force distribution information is generated based on the pressure difference and the flexion and extension angles and joint gap of the knee joint. The knee joint force distribution information displays the pressure difference and the joint gap corresponding to different flexion and extension angles.

[0025] Optionally, it also includes:

[0026] In response to the operation of moving the control in the display interface, relevant data in the knee joint force distribution information corresponding to the patient's leg flexion and extension process is displayed.

[0027] Optionally, the knee joint force distribution information includes a column-broken line composite distribution graph, the x-axis of the column-broken line composite distribution graph represents the flexion and extension angle, the y-axis of the column-broken line composite distribution graph includes a first y-axis and a second y-axis, the first y-axis represents the pressure difference, and the second y-axis represents the joint gap. The relevant data in the knee joint force distribution information includes the pressure difference corresponding to different flexion and extension angles displayed in the form of a broken line graph in the column-broken line composite distribution graph, and the joint gaps corresponding to different flexion and extension angles displayed in the form of a column graph, and the joint gaps include the medial tibial joint gap value and the lateral tibial joint gap value.

[0028] Optionally, the knee joint force distribution information also includes a bone surface contact point distribution map, the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial end point. The relevant data in the knee joint force distribution information includes bone surface contact points at different positions displayed in the form of a dot graph in the bone surface contact point distribution map.

[0029] Optionally, it also includes: when it is monitored that the force value of the knee joint exceeds a threshold, an alarm operation is executed, and the force value exceeding the threshold includes that the pressure difference between the femur and tibia at the knee joint is greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint is greater than a second threshold.

[0030] A third aspect of the embodiments of the present application provides a device for generating knee joint force distribution information, comprising:

[0031] a first data receiving module, configured to receive first data of the knee joint during surgery collected by the flexible pressure sensor, wherein the first data at least includes force information of the knee joint during surgery;

[0032] a second data acquisition module, configured to acquire second data corresponding to the first data during surgery, wherein the second data at least includes the flexion and extension angles and the joint gap of the knee joint;

[0033] a knee joint force distribution information generating module, configured to generate visualized knee joint force distribution information based on the first data and the second data;

[0034] The knee joint force distribution information display module is used to display the knee joint force distribution information through a display interface.

[0035] A fourth aspect of the embodiments of the present application provides a computer device, which may be an orthopedic surgical robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the functions of the orthopedic surgical robot described in any one of the first aspects are implemented. Alternatively, when the processor executes the computer program, the orthopedic surgical robot implements the method described in any one of the second aspects.

[0036] A fifth aspect of the present application provides a computer-readable storage medium having a computer program stored therein. When executed by a computer, the computer program implements the functions of the orthopedic surgical robot described in any one of the first aspects. Alternatively, when executed by a computer, the computer program implements the method described in any one of the second aspects.

[0037] A sixth aspect of the present application provides a computer program product, comprising a computer program. When the computer program is executed, the computer program implements the functions of the orthopedic surgical robot described in any one of the first aspects. Alternatively, when the computer program is executed, the computer program causes the method described in any one of the second aspects to be executed.

[0038] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0039] In an embodiment of the present application, by receiving first data such as force information of the knee joint during surgery collected by a flexible pressure sensor, the orthopedic surgical robot can obtain second data corresponding to the first data during the surgery, such as the flexion and extension angles and joint gap of the knee joint, and then generate visual knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface. By comprehensively analyzing the force conditions and joint gap at the knee joint with different flexion and extension angles, the embodiment of the present application can display the force distribution information in real time on the surgical monitoring screen for the surgeon's reference, thereby providing accurate mechanical feedback for orthopedic surgery and improving the effectiveness and safety of various orthopedic surgeries such as total knee replacement surgery.

[0040] The orthopedic surgical robot system provided in the embodiments of this application can utilize the high sensitivity of flexible pressure sensors to achieve real-time monitoring of knee joint forces, visualize stress values, visualize contact points, and guide soft tissue adjustments. By converting complex mechanical data, including flexion and extension angles, joint clearance, and joint contact point distribution, into intuitive visual feedback, the orthopedic surgical robot system can help physicians make more accurate judgments and adjustments. Real-time mechanical monitoring and feedback reduce intraoperative uncertainty, improving surgical success rates and patient satisfaction. Furthermore, the orthopedic surgical robot system provided in the embodiments of this application can also be applied in medical education and training. During relevant medical training, trials, and clinical procedures, data obtained using the orthopedic surgical robot system can provide students with visual mechanical feedback and clearance measurements, helping them better understand and master soft tissue adjustments and planning for joint replacement surgery. Since there are no unified standards for knee joint stress distribution and appropriate stress ranges in the prior art, collecting data on knee joint stress distribution and appropriate stress ranges during the application of the orthopedic surgical robot system can also facilitate the establishment of a standardized process and range for knee joint stress adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0042] Figure 1 is a schematic diagram of a method for generating knee joint force distribution information provided in an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of knee joint force distribution information provided by an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of another knee joint force distribution information provided by an embodiment of the present application;

[0045] Figure 4 is a schematic diagram of an orthopedic surgical robot system provided in an embodiment of the present application;

[0046] Figure 5 This is a schematic diagram of the workflow of an orthopedic surgical robot system provided in an embodiment of the present application;

[0047] Figure 6 This is a schematic diagram of an orthopedic surgical robot system acquiring data provided by an embodiment of the present application;

[0048] Figure 7 is a schematic diagram of a device for generating knee joint force distribution information provided by an embodiment of the present application;

[0049] Figure 8 This is a schematic diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0051] The technical solution of this application is described below through specific embodiments.

[0052] Reference Figure 1 , which shows a schematic diagram of a method for generating knee joint force distribution information provided by an embodiment of the present application, which may specifically include the following steps:

[0053] S101. Receive first data of a knee joint during surgery collected by a flexible pressure sensor, where the first data at least includes force information of the knee joint during surgery.

[0054] It should be noted that this method can be applied to orthopedic surgical robots, that is, the execution subject of the embodiments of this application can be an orthopedic surgical robot. By executing the various steps of the method provided in the embodiments of this application, the orthopedic surgical robot can generate knee joint force distribution information, provide feedback to the surgeon on the force conditions at the patient's knee joint, and facilitate the surgeon's evaluation of the rationality and accuracy of the surgical plan, evaluate the postoperative results, and improve the safety of orthopedic surgery.

[0055] The orthopedic surgical robot in the embodiments of this application may be a computer system designed based on computer-assisted medical technology that can provide corresponding auxiliary support before, during, and after surgery. In some examples, the orthopedic surgical robot may include a control unit responsible for data analysis and processing tasks, as well as other units or components capable of performing surgical operations, such as a robotic arm. The embodiments of this application do not limit the type and structure of the orthopedic surgical robot.

[0056] In an embodiment of the present application, the first data may include at least information about the force applied to the knee joint during surgery. This force information may include, for example, pressure values ​​applied to the knee joint. In a specific implementation, a flexible pressure sensor may be installed at the knee joint to collect data such as force information applied to the knee joint at different flexion and extension angles. This force information may include, for example, medial and lateral tibial pressure values.

[0057] In one possible implementation of an embodiment of the present application, a flexible pressure sensor can be installed at the tibial osteotomy of the knee joint and can be respectively fitted with the femoral and tibial trial molds installed in the knee joint. Therefore, the flexible pressure sensor used can have a housing in the shape of a tibial trial mold so that it can fit the tibial trial mold. The interior of the housing in the shape of the tibial trial mold can include multiple thin film pressure sensors for collecting data such as force information during surgery.

[0058] In another possible implementation of the embodiment of the present application, the first data collected by the flexible pressure sensor may also include bone surface contact point distribution information at the knee joint, and the bone surface contact point distribution information may refer to the contact point distribution information between the inner side of the tibia and the femoral trial model and the contact point distribution information between the outer side of the tibia and the femoral trial model.

[0059] The above-mentioned first data collected by the flexible pressure sensor can be transmitted to the orthopedic surgical robot for further processing.

[0060] In an embodiment of the present application, the flexible pressure sensor can be wirelessly connected to the orthopedic surgical robot. After collecting first data such as force information and bone surface contact point distribution information, the flexible pressure sensor can transmit the first data to the orthopedic surgical robot through wireless communication.

[0061] S102: Acquire second data corresponding to the first data during the operation, where the second data at least includes the flexion and extension angles and the joint gap of the knee joint.

[0062] In an embodiment of the present application, in order to more comprehensively analyze the stress conditions at the knee joint, in addition to collecting first data such as force information and bone surface contact point distribution information through a flexible pressure sensor, second data corresponding to the above-mentioned first data during the operation can also be obtained. For example, the second data may include the flexion and extension angles and joint gap of the knee joint. In this way, it is possible to determine at what flexion and extension angles, the corresponding force information, bone surface contact point distribution information and joint gap are respectively how much, thereby providing accurate data for the surgeon to perform targeted stress adjustment. The above-mentioned flexion and extension angles may refer to the angles when the patient's legs are bent at different angles with the assistance of the surgeon, and the joint gap may refer to the gap values ​​at the corresponding knee joints at different flexion and extension angles.

[0063] In an embodiment of the present application, data such as the flexion and extension angle of the knee joint and the joint gap can be directly collected by the orthopedic surgical robot during the operation. The collection of these data is a function that can be realized by the orthopedic surgical robot itself, and the embodiment of the present application will not be repeated here.

[0064] In a possible implementation of an embodiment of the present application, the first data and the second data may respectively have corresponding timestamp information, and the timestamp information may indicate the time when the flexible pressure sensor and the orthopedic surgical robot respectively collected the first data and the second data. Therefore, the second data corresponding to the first data obtained by the orthopedic surgical robot may refer to the second data having the same timestamp information as the first data. In this way, when the orthopedic surgical robot subsequently processes and analyzes the first data and the second data, it can correspond the first data and the second data at the same moment based on the timestamp, thereby ensuring that the obtained force information, bone surface contact point distribution information and joint gap can correspond to the corresponding flexion and extension angles, that is, different force information, bone surface contact point distribution information and joint gap data obtained at different flexion and extension angles.

[0065] S103: Generate visualized knee joint force distribution information according to the first data and the second data, and display the knee joint force distribution information through a display interface.

[0066] In the embodiment of the present application, after the orthopedic surgical robot obtains data such as force information at the knee joint, bone surface contact point distribution information, flexion and extension angles, and joint gaps, it can process and analyze the above data to generate knee joint force distribution information. The distribution information can be displayed on the display interface in a visual form, which is convenient for the surgeon to intuitively understand the postoperative stress situation at the knee joint according to the current surgical plan, so as to ensure the postoperative effect by adjusting the soft tissue in the corresponding position or adjusting the surgical plan.

[0067] In one possible implementation of the present application, when processing the obtained first and second data, the orthopedic surgical robot may first determine the pressure difference between the femur and tibia at the knee joint based on the force information, and then generate visualized knee joint force distribution information based on the pressure difference, the knee joint flexion and extension angles, and the joint gap. The visualized knee joint force distribution information may display the corresponding pressure difference and joint gap at different flexion and extension angles.

[0068] As an example of an embodiment of the present application, the visualized knee joint force distribution information can be a distribution diagram presented in various forms. The surgeon can determine the corresponding pressure difference and joint gap and other relevant data at the patient's knee joint at different flexion and extension angles by operating in the distribution diagram.

[0069] In an embodiment of the present application, knee joint force distribution information can be displayed on the display interface of the orthopedic surgical robot. The display interface can provide the surgeon with the function of performing operations, such as obtaining relevant data such as the pressure difference and joint gap corresponding to the patient's knee joint at different flexion and extension angles by moving the controls in the display interface. For example, the above-mentioned control can be a mouse cursor provided by the computer system. Therefore, the orthopedic surgical robot can display relevant data in the knee joint force distribution information corresponding to the patient's leg flexion and extension process by responding to the operation of moving the cursor or other controls in the display interface.

[0070] In a possible implementation of an embodiment of the present application, the knee joint force distribution information may include a column-broken line composite distribution graph, the x-axis of the column-broken line composite distribution graph may represent the flexion and extension angle, and the y-axis of the column-broken line composite distribution graph may include a first y-axis and a second y-axis, wherein the first y-axis may represent the pressure difference, and the second y-axis may represent the joint gap. Therefore, the relevant data in the knee joint force distribution information may include the pressure difference corresponding to different flexion and extension angles displayed in the form of a broken line graph in the above-mentioned column-broken line composite distribution graph, the joint gap corresponding to different flexion and extension angles displayed in the form of a column graph, etc. The above-mentioned joint gap may further include the medial tibial joint gap value and the lateral tibial joint gap value.

[0071] like Figure 2 FIG. 1 is a schematic diagram of knee joint force distribution information provided by an embodiment of the present application. Figure 2 What is shown is the knee joint force distribution information presented in a bar-line composite distribution diagram, that is, the gap pressure table. Figure 2 As shown, the x-axis of the distribution diagram can represent the flexion and extension angle, Figure 2 The figure shows the relevant data at four different flexion and extension angles: 0°, 45°, 90°, and 120°. The y-axis of the distribution graph represents different data with different examples on the left and right sides. The right y-axis (the first y-axis) represents the pressure difference, and the left y-axis (the second y-axis) represents the joint gap (the gap value). Figure 2 The gap values ​​shown in the figure include the medial tibial joint gap value and the lateral tibial joint gap value. Figure 2 In addition, the inner and outer clearances are shown in Figure 2 The pressure difference is also shown by a broken line. Figure 2 The figure shows the medial gap, lateral gap and corresponding pressure difference at four different flexion and extension angles of 0°, 45°, 90° and 120°.

[0072] In another possible implementation of an embodiment of the present application, the knee joint force distribution information may further include a bone surface contact point distribution map, wherein the x-axis of the bone surface contact point distribution map may represent the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map may represent the distance from the tibial contact point to the tibial insertion point. Therefore, the relevant data in the knee joint force distribution information may further include bone surface contact points at different positions displayed in the form of a dotted diagram in the bone surface contact point distribution map.

[0073] like Figure 3 FIG. 1 is a schematic diagram of another knee joint force distribution information provided by an embodiment of the present application. Figure 3 What is shown is the force distribution information of the knee joint presented in a dot diagram, namely the bone surface contact point distribution diagram, namely the contact point diagram. Figure 3 The x-axis in the contact point diagram shown may represent the distance from the tibial contact point to the tibial midline, i.e., the distance from each contact point to the tibial midline; and the y-axis represents the distance from the tibial contact point to the tibial attachment point, i.e., the distance from each contact point to the tibial attachment point. Figure 3 The solid black dots in the figure represent the contact points.

[0074] according to Figure 2 and Figure 3 The force distribution information shown can intuitively show the surgeon the position of each contact point and the medial and lateral gap values ​​and pressure differences at different flexion and extension angles.

[0075] In an embodiment of the present application, the orthopedic surgical robot can also monitor the stress conditions at the patient's knee joint in real time during the operation. When it is monitored that the force value of the knee joint exceeds a certain threshold, the orthopedic surgical robot can perform an alarm operation to remind the surgeon to make corresponding intraoperative adjustments. The above-mentioned force value exceeding the threshold can include a variety of situations, such as the pressure difference between the femur and tibia at the knee joint is greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint is greater than a second threshold, etc. When a similar situation occurs, it can be considered that if the surgical operation continues according to the current plan, it may affect the patient's postoperative recovery. The orthopedic surgical robot can remind the surgeon in real time, making it convenient for the doctor to improve the accuracy of the operation by adjusting the soft tissue or changing the surgical plan.

[0076] In another possible implementation of the embodiment of the present application, the femoral and tibial trial molds have information on recommended bone surface contact points. When applying the method provided in the embodiment of the present application to generate knee joint force distribution information, the orthopedic surgical robot can also determine whether the patient's actual bone surface contact points are consistent with the bone surface contact points recommended by the currently used femoral and tibial trial molds, thereby avoiding situations where the bone surface contact points are too concentrated or too biased to one side.

[0077] In an embodiment of the present application, by receiving first data such as the force information of the knee joint during surgery collected by a flexible pressure sensor, the orthopedic surgical robot can obtain second data corresponding to the first data during the surgery, such as the flexion and extension angles and joint gap of the knee joint, and then generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface. By comprehensively analyzing the force conditions and joint gap at the knee joint with different flexion and extension angles, the embodiment of the present application can display the force distribution information in real time on the surgical monitoring screen for the surgeon's reference, thereby providing accurate mechanical feedback for orthopedic surgery and improving the effectiveness and safety of various orthopedic surgeries such as total knee replacement surgery.

[0078] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0079] Based on the method for generating knee joint force distribution information provided in the aforementioned embodiment, the present application also provides an orthopedic surgical robot system, which can generate knee joint force distribution information by executing the aforementioned method.

[0080] like Figure 4 FIG. 1 is a schematic diagram of an orthopedic surgical robot system according to an embodiment of the present application. The orthopedic surgical robot system may include an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot. The connection between the flexible pressure sensor and the orthopedic surgical robot may be wireless, that is, the flexible pressure sensor and the orthopedic surgical robot may transmit and receive data via wireless communication.

[0081] The application of the above-mentioned orthopedic surgical robot system can realize functions such as data collection and transmission, real-time data processing, and surgical feedback and adjustment.

[0082] Data collection and transmission can be achieved during intraoperative evaluation. Flexible pressure sensors can continuously collect force data and bone contact data at different knee flexion and extension angles. The sensors can wirelessly transmit this data to the orthopedic surgical robot's data processing module.

[0083] After receiving sensor data, the data processing module performs real-time data processing and generates a knee joint force distribution and clearance diagram based on the flexion and extension angles and clearance information output by the orthopedic surgical robot. This diagram visually displays the force distribution, clearance, and contact point concentration of the joint at different flexion and extension angles.

[0084] The display and feedback module can display the force distribution diagram in real time on the surgical monitoring screen for the surgeon's reference. When the system detects abnormal mechanical distribution (such as excessive stress concentration or uneven distribution), it can issue a warning and recommend that the doctor adjust the soft tissue condition. If adjusting the soft tissue cannot resolve the problem, the doctor will be advised to adjust the surgical plan of the robotic system, adjust the position or angle of the prosthesis, and perform a secondary osteotomy. The doctor can make immediate adjustments based on the feedback information to ensure the appropriate stress distribution and condition of the joint.

[0085] like Figure 5 Figure 2 shows a workflow diagram of an orthopedic surgical robot system provided by an embodiment of the present application. Using the orthopedic surgical robot system provided by an embodiment of the present application, patients requiring orthopedic surgery, such as total knee replacements, can undergo prosthesis planning, bone surface registration, and other operations, leading to a postoperative evaluation phase. During the postoperative evaluation phase, a flexible pressure sensor can be activated, placed in the patient's knee joint, and connected to the orthopedic surgical robot.

[0086] Specifically, the flexible pressure sensor can be composed of a housing shaped like a tibial template and multiple thin-film pressure sensors. The flexible pressure sensor can be installed at the tibial osteotomy site of the knee joint and fit in place with the femoral and tibial templates installed in the knee joint, ensuring real-time monitoring of the force applied to each part during surgery.

[0087] like Figure 6 , is a schematic diagram of an orthopedic surgical robot system acquiring data provided by an embodiment of the present application. The flexible pressure sensor installed at the knee joint can output data such as the medial tibial pressure value and the lateral tibial pressure value, the distribution information of the contact points between the medial tibial and the femoral trial mold, and the distribution information of the contact points between the lateral tibial and the femoral trial mold, and transmit them to the orthopedic surgical robot. On the other hand, the orthopedic surgical robot can record the flexion and extension angles and joint gaps at this time, including the medial tibial joint gap value and the lateral tibial joint gap value.

[0088] The orthopedic surgical robot can process the various data obtained above and generate corresponding knee joint force distribution information. Figure 6 As shown in the figure, the orthopedic surgical robot can generate information such as flexion and extension angle, joint gap and pressure value. Figure 2 The force distribution information of the knee joint is presented in the form of a bar-line composite distribution diagram. This distribution information can be data reflecting the gap pressure of the knee joint, and can also be called a gap pressure table. In addition, the orthopedic surgical robot can also generate information such as the following based on the flexion and extension angles and the distribution of bone surface contact points: Figure 3 Schematic diagram of bone surface contact points at different positions shown in the form of dot diagrams.

[0089] The above-mentioned visual display of the knee joint force distribution information can intuitively show the force conditions, gap conditions and contact point concentration areas of the joint at different flexion and extension angles.

[0090] like Figure 5 As shown, after the orthopedic surgical robot visualizes the force distribution information of the knee joint, the surgeon can evaluate whether the surgical plan is appropriate based on the displayed information. If it is confirmed that intraoperative adjustment is required based on the displayed force distribution information, the surgeon can first make soft tissue adjustments, such as cutting part of the soft tissue to adjust the soft tissue tension, and then apply this method again to monitor the force conditions at the corresponding position. If it is considered inappropriate after multiple evaluations, the surgical plan can be adjusted. When the surgical plan is adjusted and the adjusted plan is used for surgery, the system and method provided in the embodiment of the present application can continue to be used to monitor the force conditions of the knee joint in real time until the installation of the femoral prosthesis and the tibial prosthesis is completed.

[0091] Reference Figure 7 , shows a schematic diagram of a knee joint force distribution information generating device provided by an embodiment of the present application, which may specifically include a first data receiving module 701, a second data acquiring module 702, a knee joint force distribution information generating module 703, and a knee joint force distribution information display module 704, wherein:

[0092] A first data receiving module 701 is configured to receive first data of the knee joint during surgery collected by a flexible pressure sensor, wherein the first data at least includes force information of the knee joint during surgery;

[0093] A second data acquisition module 702 is configured to acquire second data corresponding to the first data during surgery, wherein the second data includes at least the flexion and extension angles and the joint gap of the knee joint;

[0094] A knee joint force distribution information generating module 703 is configured to generate visualized knee joint force distribution information based on the first data and the second data;

[0095] The knee joint force distribution information display module 704 is used to display the knee joint force distribution information through a display interface.

[0096] In a possible implementation of an embodiment of the present application, the flexible pressure sensor is installed at the tibial osteotomy of the knee joint and is respectively fitted with the femoral trial mold and the tibial trial mold installed on the knee joint; the flexible pressure sensor is composed of a shell in the shape of the tibial trial mold and a plurality of thin film pressure sensors.

[0097] In an embodiment of the present application, the force information includes the medial tibial pressure value and the lateral tibial pressure value, and the first data also includes the bone surface contact point distribution information at the knee joint, and the bone surface contact point distribution information includes the contact point distribution information between the medial tibial and the femoral trial model and the contact point distribution information between the lateral tibial and the femoral trial model.

[0098] In a possible implementation manner of the embodiment of the present application, the first data and the second data respectively have corresponding timestamp information, and the second data corresponding to the first data is second data having the same timestamp information as the first data.

[0099] In a possible implementation of the embodiment of the present application, the knee joint force distribution information generating module 703 may be specifically configured to:

[0100] determining a pressure difference between the femur and the tibia at the knee joint according to the force information;

[0101] Visualized knee joint force distribution information is generated based on the pressure difference and the flexion and extension angles and joint gap of the knee joint. The knee joint force distribution information displays the pressure difference and the joint gap corresponding to different flexion and extension angles.

[0102] In a possible implementation of the embodiment of the present application, the knee joint force distribution information display module 704 may also be used to:

[0103] In response to the operation of moving the control in the display interface, relevant data in the knee joint force distribution information corresponding to the patient's leg flexion and extension process is displayed.

[0104] In one example, the knee joint force distribution information includes a column-broken line composite distribution graph, the x-axis of the column-broken line composite distribution graph represents the flexion and extension angle, the y-axis of the column-broken line composite distribution graph includes a first y-axis and a second y-axis, the first y-axis represents the pressure difference, and the second y-axis represents the joint gap. The relevant data in the knee joint force distribution information includes the pressure difference corresponding to different flexion and extension angles displayed in the form of a broken line graph in the column-broken line composite distribution graph, and the joint gaps corresponding to different flexion and extension angles displayed in the form of a column graph, and the joint gaps include the medial tibial joint gap value and the lateral tibial joint gap value.

[0105] In another example, the knee joint force distribution information also includes a bone surface contact point distribution map, the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial end point. The relevant data in the knee joint force distribution information includes bone surface contact points at different positions displayed in the form of a dot graph in the bone surface contact point distribution map.

[0106] In a possible implementation of an embodiment of the present application, the device may further include an alarm module, which may be used to: execute an alarm operation when it is monitored that the force value of the knee joint exceeds a threshold value, wherein the force value exceeds the threshold value, including that the pressure difference between the femur and tibia at the knee joint is greater than a first threshold value, and / or that the femoral pressure value and / or tibial pressure value at the knee joint is greater than a second threshold value.

[0107] An embodiment of the present application provides a device for generating knee joint force distribution information. The device may be the orthopedic surgical robot system in the aforementioned embodiments or related components constituting the system. By using the device, the various steps in the aforementioned method embodiments may be implemented.

[0108] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0109] Reference Figure 8 , shows a schematic diagram of a computer device provided by an embodiment of the present application. Figure 8 As shown, the computer device 800 in the embodiment of the present application includes: a processor 810, a memory 820, and a computer program 821 stored in the memory 820 and executable on the processor 810. When the processor 810 executes the computer program 821, the steps in each embodiment of the above-mentioned method for generating knee joint force distribution information are implemented, such as Figure 1 Alternatively, when the processor 810 executes the computer program 821, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 7 Functions of modules 701 to 704 are shown.

[0110] Exemplarily, the computer program 821 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 820 and executed by the processor 810 to complete the present application. The one or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments can be used to describe the execution process of the computer program 821 in the computer device 800. For example, the computer program 821 can be divided into a first data receiving module, a second data acquisition module, a knee joint force distribution information generation module, and a knee joint force distribution information display module. The specific functions of each module are as follows:

[0111] a first data receiving module, configured to receive first data of the knee joint during surgery collected by the flexible pressure sensor, wherein the first data at least includes force information of the knee joint during surgery;

[0112] a second data acquisition module, configured to acquire second data corresponding to the first data during surgery, wherein the second data at least includes the flexion and extension angles and the joint gap of the knee joint;

[0113] a knee joint force distribution information generating module, configured to generate visualized knee joint force distribution information based on the first data and the second data;

[0114] The knee joint force distribution information display module is used to display the knee joint force distribution information through a display interface.

[0115] The computer device 800 may be an orthopedic surgical robot or a component of an orthopedic surgical robot in the aforementioned embodiments, and the computer device 800 may implement the various steps in the aforementioned method embodiments. The computer device 800 may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will understand that Figure 8 This is merely an example of the computer device 800 and does not constitute a limitation of the computer device 800 . The computer device 800 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device 800 may also include input and output devices, network access devices, buses, etc.

[0116] The processor 810 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0117] The memory 820 may be an internal storage unit of the computer device 800, such as a hard disk or memory of the computer device 800. The memory 820 may also be an external storage device of the computer device 800, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer device 800. Furthermore, the memory 820 may include both an internal storage unit of the computer device 800 and an external storage device. The memory 820 is used to store the computer program 821 and other programs and data required by the computer device 800. The memory 820 may also be used to temporarily store data that has been output or is about to be output.

[0118] An embodiment of the present application further discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the methods described in the aforementioned embodiments are implemented.

[0119] An embodiment of the present application further discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a computer, the methods described in the aforementioned embodiments are implemented.

[0120] An embodiment of the present application further discloses a computer program product, including a computer program. When the computer program is run on a computer, the computer is caused to execute the methods described in the aforementioned embodiments.

[0121] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should be included within the scope of protection of the present application.

Claims

1. An orthopedic surgical robot system, characterized in that: The invention comprises an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot; wherein: The flexible pressure sensor is used to collect first data of the knee joint during the operation and transmit the first data to the orthopedic surgical robot, wherein the first data at least includes force information of the knee joint during the operation; The orthopedic surgical robot is used to obtain second data corresponding to the first data during the operation, generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface, wherein the second data at least includes the flexion and extension angle and joint gap of the knee joint.

2. The orthopedic surgical robot system according to claim 1, characterized in that: The flexible pressure sensor is installed at the tibial osteotomy of the knee joint and is respectively fitted with the femoral trial mold and the tibial trial mold installed on the knee joint; the flexible pressure sensor is composed of a shell in the shape of the tibial trial mold and a plurality of thin film pressure sensors.

3. The orthopedic surgical robot system according to claim 1 or 2, characterized in that: The force information includes medial tibia pressure value and lateral tibia pressure value. The first data also includes bone surface contact point distribution information at the knee joint. The bone surface contact point distribution information includes contact point distribution information between the medial tibia and the femoral trial model and contact point distribution information between the lateral tibia and the femoral trial model.

4. The orthopedic surgical robot system according to claim 3, characterized in that: The first data and the second data respectively have corresponding timestamp information, and the second data corresponding to the first data is second data having the same timestamp information as the first data.

5. The orthopedic surgical robot system according to any one of claims 1, 2 or 4, characterized in that: The orthopedic surgical robot is specifically used to: determine the pressure difference between the femur and the tibia at the knee joint according to the force information, and generate visualized knee joint force distribution information according to the pressure difference and the flexion and extension angles of the knee joint and the joint gap, wherein the knee joint force distribution information displays the pressure difference and the joint gap corresponding to different flexion and extension angles.

6. The orthopedic surgical robot system according to claim 5, characterized in that: The orthopedic surgical robot is also used to: in response to the operation of moving the control in the display interface, display relevant data in the knee joint force distribution information corresponding to the patient's leg flexion and extension process.

7. The orthopedic surgical robot system according to claim 6, characterized in that: The knee joint force distribution information includes a column-line composite distribution graph, the x-axis of the column-line composite distribution graph represents the flexion and extension angle, the y-axis of the column-line composite distribution graph includes a first y-axis and a second y-axis, the first y-axis represents the pressure difference, and the second y-axis represents the joint gap, the relevant data in the knee joint force distribution information includes the pressure difference corresponding to different flexion and extension angles displayed in the form of a line graph in the column-line composite distribution graph, and the joint gaps corresponding to different flexion and extension angles displayed in the form of a column graph, the joint gaps including the medial tibial joint gap value and the lateral tibial joint gap value.

8. The orthopedic surgical robot system according to claim 6, characterized in that: The knee joint force distribution information also includes a bone surface contact point distribution map, the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial end point, and the relevant data in the knee joint force distribution information includes bone surface contact points at different positions displayed in the form of a dot graph in the bone surface contact point distribution map.

9. The orthopedic surgical robot system according to any one of claims 1 to 2 or 4 or 6 to 8, characterized in that: The orthopedic surgical robot is also used to: execute an alarm operation when it is monitored that the force value of the knee joint exceeds a threshold value, wherein the force value exceeding the threshold value includes that the pressure difference between the femur and the tibia at the knee joint is greater than a first threshold value, and / or the femoral pressure value and / or the tibial pressure value at the knee joint is greater than a second threshold value.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the functions of the orthopedic surgical robot as claimed in any one of claims 1 to 9 are realized.

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