Orthopedic surgical robotic system and computer program product

Abstract

The embodiment of the application is suitable for the field of computer-aided medical technology, and provides a kind of orthopedic surgery robot system and computer program product, the orthopedic surgery robot system includes orthopedic surgery robot and connected flexible pressure sensor;Wherein: flexible pressure sensor is used to collect the first data of knee joint in the operation process, and first data is transmitted to orthopedic surgery robot, and first data at least includes the stress information of knee joint in the operation process;Orthopedic surgery robot is used to obtain the second data corresponding to first data in the operation process, generates visual knee joint stress distribution information according to first data and second data, and displays knee joint stress distribution information through display interface, and second data at least includes the flexion angle and joint clearance of knee joint.The orthopedic surgery robot system described above can accurately monitor the stress condition of knee joint in the operation process, and provide accurate mechanical feedback for the operation.

Description

Technical Field

[0001] This application belongs to the field of computer-aided medical technology, and in particular relates to an orthopedic surgical robot system and computer program product. Background Technology

[0002] In total knee arthroplasty (TKA), appropriate stress at the knee joint is crucial for surgical outcomes and patient recovery. Traditional orthopedic surgery relies on the surgeon's experience to adjust stress at the knee joint, which may not accurately and in real-time reflect the stress distribution at the patient's knee joint during the operation. This can affect the surgeon's technique and consequently the precision and effectiveness of the surgery. Summary of the Invention

[0003] In view of this, embodiments of this application provide an orthopedic surgical robot system and computer program product, which can accurately and in real time monitor the force on the knee joint during surgery and provide precise mechanical feedback for the surgery.

[0004] A first aspect of this application provides an orthopedic surgical robot system, including 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 the operation and transmit the first data to the orthopedic surgical robot. The first data includes at least the force information of the knee joint during the operation.

[0006] The orthopedic surgical robot is used to acquire 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 angles and joint space of the knee joint.

[0007] Optionally, the flexible pressure sensor is installed at the tibial osteotomy site of the knee joint and is respectively attached to the femoral and tibial trial models installed in the knee joint; the flexible pressure sensor consists of a shell shaped like the tibial trial model and multiple thin-film pressure sensors.

[0008] Optionally, the force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the distribution information of bone surface contact points at the knee joint. The distribution information of bone surface contact points includes the distribution information of contact points between the medial side of the tibia and the femoral model and the distribution information of contact points between the lateral side of the tibia and the femoral model.

[0009] Optionally, the first data and the second data have respective time stamp information, and the second data corresponding to the first data is second data having the same time stamp information as the first data.

[0010] Optionally, the orthopedic surgery robot is specifically configured to: determine a 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 angle and the joint space of the knee joint, the knee joint force distribution information showing the pressure difference and the joint space corresponding to different flexion angles.

[0011] Optionally, the orthopedic surgery robot is further configured to: in response to an operation of moving a control in the display interface, display related data in the knee joint force distribution information corresponding to a flexion process of the patient's leg.

[0012] Optionally, the knee joint force distribution information includes a column-line composite distribution graph, an x-axis of the column-line composite distribution graph representing the flexion angle, a y-axis of the column-line composite distribution graph including a first y-axis and a second y-axis, the first y-axis representing the pressure difference, and the second y-axis representing the joint space, the related data in the knee joint force distribution information including the pressure difference corresponding to different flexion angles displayed in the column-line composite distribution graph in the form of a line graph, and the joint space corresponding to different flexion angles displayed in the column-line composite distribution graph in the form of a column graph, the joint space including a medial tibial joint space value and a lateral tibial joint space value.

[0013] Optionally, the knee joint force distribution information further includes a bone surface contact point distribution graph, an x-axis of the bone surface contact point distribution graph representing a distance of a tibial contact point to a tibial midline, and a y-axis of the bone surface contact point distribution graph representing a distance of the tibial contact point to a tibial stop point, the related data in the knee joint force distribution information including the bone surface contact points at different positions displayed in the bone surface contact point distribution graph in the form of a point graph.

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

[0015] A second aspect of the embodiment of the present application provides a knee joint force distribution information generation method, including:

[0016] receiving first data of a knee joint in a surgical process collected by a flexible pressure sensor, the first data including at least force information of the knee joint in the surgical process;

[0017] acquiring second data corresponding to the first data during the surgery, the second data comprising at least flexion angle and joint gap of the knee joint;

[0018] generating visualized knee joint stress distribution information according to the first data and the second data, and displaying the knee joint stress distribution information through a display interface.

[0019] Optionally, the flexible pressure sensor is installed at a tibial bone cut of the knee joint, and is in contact with a femoral bone jig and a tibial bone jig of the knee joint respectively; the flexible pressure sensor comprises a tibial bone jig-shaped shell and a plurality of thin film pressure sensors.

[0020] Optionally, the stress information comprises tibial medial pressure value and tibial lateral pressure value, and the first data further comprises bone surface contact point distribution information at the knee joint, the bone surface contact point distribution information comprising tibial medial and femoral bone jig contact point distribution information and tibial lateral and femoral bone jig contact point distribution information.

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

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

[0023] determining pressure difference between femoral bone and tibial bone at the knee joint according to the stress information;

[0024] generating visualized knee joint stress distribution information according to the pressure difference and flexion angle and joint gap of the knee joint, the knee joint stress distribution information showing corresponding pressure difference and joint gap at different flexion angles.

[0025] Optionally, the method further comprises:

[0026] in response to operation of a moving control in the display interface, displaying relevant data in the knee joint stress distribution information corresponding to a patient leg flexion process.

[0027] Optionally, the knee joint stress distribution information comprises a column-line composite distribution graph, an x-axis of the column-line composite distribution graph representing the flexion angle, a y-axis of the column-line composite distribution graph comprising a first y-axis and a second y-axis, the first y-axis representing the pressure difference value, the second y-axis representing the joint space, the relevant data in the knee joint stress distribution information comprising corresponding pressure difference values at different flexion angles displayed in the column-line composite distribution graph in the form of a line graph, and corresponding joint spaces at different flexion angles displayed in the column-line composite distribution graph in the form of a column graph, the joint space comprising a tibial medial joint space value and a tibial lateral joint space value.

[0028] Optionally, the knee joint stress distribution information further comprises a bone surface contact point distribution graph, an x-axis of the bone surface contact point distribution graph representing a distance of a tibial contact point to a tibial midline, and a y-axis of the bone surface contact point distribution graph representing a distance of the tibial contact point to a tibial stop point, the relevant data in the knee joint stress distribution information comprising bone surface contact points at different positions displayed in the bone surface contact point distribution graph in the form of a dot graph.

[0029] Optionally, the method further comprises: when it is monitored that the stress value of the knee joint exceeds a threshold value, performing an alarm operation, the stress value exceeding the threshold value comprising a pressure difference value between a femur and a tibia at the knee joint being greater than a first threshold value, and / or a femur pressure value and / or a tibia pressure value at the knee joint being greater than a second threshold value.

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

[0031] a first data receiving module configured to receive first data of a knee joint in a surgical process collected by a flexible pressure sensor, the first data comprising at least stress information of the knee joint in the surgical process;

[0032] a second data obtaining module configured to obtain second data corresponding to the first data in the surgical process, the second data comprising at least a flexion angle and a joint space of the knee joint;

[0033] a knee joint stress distribution information generation module configured to generate visualized knee joint stress distribution information according to the first data and the second data;

[0034] a knee joint stress distribution information display module configured to display the knee joint stress distribution information through a display interface.

[0035] The fourth aspect of the embodiments of the present application provides a computer device, which can be an orthopedic surgery 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 surgery robot according to any one of the first aspect are implemented. Alternatively, when the processor executes the computer program, the orthopedic surgery robot implements the method according to any one of the second aspect.

[0036] The fifth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a computer, the functions of the orthopedic surgery robot according to any one of the first aspect are implemented. Alternatively, when the computer program is executed by a computer, the method according to any one of the second aspect is implemented.

[0037] The sixth aspect of the embodiments of the present application provides a computer program product comprising a computer program. When the computer program is executed, the functions of the orthopedic surgery robot according to any one of the first aspect are implemented. Alternatively, when the computer program is executed, the method according to any one of the second aspect is implemented.

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

[0039] In the embodiments of the present application, the orthopedic surgery robot can acquire second data corresponding to the first data during the surgery, such as the flexion and extension angle of the knee joint and the joint space, generate visualized knee joint stress distribution information according to the first data and the second data, and display the knee joint stress distribution information through a display interface. The embodiments of the present application can analyze the stress at the knee joint and the joint space in combination with different flexion and extension angles, display the stress distribution information in real time on a surgery monitoring screen for reference by the surgeon, thereby providing precise mechanical feedback for orthopedic surgery and improving the effect and safety of total knee arthroplasty and other types of orthopedic surgery.

[0040] The orthopedic surgery robot system provided in the embodiments of the present application can realize real-time monitoring of the stress of the knee joint, visual stress value and visual contact point through the high sensitivity of the flexible pressure sensor, and guide the adjustment of soft tissue. The orthopedic surgery robot system can convert complex mechanical data, flexion angle, joint gap condition and joint contact point distribution into intuitive visual feedback, which can help doctors make more accurate judgments and adjustments. Through real-time mechanical monitoring and feedback, the uncertainty in the operation is reduced, and the success rate of the operation and the patient satisfaction are improved. On this basis, the orthopedic surgery robot system provided in the embodiments of the present application can also be applied to medical education and training. In related medical training, tests and clinical operations, the data obtained by using the above orthopedic surgery robot system can provide visual mechanical feedback and gap measurement for students, and help students better understand and master the soft tissue adjustment and planning adjustment of the joint replacement operation. Since there is no unified standard for the appropriate range of knee joint stress distribution and stress size in the prior art, collecting data such as the appropriate range of knee joint stress distribution and stress size in the process of using the above orthopedic surgery robot system is also helpful for the establishment of a standard process and a standard range of related standard systems for knee joint stress adjustment. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 is a schematic diagram of knee joint stress distribution information provided by an embodiment of the present application;

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

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

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

[0046] Figure 5 is a working flowchart of an orthopedic surgery robot system provided by an embodiment of the present application;

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

[0048] Figure 7 This is a schematic diagram of a knee joint force distribution information generation device provided in an embodiment of this application;

[0049] Figure 8 This is a schematic diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0050] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

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

[0052] Reference Figure 1 The diagram illustrates a method for generating knee joint force distribution information according to an embodiment of this application, which may specifically include the following steps:

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

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

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

[0056] In the embodiment of the present application, the first data can at least include stress information of the knee joint during the surgery, which can refer to a pressure value borne by the knee joint, etc. In a specific implementation, a flexible pressure sensor can be installed at the knee joint, and the stress information and other data at the knee joint at different flexion angles can be collected by using the flexible pressure sensor. The stress information can include a tibial medial pressure value and a tibial lateral pressure value, etc.

[0057] In a possible implementation of the embodiment of the present application, the flexible pressure sensor can be installed at a tibial osteotomy of the knee joint and can be respectively attached to a femoral trial and a tibial trial installed at the knee joint. Therefore, the flexible pressure sensor used can have a tibial trial-shaped shell to be able to be attached to the tibial trial. The tibial trial-shaped shell can internally include a plurality of thin film pressure sensors for collecting stress information and other data during the surgery.

[0058] In another possible implementation of the embodiment of the present application, the first data collected by the flexible pressure sensor can further include bone surface contact point distribution information at the knee joint, which can refer to contact point distribution information of the tibial medial side and the femoral trial and contact point distribution information of the tibial lateral side and the femoral trial.

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

[0060] In the embodiment of the present application, the flexible pressure sensor can be wirelessly connected to the orthopedic surgery robot, and after the first data such as the stress information and the bone surface contact point distribution information is collected, the flexible pressure sensor can transmit the first data to the orthopedic surgery robot in a wireless communication manner.

[0061] S102, acquiring second data corresponding to the first data during the surgery, the second data at least including a flexion angle and a joint space of the knee joint.

[0062] In the embodiment of the present application, in order to more comprehensively analyze the stress condition at the knee joint, in addition to collecting the first data such as the stress information and the bone surface contact point distribution information by the flexible pressure sensor, second data corresponding to the first data during the surgery can also be acquired. For example, the second data can include a flexion angle and a joint space of the knee joint, etc. In this way, it can be determined that at what flexion angle, the corresponding stress information, bone surface contact point distribution information and joint space are respectively how much, thereby providing accurate data for the surgeon to make targeted stress adjustment. The flexion angle can refer to an angle of the patient's leg in a bent state at different angles with the assistance of the surgeon, and the joint space can refer to a gap value at the knee joint at different flexion angles.

[0063] In the embodiment of the present application, the flexion angle and joint clearance of the knee joint and other data can be directly collected by the orthopedic surgery robot during the surgery. The collection of these data belongs to the functions that the orthopedic surgery robot can achieve, and the embodiment of the present application will not be described again.

[0064] In a possible implementation manner of the embodiment of the present application, the first data and the second data can have corresponding timestamp information respectively, which can represent the time when the flexible pressure sensor and the orthopedic surgery robot collect the first data and the second data respectively. Therefore, the second data corresponding to the first data obtained by the orthopedic surgery robot can refer to the second data having the same timestamp information as the first data. In this way, when the orthopedic surgery robot processes and analyzes the first data and the second data subsequently, the first data and the second data at the same time can be corresponded based on the timestamp, so as to ensure that the obtained stress information, bone surface contact point distribution information and joint clearance can correspond to the corresponding flexion angle, that is, different stress information, bone surface contact point distribution information and joint clearance data are obtained at different flexion angles.

[0065] S103, generating visualized knee joint stress distribution information according to the first data and the second data, and displaying the knee joint stress distribution information through a display interface.

[0066] In the embodiment of the present application, after the orthopedic surgery robot obtains the stress information, bone surface contact point distribution information, flexion angle and joint clearance and other data at the knee joint, the above data can be processed and analyzed to generate knee joint stress distribution information. The distribution information can be displayed on the display interface in a visualized form, which facilitates the surgeon to intuitively understand the stress situation of the knee joint after the surgery according to the current surgical plan, so as to adjust the soft tissue at the corresponding position or adjust the surgical plan to ensure the postoperative effect.

[0067] In a possible implementation manner of the embodiment of the present application, when the orthopedic surgery robot processes the obtained first data and second data, the orthopedic surgery robot can first determine the pressure difference between the femur and the tibia at the knee joint according to the stress information, and then generate visualized knee joint stress distribution information according to the pressure difference and the flexion angle and joint clearance of the knee joint. The visualized knee joint stress distribution information can display the corresponding pressure difference and joint clearance at different flexion angles.

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

[0069] In this embodiment, knee joint force distribution information can be displayed on the display interface of the orthopedic surgical robot. This display interface provides the surgeon with operational functions, such as obtaining relevant data like pressure differences and joint space at different flexion and extension angles of the patient's knee joint by moving controls on the display interface. For example, the aforementioned controls can be the cursor of a mouse provided by a computer system. Therefore, the orthopedic surgical robot can display relevant data from the knee joint force distribution information during the patient's leg flexion and extension by responding to operations such as moving the cursor on the display interface.

[0070] In one possible implementation of this application, the knee joint force distribution information may include a bar-line composite distribution graph. The x-axis of this graph may represent the flexion-extension angle, and the y-axis may include a first y-axis and a second y-axis. The first y-axis may represent the pressure difference value, and the second y-axis may represent the joint space. Therefore, the relevant data in the knee joint force distribution information may include the pressure difference values ​​corresponding to different flexion-extension angles displayed as a line graph in the aforementioned bar-line composite distribution graph, and the joint spaces corresponding to different flexion-extension angles displayed as a bar graph. The joint spaces may further include the medial tibial joint space value and the lateral tibial joint space value.

[0071] like Figure 2 The diagram shown is a schematic representation of force distribution information of a knee joint provided in an embodiment of this application. Figure 2 The image shows the force distribution information of the knee joint presented as a composite bar-line graph, i.e., a joint pressure gauge. For example... Figure 2 As shown, the x-axis of the distribution diagram can represent the flexion-extension angle. Figure 2 The diagram shows relevant data at four different flexion-extension angles: 0°, 45°, 90°, and 120°. The y-axis of the distribution plot represents different data through different examples on the left and right sides. The right y-axis, or the first y-axis, represents the pressure difference, while the left y-axis, or the second y-axis, represents the joint space, i.e., the space value. Figure 2 The gap values ​​shown include the medial tibial joint space value and the lateral tibial joint space value, i.e. Figure 2 The inner and outer gaps are shown. Furthermore, Figure 2 The pressure difference is also shown using a broken line. Therefore, Figure 2 The figure shows the inner clearance, outer clearance, and corresponding pressure difference values ​​at four different flexion-extension angles: 0°, 45°, 90°, and 120°.

[0072] In another possible implementation manner of the embodiment of the present application, the knee joint stress distribution information can further include a bone surface contact point distribution diagram, an x-axis of the bone surface contact point distribution diagram can represent a distance of a tibial contact point to a tibial midline, and a y-axis of the bone surface contact point distribution diagram can represent a distance of the tibial contact point to a tibial stop point. Therefore, the related data in the knee joint stress distribution information can further include the bone surface contact points at different positions displayed in the form of a dot diagram in the bone surface contact point distribution diagram.

[0073] As shown in Figure 3 , it is a schematic diagram of another knee joint stress distribution information provided by the embodiment of the present application, Figure 3 , that is, the knee joint stress distribution information presented in the form of a dot diagram, that is, a bone surface contact point distribution diagram, that is, a contact point diagram. Figure 3 An x-axis of the contact point diagram shown can represent a distance of a tibial contact point to a tibial midline, that is, a distance of each contact point to the tibial midline, and a y-axis represents a distance of the tibial contact point to a tibial stop point, that is, a distance of each contact point to the tibial stop point. Figure 3 Each contact point is represented by a solid black dot in the middle.

[0074] According to Figure 2 and Figure 3 , the stress distribution information can intuitively show the positions of the contact points and the medial-lateral gap values and pressure differences at different flexion angles to the operating surgeon.

[0075] In the embodiment of the present application, the orthopedic surgery robot can also monitor the stress condition of the knee joint of the patient in real time during the operation. When it is monitored that the stress value of the knee joint exceeds a certain threshold value, the orthopedic surgery robot can perform an alarm operation to remind the operating surgeon to make corresponding intraoperative adjustment. The stress value exceeding the threshold value can include various situations, for example, a pressure difference between the femur and the tibia at the knee joint is greater than a first threshold value, and / or a femur pressure value and / or a tibia pressure value at the knee joint is greater than a second threshold value. When similar situations occur, it can be considered that if the current operation scheme is continued, it may affect the postoperative recovery of the patient. The orthopedic surgery robot can remind the operating surgeon in real time, so that the doctor can improve the accuracy of the operation by adjusting the soft tissue or changing the operation scheme.

[0076] In another possible implementation manner of the embodiment of the present application, for the femoral trial and the tibial trial, there is information of recommended bone surface contact points. When the method provided by the embodiment of the present application is applied to generate the knee joint stress distribution information, the orthopedic surgery robot can further judge whether the actual bone surface contact points of the patient are consistent with the recommended bone surface contact points of the currently used femoral trial and tibial trial, so as to avoid the situation that the bone surface contact points are too concentrated or too biased to one side.

[0077] In the embodiment of the present application, by receiving the first data such as the stress information of the knee joint in the surgical process collected by the flexible pressure sensor, the orthopedic surgery robot can obtain the second data corresponding to the first data in the surgical process, such as the flexion angle and joint space of the knee joint, and generate visualized knee joint stress distribution information according to the first data and the second data, and display the knee joint stress distribution information through the display interface. The embodiment of the present application can analyze the stress condition at the knee joint and the joint space and different flexion angles, can display the stress distribution information in real time on the surgical monitoring screen for reference by the surgeon, thereby providing accurate mechanical feedback for orthopedic surgery, and improving the effect and safety of total knee replacement surgery and other types of orthopedic surgery.

[0078] It should be noted that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0079] Based on the knee joint stress distribution information generation method provided in the foregoing embodiment, the present application further provides an orthopedic surgery robot system, which can generate knee joint stress distribution information by executing the foregoing method. Hereinafter, specific introduction is made.

[0080] As shown in Figure 4 , it is a schematic diagram of an orthopedic surgery robot system provided by the embodiment of the present application, which can include an orthopedic surgery robot and a flexible pressure sensor connected with the orthopedic surgery robot. The connection between the flexible pressure sensor and the orthopedic surgery robot can be wireless connection, that is, the flexible pressure sensor and the orthopedic surgery robot can perform data transmission and reception through wireless communication.

[0081] The application of the foregoing orthopedic surgery robot system can realize data acquisition and transmission, real-time data processing, and surgical feedback and adjustment functions.

[0082] Among them, data acquisition and transmission can be realized in the intraoperative evaluation process, and the flexible pressure sensor can continuously collect stress data of the knee joint at different flexion angles and bone surface contact conditions. The sensor can transmit data to the data processing module of the orthopedic surgery robot through wireless connection.

[0083] After the data processing module receives the data of the sensor, real-time data processing can be performed, and the flexion angle and gap condition output by the orthopedic surgery robot are analyzed in real time to generate the stress distribution and gap diagram of the knee joint. The diagram can directly show the stress condition, gap condition and contact point concentration area of the joint part at different flexion angles.

[0084] The display and feedback module can display the stress distribution map in real time on the surgery monitoring screen for reference by the surgeon. When the system detects an abnormal mechanical distribution (such as excessive stress concentration or uneven distribution), the system can issue a warning and suggest that the surgeon adjust the soft tissue situation, and if the adjustment of the soft tissue cannot solve the situation, suggest that the surgeon adjust the surgical planning of the robotic system, adjust the position or angle of the prosthesis, and perform secondary osteotomy. The surgeon can make adjustments in real time according to the feedback information to ensure that the joint stress distribution and situation are appropriate.

[0085] As shown in Figure 5 , it is a working process schematic diagram of the orthopedic surgery robot system provided in the embodiments of the present application. The orthopedic surgery robot system provided in the embodiments of the present application can be used to perform prosthesis planning, bone surface registration and other operations on patients who need orthopedic surgery, such as patients who need total knee replacement surgery, and enter the postoperative evaluation stage. In the postoperative evaluation stage, a flexible pressure sensor can be started and placed in the knee joint of the patient and connected to the orthopedic surgery robot.

[0086] Specifically, the flexible pressure sensor can be composed of a tibial test mold shaped shell and a plurality of thin film pressure sensors. The flexible pressure sensor can be installed at the tibial osteotomy site of the knee joint and respectively attached to the femoral test mold and the tibial test mold installed at the knee joint, to ensure that the stress conditions of each part can be monitored in real time during the surgery.

[0087] As shown in Figure 6 , it is a schematic diagram of the orthopedic surgery robot system provided in the embodiments of the present application acquiring data. The flexible pressure sensor installed at the knee joint can output tibial medial pressure values and tibial lateral pressure values, contact point distribution information of the tibial medial side and the femoral test mold, and contact point distribution information of the tibial lateral side and the femoral test mold, and other data, and transmit them to the orthopedic surgery robot. On the other hand, the orthopedic surgery robot can record the flexion angle and joint space at this time, including the tibial medial joint space value and the tibial lateral joint space value.

[0088] The orthopedic surgery robot can process the various types of data acquired above to generate corresponding knee joint stress distribution information. For example, as shown in Figure 6 , the orthopedic surgery robot can generate knee joint stress distribution information in the form of a columnar-folded line composite distribution map according to the flexion angle, joint space, and pressure value information, as shown in Figure 2 . This distribution information can be data reflecting the joint space pressure of the knee joint, and can also be referred to as a joint space pressure table. In addition, the orthopedic surgery robot can also generate a bone surface contact point diagram at different positions in the form of a dot diagram according to the flexion angle and the bone surface contact point distribution information, as shown in Figure 3 .

[0089] Through the visual display of the knee joint stress distribution information, the stress condition, the gap condition and the contact point concentrated area of the joint part at different flexion angles can be intuitively displayed.

[0090] As shown in Figure 5 , after the orthopedic surgery robot displays the knee joint stress distribution information, the surgeon can evaluate whether the surgical plan is appropriate according to the displayed information. If it is confirmed that intraoperative adjustment is needed based on the displayed stress distribution information, the surgeon can first perform soft tissue adjustment, such as cutting part of the soft tissue to adjust the soft tissue tension, and then apply the method again to monitor the stress condition of 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 surgery is performed using the adjusted plan, the system and method provided in the application embodiment can be continuously used to monitor the stress condition of the knee joint in real time until the installation of the femoral prosthesis and the tibial prosthesis is completed.

[0091] Referring to Figure 7 , a schematic diagram of a knee joint stress distribution information generation device provided in an embodiment of the application is shown, which can specifically include a first data receiving module 701, a second data obtaining module 702, a knee joint stress distribution information generation module 703 and a knee joint stress distribution information display module 704, wherein:

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

[0093] The second data obtaining module 702 is configured to obtain second data corresponding to the first data during the surgery, wherein the second data at least includes a flexion angle and a joint gap of the knee joint;

[0094] The knee joint stress distribution information generation module 703 is configured to generate visual knee joint stress distribution information according to the first data and the second data;

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

[0096] In a possible implementation manner of the application embodiment, the flexible pressure sensor is installed at a tibial osteotomy of the knee joint and respectively adheres to a femoral trial and a tibial trial installed at the knee joint; the flexible pressure sensor is composed of a tibial trial-shaped shell and a plurality of thin film pressure sensors.

[0097] In this embodiment of the application, the force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the bone surface contact point distribution information at the knee joint. The bone surface contact point distribution information includes the contact point distribution information between the medial side of the tibia and the femoral model and the contact point distribution information between the lateral side of the tibia and the femoral model.

[0098] In one possible implementation of this application embodiment, the first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data that has the same timestamp information as the first data.

[0099] In one possible implementation of this application embodiment, the knee joint force distribution information generation module 703 can specifically be used for:

[0100] The pressure difference between the femur and tibia at the knee joint is determined based on the force information.

[0101] Based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space, a visualized knee joint force distribution information is generated. The knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-extension angles.

[0102] In one possible implementation of this application embodiment, the knee joint force distribution information display module 704 can also be used for:

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

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

[0105] In another example, the knee force distribution information further includes a bone surface contact point distribution map, an x-axis of the bone surface contact point distribution map representing a distance of a tibial contact point to a tibial midline, a y-axis of the bone surface contact point distribution map representing a distance of the tibial contact point to a tibial stop point, and the related data in the knee force distribution information including bone surface contact points at different positions displayed in the form of a dot map in the bone surface contact point distribution map.

[0106] In a possible implementation of the embodiment of the application, the device can further include an alarm module, which can be configured to perform an alarm operation when it is monitored that the force value of the knee joint exceeds a threshold value, the force value exceeding the threshold value including a pressure difference between the femur and the tibia at the knee joint being greater than a first threshold value, and / or the femur pressure value and / or the tibia pressure value at the knee joint being greater than a second threshold value.

[0107] The embodiment of the application provides a knee force distribution information generation device, which can be an orthopedic surgery robot system or a related component constituting the system in the foregoing embodiments. The device can be applied to implement each step in the foregoing method embodiments.

[0108] For the device embodiment, it is basically similar to the method embodiment, so it is described more simply, and the related parts refer to the description in the method embodiment part.

[0109] Reference Figure 8 is a schematic diagram of a computer device provided by the embodiment of the application. As shown in Figure 8 , the computer device 800 in the embodiment of the application includes a processor 810, a memory 820, and a computer program 821 stored in the memory 820 and executable on the processor 810. The processor 810 implements the steps in each of the foregoing knee force distribution information generation method embodiments when executing the computer program 821, for example, steps S101 to S103 as shown in Figure 1 . Alternatively, the processor 810 implements the functions of each module / unit in the foregoing device embodiments when executing the computer program 821, for example, the functions of the modules 701 to 704 as shown in Figure 7 .

[0110] The computer program 821 may, for example, be divided into one or more modules / units stored in the memory 820 and executed by the processor 810 to accomplish the present application. The one or more modules / units can be a series of computer program instruction segments capable of accomplishing specific functions, which 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 obtaining module, a knee joint stress distribution information generating module, and a knee joint stress distribution information displaying module, each of which has the following specific functions:

[0111] The first data receiving module is configured to receive first data of a knee joint in a surgical process collected by a flexible pressure sensor, the first data at least including stress information of the knee joint in the surgical process;

[0112] The second data obtaining module is configured to obtain second data corresponding to the first data in the surgical process, the second data at least including a flexion angle and a joint space of the knee joint;

[0113] The knee joint stress distribution information generating module is configured to generate visualized knee joint stress distribution information according to the first data and the second data;

[0114] The knee joint stress distribution information displaying module is configured to display the knee joint stress distribution information through a display interface.

[0115] The computer device 800 can be the orthopedic surgery robot or a component of the orthopedic surgery robot in the foregoing embodiments, and can implement each step in the foregoing method embodiments. The computer device 800 can include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art can understand that, Figure 8 The computer device 800 is only an example and does not constitute a limitation on the computer device 800, and can include more or fewer components than those shown, or combine certain components, or different components, for example, the computer device 800 can also include an input / output device, a network access device, a bus, and the like.

[0116] The processor 810 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0117] The memory 820 can be an internal storage unit of the computer device 800, for example, a hard disk or a memory of the computer device 800. The memory 820 can also be an external storage device of the computer device 800, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 820 can include both the internal storage unit and the external storage device of the computer device 800. 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 can also be used to temporarily store data that has been output or will be output.

[0118] The embodiments of the present application also disclose a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method described in the foregoing embodiments is implemented.

[0119] The embodiments of the present application also disclose a computer readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the method described in the foregoing embodiments is implemented.

[0120] The embodiments of the present application also disclose a computer program product, which comprises a computer program, and when the computer program is executed on a computer, the computer is caused to execute the method described in the foregoing embodiments.

[0121] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not to limit the same. Although the present application is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced equivalently, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An orthopedic surgical robot system, characterized in that, The system includes an orthopedic surgical robot and flexible pressure sensors connected to the orthopedic surgical robot. The flexible pressure sensors are respectively fitted to femoral and tibial trial molds mounted on the knee joint, and the femoral and tibial trial molds have recommended bone surface contact points; 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. The first data includes the force information of the knee joint during the operation and the distribution information of bone surface contact points at the knee joint. The orthopedic surgical robot is used to acquire second data corresponding to the first data during surgery, generate visualized knee joint force distribution information based on the first and second data, and display the knee joint force distribution information through a display interface. The second data includes at least the flexion-extension angle and joint space of the knee joint. The knee joint force distribution information includes a bar-line composite distribution map and a bone surface contact point distribution map. The x-axis of the bar-line composite distribution map represents the flexion-extension angle, and the y-axis of the bar-line composite distribution map includes a first y-axis and a second y-axis. The first y-axis represents the pressure difference between the femur and tibia at the knee joint, and the second y-axis represents... The knee joint force distribution information includes the pressure difference values ​​at different flexion and extension angles shown in the bar-line composite distribution map as a line graph, and the joint spaces at different flexion and extension angles shown in the bar graph. The joint spaces include the medial tibial joint space value and the lateral tibial joint space value. 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 represents the distance from the tibial contact point to the tibial insertion point. The relevant data in the knee joint force distribution information includes bone surface contact points at different locations shown in the dot graph of the bone surface contact point distribution map. The orthopedic surgical robot is also used to determine whether the actual bone surface contact point is consistent with the bone surface contact point recommended by the currently used femoral and tibial trial models.

2. The orthopedic surgical robot system according to claim 1, characterized in that, The flexible pressure sensor is installed at the tibial osteotomy site of the knee joint; the flexible pressure sensor consists of a shell shaped like a tibial mold and multiple thin-film pressure sensors.

3. The orthopedic surgical robot system according to claim 1 or 2, characterized in that, The force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The bone surface contact point distribution information includes the contact point distribution information between the medial side of the tibia and the femoral model, and the contact point distribution information between the lateral side of the tibia and the femoral model.

4. The orthopedic surgical robot system according to claim 3, characterized in that, The first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data with 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 tibia at the knee joint based on the force information; generate visualized knee joint force distribution information based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space; the knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-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 controls in the display interface, display relevant data in the force distribution information of the knee joint corresponding to the patient's leg flexion and extension process.

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

8. A computer program product, comprising a computer program, characterized in that, When the computer program is run, it implements the functions of the orthopedic surgical robot as described in any one of claims 1 to 7.

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