Orthopedic surgery robot system and intraoperative planning method for orthopedic surgery

Abstract

The embodiment of the application is suitable for the technical field of computer-aided medical treatment, and provides an orthopedic surgery robot system and an intraoperative planning method for orthopedic surgery. The system is connected with a pressure sensor and comprises a data acquisition module, a data processing module and a display feedback module. The data acquisition module is used for acquiring flexion and extension data of a patient's leg. The data processing module is used for receiving pressure data of the patient's knee joint collected by the pressure sensor, and generating intraoperative planning information based on the flexion and extension data and the pressure data. The display feedback module is used for displaying the intraoperative planning information and guiding a surgeon to perform total knee arthroplasty on the patient. By using the above system, dynamic, automatic and accurate adjustment of intraoperative surgery planning can be realized, the dependence on the personal experience of the surgeon is reduced, and the effect of soft tissue balance and the success rate of surgery are improved.

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 an intraoperative planning method for orthopedic surgery. Background Technology

[0002] In total knee arthroplasty (TKA), proper stress adjustment of the knee joint is crucial for surgical outcomes and patient recovery. There are three main postoperative alignment goals for TKA: mechanical alignment (MA), kinematic alignment (KA), and functional alignment (FA). TKA surgeries performed based on different alignment goals yield varying postoperative results.

[0003] Typically, surgeons can select appropriate alignments and complete preoperative planning based on preoperative images. For example, a surgeon can choose to use the MA alignment and plan the corresponding surgical approach based on computed tomography (CT) or X-ray images of the patient's knee joint. However, due to the limitations of preoperative images, the actual situation on the affected side may not be fully represented, and there may be some discrepancy between the condition seen by the surgeon during the operation and the preoperative images. In such cases, it may be necessary to adjust the preoperative plan through intraoperative planning. For example, the MA alignment plan in the aforementioned example may need to be fine-tuned, or the preoperative MA alignment plan may need to be modified to use the KA alignment. In current technology, surgeons can only adjust the intraoperative plan based on their personal experience, which not only increases the surgeon's workload but also easily affects the success rate of the surgery and the postoperative outcome of the patient due to differences in the surgeon's experience. Summary of the Invention

[0004] In view of this, embodiments of this application provide an orthopedic surgical robot system and an intraoperative planning method for orthopedic surgery, which can realize dynamic, automatic and precise adjustment of intraoperative surgical planning, reduce reliance on the doctor's personal experience, and improve the effect of soft tissue balance and the success rate of surgery in TKA surgery.

[0005] A first aspect of this application provides an orthopedic surgical robot system, the system being connected to a pressure sensor, the system comprising:

[0006] The data acquisition module is used to acquire flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle.

[0007] The data processing module is used to receive pressure data at the patient's knee joint collected by the pressure sensor, and generate intraoperative planning information based on the flexion-extension data and the pressure data, wherein the intraoperative planning information includes alignment method;

[0008] The display feedback module is used to display the intraoperative planning information and guide the surgeon to perform total knee replacement surgery on the patient.

[0009] In conjunction with the first aspect, in one possible implementation, the data processing module is specifically used for:

[0010] In response to the first alignment method selected by the surgeon, the preoperative planning information generated based on the first alignment method is adjusted based on the flexion-extension data and the pressure data to obtain the first intraoperative planning information. The first alignment method is the alignment method planned in the preoperative plan, and the alignment method in the first intraoperative planning information is the first alignment method.

[0011] In conjunction with one possible implementation of the first aspect, in another possible implementation, the data processing module is further specifically used for:

[0012] The parameter information input by the surgeon through the display feedback module is obtained, and the parameter information includes the parameter range of multiple parameters;

[0013] When any of the flexion / extension data or any of the pressure data exceeds the parameter range of the corresponding parameter, a prompt message is generated for the parameter, and the prompt message is displayed through the display feedback module;

[0014] The first intraoperative planning information is obtained by adjusting the preoperative planning information generated based on the first alignment method according to the parameters.

[0015] In conjunction with the first aspect, in yet another possible implementation, the data processing module is further specifically used for:

[0016] In response to the surgeon switching from the first alignment method to the second alignment method, second intraoperative planning information based on the second alignment method is generated, wherein the first alignment method is the alignment method planned before the operation.

[0017] In conjunction with the first aspect, one possible implementation of the first aspect, another possible implementation of the first aspect, or yet another possible implementation of the first aspect, in yet another possible implementation, the data processing module is further specifically used for:

[0018] The pressure data collected by the pressure sensor is processed to obtain the contact point distribution information and pressure value at the patient's knee joint;

[0019] If the contact point distribution information or the pressure value does not meet the requirements of the intraoperative planning information, adjustment information for the contact point distribution information or the pressure value is generated.

[0020] The display feedback module is also specifically used for:

[0021] The adjustment information is displayed to guide the surgeon to adjust the intraoperative procedures according to the adjustment information.

[0022] In conjunction with another possible implementation of the first aspect, in one possible implementation, when the contact point distribution information does not meet the requirements of the intraoperative planning information, the adjustment information includes adjusting the anterior-posterior position, lateral position, and / or internal / external rotation position of the prosthesis; when the pressure value does not meet the requirements of the intraoperative planning information, the adjustment information is determined based on the current alignment method; wherein:

[0023] When the current alignment method is mechanical alignment, the adjustment information includes adjusting the inversion / exversion position of the prosthesis and the amount of osteotomy while ensuring the force line angle; wherein, the amount of osteotomy is adjusted first.

[0024] When the current alignment method is kinematic alignment, the adjustment information includes adjusting the varus / valgus position and the amount of osteotomy of the prosthesis while ensuring that the osteotomy amount matches the prosthesis thickness; wherein, the varus / valgus position of the prosthesis is adjusted first.

[0025] In the case of the current alignment method being functional alignment, the adjustment information includes adjusting the angle of the force line.

[0026] In conjunction with the first aspect, one possible implementation of the first aspect, another possible implementation of the first aspect, or yet another possible implementation of the first aspect, in one possible implementation, the system further includes:

[0027] The verification and recording module is used to generate postoperative simulation information after osteotomy and prosthesis installation according to the intraoperative planning information, and to record the surgical information of the operation after the patient's total knee replacement surgery is completed; wherein, the postoperative simulation information is displayed through the display feedback module.

[0028] In conjunction with the first aspect, one possible implementation of the first aspect, another possible implementation of the first aspect, or yet another possible implementation of the first aspect, in one possible implementation, the pressure sensor is a pressure pad that can be arranged at the patient's knee joint and fits against the femoral and tibial mannequins.

[0029] A second aspect of this application provides a method for intraoperative planning in orthopedic surgery, including:

[0030] Collect flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle;

[0031] The system receives pressure data at the patient's knee joint collected by a pressure sensor, and generates intraoperative planning information based on the flexion-extension data and the pressure data, the intraoperative planning information including alignment method;

[0032] The intraoperative planning information is displayed to guide the surgeon in performing a total knee replacement surgery on the patient.

[0033] A third aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the computer device performs the method described in the second aspect above.

[0034] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the method described in the second aspect above.

[0035] A fifth aspect of this application provides a computer program product, including a computer program that, when run, causes the method described in the second aspect to be executed.

[0036] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0037] This application embodiment connects an orthopedic surgical robot system to a pressure sensor, enabling the reception of pressure data at the patient's knee joint collected by the pressure sensor. Furthermore, the orthopedic surgical robot system can acquire flexion and extension data of the patient's leg via a data acquisition module. This flexion and extension data can include multiple flexion and extension angles of the patient's knee joint and associated data related to each angle. Based on this, a data processing module can comprehensively analyze the flexion and extension data and pressure data, generating intraoperative planning information. This intraoperative planning information can be displayed via a feedback module, guiding the surgeon in performing total knee replacement surgery. Applying the orthopedic surgical robot system provided in this application embodiment allows for automatic adjustment of intraoperative planning. By acquiring real-time pressure and flexion / extension data of the knee joint during surgery, the planning scheme can be automatically adjusted to conform to the alignment plan, improving the effectiveness of TKA surgery and enhancing the quality of patient rehabilitation. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of an orthopedic surgical robot system provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of another orthopedic surgical robot system provided in the embodiments of this application;

[0041] Figure 3 This is a schematic diagram of a process for obtaining relevant data provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the workflow of an orthopedic surgical robot system provided in an embodiment of this application;

[0043] Figure 5 This is a flowchart illustrating an automatic adjustment planning scheme for an orthopedic surgical robot system provided in an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of an intraoperative planning method for orthopedic surgery provided in an embodiment of this application;

[0045] Figure 7 This is a schematic diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0046] 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.

[0047] Before introducing the specific technical solutions of the embodiments of this application, several commonly used online pairing methods will be introduced first.

[0048] MA (Mechanical Alignment): The focus is on "standardization." It aims to reconstruct a uniform, neutral lower limb alignment (hip-knee-ankle angle 180°±3°) for all patients. The goal is to achieve uniform force distribution on the prosthesis to obtain long-term prosthesis survival, and this was once the "gold standard" for TKA surgery.

[0049] KA (Kinematic Alignment): The focus is on "personalization." It aims to restore the patient's original joint lines and axes of motion before the onset of arthritis, achieving true knee resurfacing. The goal is to achieve a "forgotten knee" feel, providing better postoperative functional scores and knee naturalness.

[0050] FA (Functional Alignment): The focus is on "dynamic optimization." With robot assistance, the prosthesis position is dynamically adjusted based on real-time measurements of soft tissue tension and gap balance during surgery, while keeping the target force line within the safe zone. Achieving "balance first, then osteotomy" minimizes soft tissue interference and is a product of combining MA and KA concepts with intelligent technology, generally requiring the use of surgical robot systems.

[0051] The three alignment methods mentioned above are currently the most commonly used and representative alignment methods in the industry. In addition, there are other alignment methods such as Modified Mechanical Alignment, Constrained Boundary Alignment, and Personalized Aligned Kinematics. This application does not limit the specific alignment methods involved in this solution.

[0052] As described in the background art, during the preoperative planning stage, doctors can select a suitable alignment method based on CT scans or X-rays of the patient's knee joint and perform preoperative planning accordingly. For example, in this embodiment, a first alignment method is used as the alignment method selected by the doctor during the preoperative planning stage. Correspondingly, the surgical plan obtained through preoperative planning is also implemented based on the first alignment method, which means that according to the doctor's preoperative plan, the TKA surgery will be performed on the patient using the first alignment method during the surgical procedure. In practical applications, CT scans or X-rays may not fully present the true condition of the patient's knee joint. For example, the cartilage morphology of the patient's knee joint cannot be shown to the doctor through preoperative CT scans or X-rays, which means that the surgical plan planned based on preoperative CT scans or X-rays may not accurately adapt to the actual surgical procedure. Therefore, it is necessary to make appropriate adjustments to the preoperatively planned surgical plan during the intraoperative stage; this process is called the intraoperative planning stage.

[0053] During the intraoperative planning phase, if adjustments to the preoperative surgical plan are necessary, this may include modifications to the surgical plan based on the original alignment method, or it may involve changing the original alignment method and selecting a different alignment method for replanning the surgery. For example, in the aforementioned case, considering the actual condition of the patient's knee joint during the intraoperative phase, the surgeon can continue with the TKA surgery under the preoperatively planned first alignment method, but will need to make minor adjustments to some aspects of the surgical plan. In this case, the preoperatively planned alignment method remains unchanged. As another example, considering the actual condition of the patient's knee joint during the intraoperative phase, the surgeon may determine that the original first alignment method is not suitable for the patient's TKA surgery and needs to select a new alignment method, such as a second alignment method. In this case, the surgical plan needs to be planned based on the second alignment method. Compared to the previous case, this case changes the preoperatively planned alignment method.

[0054] Typically, each surgeon is proficient in only one suture technique. Different suture techniques, and even the same technique, can yield varying postoperative results for different patients. In actual surgical scenarios, if the surgical plan needs to be redesigned by adjusting the suture technique, such as changing from one suture technique to another, this presents a significant challenge for the surgeon. Furthermore, even without choosing a new suture technique, simply fine-tuning the preoperative plan based on the specific condition of the affected side undoubtedly increases the surgeon's workload and stress. All of these factors directly or indirectly affect the safety and success rate of the surgery, ultimately impacting the patient's postoperative outcome.

[0055] To address the aforementioned issues, this application provides an orthopedic surgical robot system and an intraoperative planning method for orthopedic surgery. This system can acquire various data from the knee joint in real time during surgery, such as biomechanical data, bone surface contact, flexion-extension angles, joint space, prosthesis 3D data, and bone surface 3D data, and then comprehensively analyze and display them. By deeply integrating pressure sensors with the robot system, an automated closed-loop system of "perception-decision-execution" is constructed, enabling dynamic, automatic, and precise adjustments to intraoperative surgical planning. This reduces reliance on the surgeon's personal experience, improves soft tissue balance, and increases surgical success rates. Furthermore, the orthopedic surgical robot system and intraoperative planning method provided in this application can promptly and accurately complete intraoperative planning, whether it requires fine-tuning the preoperative planning based on the existing alignment method (such as the first alignment method) or selecting a new alignment method (such as changing the first alignment method to the second alignment method) and re-planning the surgery. This meets the needs of surgeons performing TKA surgery under different alignment methods, allowing patients to receive the most suitable surgical plan.

[0056] The technical solution of this application will be described below through specific embodiments.

[0057] Reference Figure 1 This illustration shows a schematic diagram of an orthopedic surgical robot system provided in an embodiment of this application. It should be understood that, unless otherwise specified, the robot system, surgical robot, surgical robot system, or orthopedic surgical robot system mentioned in the embodiments of this application all refer to... Figure 1 System 100 is shown. See also... Figure 1 The system 100 is connected to the pressure sensor 110. Specifically, the system 100 may include a data acquisition module 101, a data processing module 102, and a display feedback module 103, wherein:

[0058] The data acquisition module 101 is used to collect flexion and extension data of the patient's legs.

[0059] The data processing module 102 is used to receive pressure data at the patient's knee joint collected by the pressure sensor, and generate intraoperative planning information based on the flexion-extension data and pressure data.

[0060] The display feedback module 103 is used to display intraoperative planning information and guide the surgeon to perform total knee replacement surgery (TKA) on the patient.

[0061] In this embodiment, the data acquisition module 101 can be a module or unit within the system 100 that has data acquisition functionality. The data acquisition module 101 can be used to collect flexion and extension data of the patient's leg during the surgical phase. This flexion and extension data can include multiple flexion and extension angles of the patient's knee joint and associated data related to each angle. For example, during surgery, the surgeon can lift the patient's leg to assist in leg movement, allowing the patient's knee joint to present different angles. These angles are the flexion and extension angles of the patient's knee joint collected by the data acquisition module 101. At each flexion and extension angle, the data acquisition module 101 can also obtain associated data such as the joint space value at that angle. The acquisition of this flexion and extension data is a function achievable by the surgical robot; this embodiment does not elaborate on the specific process of how the data acquisition module 101 of the system 100 acquires flexion and extension data.

[0062] like Figure 1 As shown, system 100 is connected to pressure sensor 110. Pressure sensor 110 can monitor the force on various parts of the patient's knee joint in real time and obtain corresponding pressure data. Pressure sensor 110 can transmit this pressure data to system 100, where it is further processed by data processing module 102.

[0063] In one possible implementation of the embodiments of this application, Figure 1The pressure sensor 110 shown can be a pressure pad. The pressure pad can be used to monitor intraoperative pressure data at the knee joint by placing it on the patient's knee joint and fitting it to the femoral and tibial trial models.

[0064] In this embodiment, the data processing module 102 can be a module or unit with data processing capabilities. After receiving the pressure data transmitted by the pressure sensor 110, the data processing module 102 can process it to obtain corresponding processing results. For example, by processing the received pressure data, the data processing module 102 can output data such as the pressure distribution at the patient's knee joint and the specific joint contact point distribution information. The data processed by the data processing module 102 can be intuitively presented to the surgeon through the display feedback module 103.

[0065] In one possible implementation of this application embodiment, the data processing module 102 can comprehensively analyze the received flexion-extension data and pressure data, and determine whether the preoperative planning scheme is appropriate based on the analysis results, and generate intraoperative planning information, that is, an intraoperative planning scheme obtained based on the specific situation in the actual surgical scenario.

[0066] In the embodiments of this application, the intraoperative planning information mentioned above may include the alignment method for TKA surgery. For example, MA alignment, KA alignment, or FA alignment as described in the foregoing examples.

[0067] In one possible implementation of this application embodiment, the data processing module 102 can, in response to the first alignment method selected by the surgeon, adjust the preoperative planning information generated based on the first alignment method based on the flexion-extension data collected by the data acquisition module 101 and the pressure data received from the pressure sensor 110, to obtain first intraoperative planning information. Here, the first alignment method is the alignment method planned preoperatively, and the alignment method in the first intraoperative planning information is also the first alignment method.

[0068] For example, during the intraoperative phase, the surgeon can select a first alignment method in the display feedback module 103. Specifically, the first alignment method is the alignment method used in the preoperative planning. The surgeon can operate according to the first alignment method determined in the preoperative planning, and combine the processing and analysis results of the flexion-extension data and pressure data by the surgical robot to complete the intraoperative plan. During this process, the surgeon does not change the alignment method determined in the preoperative planning. The aforementioned first alignment method can be any alignment method determined in the preoperative plan, such as MA alignment, KA alignment, or FA alignment.

[0069] In this embodiment of the application, during the process of the data acquisition module 101 generating the first intraoperative planning information, it can acquire the parameter information input by the surgical display feedback module 103, which may include the parameter range of multiple parameters.

[0070] In one example, the aforementioned parameters may include any combination of parameters such as prosthesis internal / external rotation, prosthesis varus / valgus, prosthesis anteroposterior tilt, osteotomy amount, and gap value. Correspondingly, the parameter ranges of the aforementioned parameters include the ranges for prosthesis internal / external rotation, prosthesis varus / valgus, prosthesis anteroposterior tilt, osteotomy amount, and gap value.

[0071] During the surgical procedure, the surgeon can first select the appropriate alignment method in the display feedback module 103, such as the pre-planned first alignment method, and input acceptable parameter ranges for multiple parameters. When any flexion / extension data or any pressure data exceeds the parameter range of the corresponding parameter, the data processing module 102 can generate a prompt message for that parameter, which is then displayed through the display feedback module 103.

[0072] For example, taking MA alignment as the primary alignment method, the appropriate femoral and tibial prosthesis planning angles can be calculated using CT scans during preoperative planning to ensure the force line is 180°. Furthermore, the varus / valgus angle is also an important indicator for MA alignment. The surgeon can determine the acceptable varus / valgus angle based on the actual situation, such as not exceeding ±3°. Thus, during subsequent procedures, if the surgeon adjusts the femoral or tibial prosthesis varus / valgus beyond the aforementioned ±3° range, the feedback module 103 can display a pop-up message indicating "angle adjustment too large," thereby ensuring the safety of the procedure.

[0073] For example, taking KA alignment as the primary alignment method, preoperative planning can use CT to calculate the appropriate placement of the femoral and tibial prostheses, ensuring that the osteotomy amount of the femur and tibia is equal to the prosthesis thickness. The osteotomy amount being close to the prosthesis thickness is a crucial indicator for KA alignment, allowing the surgeon to specifically set an acceptable range for the osteotomy amount. If the surgeon adjusts the prosthesis osteotomy amount beyond the set ±3mm during subsequent procedures, the feedback module 103 can display a pop-up message indicating "Significant difference in osteotomy amount adjustment," thus alerting the surgeon.

[0074] Based on this, the data processing module 102 can adjust the preoperative planning information generated based on the first alignment method according to the above parameters to obtain the first intraoperative planning information.

[0075] The above example illustrates the process of adjusting the preoperative planning scheme according to the actual intraoperative situation while keeping the preoperative alignment method (first alignment method) unchanged, thereby obtaining the corresponding first intraoperative planning information. In the embodiments of this application, it is also possible to apply... Figure 1 The system 100 shown generates intraoperative planning information (such as second intraoperative planning information) based on the newly selected second alignment method in cases where the alignment method determined in the preoperative planning may be changed (e.g., from the first alignment method to the second alignment method).

[0076] In practical implementation, if a suitable surgical plan cannot be obtained through corresponding operations based on the collected flexion-extension and pressure data, it may be necessary to select a new alignment method, such as changing the first alignment method and considering using a second alignment method. At this time, the surgeon can switch the alignment method in the display feedback module 103, changing the first alignment method determined in the preoperative planning to the second alignment method. In response to the surgeon's operation of switching the first alignment method to the second alignment method, the data processing module 102 can generate second intraoperative planning information based on the second alignment method. That is, intraoperative planning is performed according to the second alignment method to obtain the aforementioned second intraoperative planning information, where the alignment method in this second intraoperative planning information is the switched second alignment method.

[0077] As an example of an embodiment of this application, if the first pairing method is MA pairing, the second pairing method after switching can be KA pairing or FA pairing; if the first pairing method is KA pairing, the second pairing method after switching can be MA pairing or FA pairing; if the first pairing method is FA pairing, the second pairing method after switching can be MA pairing or KA pairing. This embodiment of the application does not limit this.

[0078] In one possible implementation of this application embodiment, the data processing module 102 can process the pressure data collected by the pressure sensor 110 to obtain the contact point distribution information and pressure value at the patient's knee joint. The surgeon can confirm the suitability of the current surgical plan based on the contact point distribution information and pressure value. If the surgical plan does not meet the actual situation of the patient's affected side, the system 100 can adjust the surgical plan under the surgeon's instructions. For example, if the contact point distribution information or pressure value does not meet the requirements of the intraoperative planning information, the data processing module 102 can generate adjustment information for the contact point distribution information or pressure value. This adjustment information can be displayed through the display feedback module 103 to guide the surgeon to adjust the intraoperative operation according to the adjustment information. After adjustment, the data processing module 102 can further analyze and process the flexion-extension data collected by the data acquisition module 101 and the pressure data collected by the pressure sensor 110, and determine whether the current surgical plan is suitable. The adjustment can be based on a first alignment method. If the surgical requirements cannot be met after multiple adjustments, a change in the alignment method can be considered, switching from the first alignment method to the second alignment method, and subsequent treatment can be carried out based on the second alignment method.

[0079] In one possible implementation of this application embodiment, when the contact point distribution information does not meet the requirements of the intraoperative planning information, the adjustment information generated by the data processing module 102 may include adjusting the anterior-posterior position, lateral position and / or internal-external rotation position of the prosthesis. This adjustment information can be displayed to the surgeon through the display feedback module 103 for his / her reference.

[0080] In another possible implementation of this application embodiment, when the pressure value does not meet the requirements of the intraoperative planning information, the adjustment information generated by the data processing module 102 can be determined based on the current alignment method.

[0081] Specifically, when the current alignment method is MA alignment, the adjustment information can include adjusting the varus / valgus position of the prosthesis and the amount of osteotomy, while ensuring the force line angle; among which, the amount of osteotomy is adjusted first. When the current alignment method is KA alignment, the adjustment information can include adjusting the varus / valgus position of the prosthesis and the amount of osteotomy, while ensuring that the amount of osteotomy matches the prosthesis thickness; among which, the varus / valgus position of the prosthesis is adjusted first. When the current alignment method is FA alignment, the adjustment information can include adjusting the force line angle.

[0082] In one example, if the lower limb alignment is too poor, the tibial prosthesis varus / valgus angle can be adjusted first; if one side of the contact point is too far forward and the other side is too far back, the tibial and femoral prosthesis internal / external rotation angles can be adjusted first; if the gap is too tight or too loose, the amount of osteotomy in the femur and tibia can be adjusted; if the pressure value or pressure difference is too large, the corresponding soft tissues (ligaments, muscles, skin, etc.) can be loosened or tightened first, and then the prosthesis angle and osteotomy amount can be adjusted.

[0083] After appropriate adjustments, the surgeon can reconfirm the adjusted surgical plan with the assistance of System 100, thereby ultimately obtaining the best surgical plan that meets the patient's actual needs.

[0084] In one possible implementation of the embodiments of this application, reference is made to... Figure 2 This illustration shows a schematic diagram of another orthopedic surgical robot system according to an embodiment of this application. Compared to Figure 1 The orthopedic surgical robot system shown is Figure 2 The orthopedic surgical robot system also includes a verification and recording module 104 and an osteotomy operation module 105; wherein:

[0085] The verification record module 104 is used to generate postoperative simulation information after osteotomy and prosthesis installation according to the intraoperative planning information. The postoperative simulation information can be displayed through the display feedback module 103 so that the doctor can confirm whether the surgical plan is appropriate.

[0086] For example, the verification recording module 104 can simulate postoperative information, which may include the contact status and force line status of the prosthesis after the simulated osteotomy operation.

[0087] Specifically, in the surgical robot system, after completing the relevant registration operations, the position of the bone is obtained in the software. The surgical robot system can combine the preoperative prosthesis planning position with the bone position, simulating the prosthesis position after osteotomy without actually cutting the bone. By calculating various data such as the intersection and nearest point between the femoral and tibial prostheses (3D models), the contact situation of the prosthesis can be obtained, such as whether the contact point is generally posterior, whether the contact point is smooth, and whether some contact positions are too deep.

[0088] The simulation of force line conditions is similar to that of prosthesis contact conditions. After the surgical robot completes the registration operation, it obtains the position of the bone. The system can map the preoperative landmark / feature point positions to the actual positions on the bone, thereby calculating the current femoral and tibial mechanical axes and the angle between the mechanical axes, and simulating the force line conditions.

[0089] After the doctor determines that the surgical plan is appropriate, the total knee replacement surgery for the patient can be completed with the assistance of the osteotomy module 105. Therefore, the verification and recording module 104 is also used to record relevant surgical information after the patient's total knee replacement surgery is completed.

[0090] In this embodiment of the application, the surgeon may confirm whether the surgical plan is appropriate by referring to the specific alignment method and confirming whether the relevant data meet the surgical indications and requirements under the current alignment method.

[0091] For example, for MA alignment, the current surgical plan can be considered appropriate if it is confirmed that the amount of osteotomy is close to the thickness of the prosthesis, the simulated postoperative lower limb force line is close to the preoperative force line, the medial and lateral pressure values ​​are ≤200N, the contact point is relatively smooth, there is no situation where one side is too far forward or the other side is too far back, the gap is not too tight or too loose, there is no anterior condylar step, and the flexion can be 120° to 5°.

[0092] For KA alignment, the current surgical plan is considered appropriate if the lower limb force line is confirmed to be 180°±3°, the pressure difference between the inner and outer sides is ≤60N, the contact point is relatively smooth, there is no situation where one side is too far forward or the other side is too far back, the gap is not too tight or too loose, there is no anterior condylar step, and the flexion can be 120° to 5° of extension.

[0093] For FA alignment, the current surgical plan is considered appropriate if the lower limb alignment is as close as possible to 180°±3° (with a maximum difference of 20° from the preoperative alignment), the amount of osteotomy is as close as possible to the prosthesis thickness, the medial and lateral pressure values ​​are ≤200N, the medial and lateral pressure difference is ≤60N, the contact point is relatively smooth, there is no situation where one side is too far forward or too far backward, the gap is not too tight or too loose (which is more important), there is no anterior condylar step, and the flexion can be 120° to 5° of extension.

[0094] Of course, the above description of how to determine the suitability of a surgical plan for each type of alignment is only an example. In practical applications, the determination can be made specifically according to the surgical scenario and the patient's actual situation. This application does not limit this.

[0095] Combination Figure 1 and Figure 2The orthopedic surgical robot system 100 shown is connected to a pressure sensor 110, which collects pressure data at the patient's knee joint and transmits it to the system's data processing module 102. On the other hand, the system's data acquisition module 101 collects flexion and extension data of the patient's leg, i.e., multiple flexion and extension angles of the patient's knee joint and associated data related to each angle. This flexion and extension data is also transmitted to the data processing module 102 for processing.

[0096] like Figure 1 and Figure 2 As shown, the data processing module 102 can generate a corresponding surgical plan based on the aforementioned pressure and flexion / extension data. On one hand, this plan can be displayed to the surgeon via the display feedback module 103, and the verification and recording module 104 can simulate the postoperative effects of the plan for the surgeon's reference. If the surgeon confirms that the current surgical plan is appropriate, the corresponding surgical procedure can be completed with the assistance of the osteotomy operation module 105. After the surgery is completed, the verification and recording module 104 can record the relevant data of this surgical operation as a reference for subsequent planning.

[0097] To facilitate understanding, the following section provides a complete example to illustrate the process of applying the orthopedic surgical robot system provided in this application.

[0098] Combination Figure 3 and Figure 4 ,in Figure 3 This is a schematic diagram of a process for obtaining relevant data provided in an embodiment of this application. Figure 4 This is a schematic diagram illustrating the workflow of an orthopedic surgical robot system provided in an embodiment of this application. The aforementioned orthopedic surgical robot system can be... Figure 1 and Figure 2 The system 100 shown.

[0099] according to Figure 3 and Figure 4 The illustrated process, when using an orthopedic surgical robot system for TKA surgery, first utilizes the orthopedic surgical robot to complete registration and preoperative planning, obtaining corresponding planning schemes, such as prosthesis rotation angle, osteotomy amount, and prosthesis thickness. These planning schemes can be obtained based on a first alignment method. For example, a corresponding planning scheme can be generated based on MA alignment.

[0100] In this example, the pressure sensor can be a pressure pad. During surgery, the pressure pad can be placed at the corresponding position on the patient's knee joint, and the pressure pad can output the pressure value at that position and contact point data, i.e., pressure data.

[0101] like Figure 4As shown, at the start of surgery, the surgeon can select the alignment method in the surgical robot's display feedback module. This alignment method is the first alignment method, which is the alignment method determined during preoperative planning, such as the MA alignment in the previous example. Then, by connecting pressure sensors (pressure pads) to the surgical robot, the pressure sensors can transmit pressure data such as pressure values ​​at the knee joint and contact points to the surgical robot for processing and analysis.

[0102] On the other hand, such as Figure 3 As shown, the surgical robot can also output corresponding flexion-extension data such as flexion-extension angles and gap values ​​during surgery. The surgical robot can process and analyze this flexion-extension data. Combining pressure data and flexion-extension data, such as... Figure 4 As shown, the surgical robot can output a corresponding planning scheme, i.e., an intraoperative planning scheme. This planning scheme can be the scheme corresponding to the first intraoperative planning information in the aforementioned embodiments.

[0103] Regarding the planning scheme obtained at this time, such as Figure 4 As shown, the surgeon can assess the suitability of the plan. If the plan is suitable, subsequent procedures can be performed. If the plan is not suitable, the soft tissue can be adjusted first, and various data such as pressure and gap values ​​can be collected again. After adjusting the soft tissue, the suitability of the plan can be assessed again. When assessing the plan again after adjusting the soft tissue, if the plan is suitable, subsequent procedures can be performed. If the plan is still not suitable, on the one hand, the soft tissue can continue to be adjusted, and the plan can be assessed based on the adjusted soft tissue condition. On the other hand, other alignment methods can be considered. For example, if the plan based on the current MA alignment still does not meet the surgical requirements after multiple adjustments, the alignment method can be switched, such as from MA alignment to KA alignment or FA alignment. For the new alignment method after the switch, a corresponding plan can be generated. This plan is the plan corresponding to the second intraoperative planning information in the aforementioned embodiments. For this plan, the procedure continues. Figure 4 The evaluation process is shown in the figure.

[0104] After the surgeon confirms the plan is appropriate, they can perform the osteotomy with the assistance of the surgical robot and install a trial mold. Simultaneously, various data can be collected to further validate the current plan and ensure the safety of the final implementation.

[0105] The orthopedic surgical robot system provided in this application can automatically adjust the surgical plan during the intraoperative stage to ensure the best surgical outcome. For example... Figure 5 The diagram shown is a flowchart illustrating an automatic adjustment and planning scheme for an orthopedic surgical robot system provided in an embodiment of this application. Below, in conjunction with... Figure 5The flowchart shown provides a detailed introduction to the automatic adjustment process of the planning scheme.

[0106] It should be noted that, Figure 5 The “start” step shown can refer to the evaluation and surgery based on the preoperative planning scheme, or it can refer to the switching of the alignment method in the preoperative planning scheme and the evaluation and surgery using the new alignment method.

[0107] Reference Figure 5 During the intraoperative phase, the surgical robot can first read the alignment pattern, which can be selected by the surgeon through the display feedback module.

[0108] For MA alignment, during the intraoperative planning phase, the force line can be adjusted to 180° by adjusting the prosthesis's varus / valgus position. The osteotomy amount can be adjusted to meet the surgeon's set range, making it as close as possible to the prosthesis thickness. The prosthesis position can also be adjusted to bring the simulated prosthesis gap close to zero. Based on this, the suitability of the contact point distribution at the knee joint, the appropriateness of the pressure conditions, and the overall planning scheme can be evaluated sequentially. For MA alignment, if the contact point distribution is inappropriate, the anterior-posterior and lateral positions of the prosthesis, as well as internal and external rotation, can be adjusted. The suitability of the contact points should be re-evaluated after adjustments. Regarding the pressure conditions, if they are inappropriate, the varus / valgus position and osteotomy amount can be adjusted within the surgeon's set range, while ensuring the force line angle remains within the surgeon's set range. In this process, adjusting the osteotomy amount should be prioritized.

[0109] For femoral alignment (FA), during the intraoperative planning phase, the force line can be adjusted to 180° by adjusting the prosthesis's varus / valgus position. The osteotomy amount can be adjusted to meet the surgeon's settings, making it as close as possible to the prosthesis thickness. The prosthesis position can also be adjusted to bring the simulated prosthesis gap close to zero. Based on this, the suitability of the contact point distribution at the knee joint, the appropriateness of the pressure conditions, and the overall planning scheme can be evaluated sequentially. For FA alignment, if the contact point distribution is inappropriate, the anterior-posterior and lateral positions of the prosthesis, as well as internal and external rotation, can be adjusted. The suitability of the contact points should be re-evaluated after adjustments. Regarding pressure assessment, if the pressure conditions are inappropriate, the force line position can be appropriately adjusted within the FA alignment planning scheme. The maximum range of force line position adjustments should be ensured to remain within the surgeon's settings. After appropriate force line adjustments, the osteotomy amount and prosthesis position can be readjusted, and the suitability of the contact point distribution and pressure conditions at the knee joint can be re-evaluated.

[0110] For KA alignment, during the intraoperative planning phase, the force line can be aligned with the preoperative state by adjusting the varus and valgus of the prosthesis. The amount of osteotomy can be adjusted to meet the surgeon's settings, and the fit rate can be calculated by maximizing the contact between the prosthesis surface and the bone surface. The prosthesis position can be adjusted to bring the simulated prosthesis gap close to zero. Based on this, the suitability of the contact point distribution at the knee joint, the suitability of the pressure conditions, and the suitability of the overall planning scheme can be evaluated sequentially. For KA alignment, if the contact point distribution is not suitable, the anterior-posterior and lateral positions of the prosthesis and the internal and external rotation of the prosthesis can be adjusted. After adjustment, the suitability of the contact points can be evaluated again. Regarding the pressure conditions, if the pressure conditions are not suitable, in the KA alignment planning scheme, the varus and valgus position and the amount of osteotomy can be adjusted while ensuring that the amount of osteotomy is as close as possible to the prosthesis thickness. In this process, the adjustment of the varus and valgus position of the prosthesis can be given priority.

[0111] like Figure 5 As shown, if the pressure condition is assessed and confirmed to meet the surgical requirements, the overall planning scheme can be evaluated to determine its suitability. If the current planning scheme is deemed unsuitable, the soft tissue can be adjusted, and relevant data can be collected again after the adjustment to continue evaluating the planning scheme.

[0112] In this embodiment of the application, if the planning scheme obtained after adjusting the soft tissue is still unsuitable, on the one hand, the soft tissue can be further adjusted; on the other hand, other alignment methods can be selected and execution can continue. Figure 5 The adjustment process is shown below.

[0113] Once a suitable surgical plan is generated, the automatic adjustment of the intraoperative plan ends. The surgeon can then perform subsequent procedures such as osteotomy based on the established plan.

[0114] Combining the foregoing embodiments and Figures 1 to 5 The specific process of intraoperative planning using the orthopedic surgical robot system provided in this application embodiment can be summarized as steps such as scheme setting, data acquisition, data processing, real-time adjustment, and osteotomy verification. Specifically:

[0115] In the scheme setup steps:

[0116] Doctors can select postoperative force line targets (MA, KA, FA) and input acceptable parameter ranges, such as: prosthesis internal and external rotation range, prosthesis internal and external varus range, prosthesis anteroposterior tilt range, osteotomy range, gap range, and other information.

[0117] For example, taking MA alignment as an example, during preoperative planning, the appropriate femoral and tibial prosthesis planning angles can be calculated using CT scans to ensure the force line is 180°. Furthermore, the varus / valgus angle is also an important indicator for MA alignment. The surgeon can determine the acceptable varus / valgus angle based on the actual situation, such as not exceeding ±3°. Thus, during subsequent procedures, if the surgeon adjusts the femoral or tibial prosthesis varus / valgus beyond the aforementioned ±3° range, the display feedback module 103 can display a pop-up message indicating "angle adjustment too large," thereby ensuring the safety of the procedure.

[0118] For example, taking KA alignment as an example, preoperative planning can use CT to calculate the appropriate placement of the femoral and tibial prostheses, ensuring that the osteotomy amount of the femur and tibia is equal to the prosthesis thickness. The osteotomy amount being close to the prosthesis thickness is a crucial indicator for KA alignment, allowing the surgeon to specifically set an acceptable range for the osteotomy amount. If the surgeon adjusts the prosthesis osteotomy amount beyond the set ±3mm during subsequent procedures, the feedback module 103 can display a pop-up message indicating "Significant difference in osteotomy amount adjustment," thus alerting the surgeon.

[0119] In the data acquisition process:

[0120] During total knee arthroplasty (TKA), pressure sensors can collect real-time data on the force applied to the knee joint and the distribution of joint contact points. This data, including force magnitude and contact point distribution, is transmitted to the surgical robot system via a link module. The orthopedic surgical robot system can also collect real-time data on the patient's leg flexion and extension angles, joint space conditions, simulated prosthesis contact, and force line.

[0121] In this embodiment, the pressure sensor can be a pressure pad. Before TKA surgery, the pressure pad is placed in the knee joint and can fit onto the tibia and femur molds to ensure real-time monitoring of the force on each part during the surgery.

[0122] During intraoperative assessment, the pressure pads continuously collect force data and bone surface contact information of the knee joint at different flexion and extension angles. The sensors transmit the data wirelessly to the data processing module of the orthopedic surgical robot system.

[0123] In the data processing steps:

[0124] The data processing module can be used to analyze mechanical data, joint contact point distribution, flexion-extension angles, joint space conditions, simulated prosthesis position, and force line conditions in real time, comprehensively evaluating the suitability of the knee joint planning. Specifically, after receiving data from the pressure sensor, the data processing module analyzes it in real time with information such as flexion-extension angles, joint space conditions, force line conditions, osteotomy amount, and simulated prosthesis position output by the orthopedic surgical robot to generate a planning scheme and evaluate the planning scheme.

[0125] For example, for the three pairing methods MA, KA, and FA described above, the appropriateness of the corresponding evaluation plan may include the following criteria:

[0126] KA alignment: lower limb force line 180°±3°, pressure difference between the inner and outer sides ≤60N, contact point is relatively smooth, there is no situation where one side is too far forward or the other side is too far back, the gap is not too tight or too loose, there is no anterior condyle step, and flexion can be 120° to extension 5 degrees.

[0127] MA alignment: The amount of osteotomy is close to the thickness of the prosthesis; the simulated postoperative lower limb force line is close to the preoperative force line; the medial and lateral pressure values ​​are ≤200N; the contact point is relatively smooth; there is no situation where one side is too far forward or the other side is too far back; the gap is not too tight or too loose; there is no anterior condylar step; and the flexion can be 120° to 5 degrees of extension.

[0128] FA alignment: The lower limb alignment should be as close as possible to 180°±3° (with a maximum difference of 20° from the preoperative alignment), the amount of osteotomy should be as close as possible to the thickness of the prosthesis, the medial and lateral pressure values ​​should be ≤200N, the medial and lateral pressure difference should be ≤60N, the contact point should be relatively smooth, and there should be no situation where one side is too far forward or too far backward, the gap should not be too tight or too loose (this is quite important), there should be no anterior condylar step, and the flexion should be 120° to 5 degrees of extension.

[0129] After the osteotomy, the data processing module will collect various types of data again and send them to the verification record module.

[0130] In the real-time adjustment process:

[0131] The system can provide data processing results through a display feedback module, automatically adjusting the planning, i.e., simulating the prosthesis position, to optimize the stress distribution, contact points, force lines, gaps, and joint space of the patient's joint. All simulation data before and after planning adjustments will be recorded.

[0132] For example, the feedback display module can show the surgical planning scheme and various data and information in real time on the surgical monitoring screen for the surgeon to assess its suitability. If it is unsuitable, the surgeon needs to adjust the soft tissue condition, and the data processing module will provide a new planning scheme. If adjusting the soft tissue cannot resolve the situation, the module will suggest that the surgeon choose other alignment methods, use the new planning scheme, and conduct a reassessment. The surgeon can make timely adjustments based on the feedback information to ensure that the planning scheme is appropriate and reasonable.

[0133] For example, if the lower limb alignment is too poor, the tibial prosthesis varus / valgus angle should be adjusted first; if the contact point is too far forward on one side and too far back on the other, the tibial and femoral prosthesis internal / external rotation angles should be adjusted first; if the gap is too tight or too loose, the femoral and tibial osteotomy amounts should be adjusted; if the pressure value or pressure difference is too large, the corresponding soft tissues (ligaments, muscles, skin, etc.) should be loosened or tightened first, and then the prosthesis angle and osteotomy amount should be adjusted.

[0134] In the osteotomy verification step:

[0135] With the assistance of a surgical robot, surgeons can perform osteotomy and install trial molds. Various data are then collected again to verify that the planned procedure was executed accurately and effectively. Specifically, the verification recording module displays the pre-osteotomy planning scheme and post-operative data, analyzing and comparing the relevant results.

[0136] The orthopedic surgical robot system provided in this application allows surgeons to quickly switch between different alignment methods during surgery based on the patient's condition, generating the most suitable surgical plan. Through pressure sensors and the high-sensitivity monitoring of the surgical robot system, real-time monitoring of knee joint stress, joint space, contact points, force line angles, and flexion / extension can be achieved, simulating the movement and placement of the prosthesis. Based on this, the system can integrate complex biomechanical data, flexion / extension angles, joint space conditions, and joint contact point distribution into a suitable planning scheme, enabling automatic adjustment of the surgical plan. Through appropriate planning schemes, real-time monitoring, and feedback, intraoperative uncertainties are reduced, improving the success rate of TKA surgery and patient satisfaction. Furthermore, biomechanical data collected during actual surgery, such as knee joint stress distribution and the appropriate range of stress magnitude, also contributes to the establishment of a standard system.

[0137] The orthopedic surgical robot system provided in this application can play an important role in orthopedic surgery and related fields, improving medical quality and efficiency, while providing patients with safer and more effective treatment options. For example, the above-mentioned orthopedic surgical robot system can be applied in the following areas:

[0138] 1. Total knee replacement surgery

[0139] In total knee arthroplasty (TKA) surgery, pressure sensors are used to monitor the stress on various parts of the knee joint in real time. The data is transmitted to the surgical robot system, where analysis allows for automatic adjustments to the intraoperative prosthesis planning. This approach improves the accuracy of surgical planning, reduces the risk of improper prosthesis placement and postoperative complications, shortens the learning curve of the TKA surgical robot system, and reduces the surgical time compared to traditional TKA surgical robot systems.

[0140] 2. Achieving personalized soft tissue balance

[0141] In total knee arthroplasty (TKA), maintaining the balance of soft tissue tension on the medial and lateral sides of the knee joint is crucial. Traditional methods rely on the surgeon's experience, which is highly subjective. Pressure sensor-based technology can quantify the interarticular pressure at different flexion and extension angles in real time and automatically adjust the surgical plan accordingly (such as fine-tuning the amount of osteotomy or the prosthesis placement angle) until an ideal balance is achieved. This addresses the issue of low patient satisfaction after traditional TKA surgery.

[0142] 3. Supports advanced surgical concepts such as FA alignment.

[0143] Unlike the classic mechanical alignment (MA) principle, emerging concepts such as functional alignment (FA) emphasize determining the final prosthesis placement based on the patient's own soft tissue tension. Real-time data provided by pressure sensors is a key technological guarantee for realizing the FA concept, enabling surgery to move from a standardized "one-size-fits-all" approach to truly personalized customization.

[0144] Furthermore, with technological advancements, the massive amounts of intraoperative data recorded by the system can be combined with artificial intelligence analysis, potentially enabling the construction of prognostic prediction models in the future. This will allow for the generation of surgical plans tailored to each patient, aiming to achieve the best possible functional outcomes, thus greatly expanding the application prospects of the orthopedic surgical robot system provided in this application.

[0145] Based on the foregoing embodiments, this application also provides a method for intraoperative planning in orthopedic surgery. (Refer to...) Figure 6 The diagram illustrates an intraoperative planning method for orthopedic surgery provided in an embodiment of this application, which may specifically include the following steps:

[0146] S601. Collect flexion and extension data of the patient's leg, the flexion and extension data including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle.

[0147] S602. Receive pressure data at the patient's knee joint collected by a pressure sensor, and generate intraoperative planning information based on the flexion-extension data and the pressure data, wherein the intraoperative planning information includes alignment method.

[0148] S603. Display the intraoperative planning information to guide the surgeon in performing total knee replacement surgery on the patient.

[0149] Figure 6 The intraoperative planning method shown can be implemented by the orthopedic surgical robot system in the foregoing embodiments. For details related to the intraoperative planning scheme, please refer to the description of the foregoing system embodiments, which will not be repeated here.

[0150] Reference Figure 7 The diagram illustrates a computer device provided in an embodiment of this application. Figure 7 As shown, the computer device 700 in this embodiment includes: a processor 710, a memory 720, and a computer program 721 stored in the memory 720 and executable on the processor 710. When the processor 710 executes the computer program 721, it implements the steps in various embodiments of the above-described orthopedic surgical intraoperative planning method, for example... Figure 6 Steps S601 to S603 are shown. Alternatively, when the processor 710 executes the computer program 721, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 1 The functions of modules 601 to 103 are shown.

[0151] For example, the computer program 721 can be divided into one or more modules / units, which are stored in the memory 720 and executed by the processor 710 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 721 in the computer device 700. For example, the computer program 721 can be divided into a data acquisition module, a data processing module, and a display feedback module, with the specific functions of each module as follows:

[0152] The data acquisition module is used to acquire flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle.

[0153] The data processing module is used to receive pressure data at the patient's knee joint collected by a pressure sensor, and to generate intraoperative planning information based on the flexion-extension data and the pressure data, wherein the intraoperative planning information includes alignment method;

[0154] The display feedback module is used to display the intraoperative planning information and guide the surgeon to perform total knee replacement surgery on the patient.

[0155] The computer device 700 can be a device capable of realizing the functions of each module of the orthopedic surgical robot system in the aforementioned system embodiments. The computer device 700 can be a desktop computer, a cloud server, or other similar devices. The computer device 700 may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that... Figure 7 This is merely one example of computer device 700 and does not constitute a limitation on computer device 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, computer device 700 may also include input / output devices, network access devices, buses, etc.

[0156] The processor 710 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0157] The memory 720 can be an internal storage unit of the computer device 700, such as a hard disk or memory of the computer device 700. The memory 720 can also be an external storage device of the computer device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 700. Furthermore, the memory 720 can include both internal and external storage units of the computer device 700. The memory 720 is used to store the computer program 721 and other programs and data required by the computer device 700. The memory 720 can also be used to temporarily store data that has been output or will be output.

[0158] This application also 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, it implements the methods described in the foregoing method embodiments or the functions that the systems described in the foregoing system embodiments can achieve.

[0159] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a computer, implements the methods described in the foregoing method embodiments or the functions achievable by the systems described in the foregoing system embodiments.

[0160] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to execute the methods described in the foregoing method embodiments, or to execute the methods corresponding to the functions that the systems in the foregoing system embodiments can achieve.

[0161] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An orthopedic surgical robot system, characterized in that, The system is connected to a pressure sensor, and the system includes: The data acquisition module is used to acquire flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle. The data processing module is used to receive pressure data at the patient's knee joint collected by the pressure sensor, and generate intraoperative planning information based on the flexion-extension data and the pressure data. The intraoperative planning information includes alignment methods. The intraoperative planning information is either first intraoperative planning information obtained by adjusting the preoperative planning scheme while keeping the first alignment method determined in the preoperative planning unchanged, or second intraoperative planning information generated based on the second alignment method when the first alignment method determined in the preoperative planning is adjusted to a second alignment method. The second alignment method is selected by the surgeon after evaluating the scheme corresponding to the first intraoperative planning information and confirming that the scheme corresponding to the first intraoperative planning information is not suitable for the patient. The verification and recording module is used to generate postoperative simulation information after osteotomy and prosthesis installation according to the intraoperative planning information; The display feedback module is used to display the postoperative simulation information, and after confirming that the plan corresponding to the intraoperative planning information is appropriate, it displays the intraoperative planning information to guide the surgeon to perform total knee replacement surgery on the patient. The data processing module is further specifically used to: process the pressure data collected by the pressure sensor to obtain contact point distribution information and pressure value at the patient's knee joint; and generate adjustment information for the contact point distribution information or the pressure value if the contact point distribution information or the pressure value does not meet the requirements of the intraoperative planning information. Wherein, if the contact point distribution information does not meet the requirements of the intraoperative planning information, the adjustment information includes adjusting the anterior-posterior position, lateral position, and / or internal / external rotation position of the prosthesis; where the pressure value does not meet the requirements of the intraoperative planning information, the adjustment information is determined based on the current alignment method; wherein: When the current alignment method is mechanical alignment, the adjustment information includes adjusting the inversion / exversion position of the prosthesis and the amount of osteotomy while ensuring the force line angle; wherein, the amount of osteotomy is adjusted first. When the current alignment method is kinematic alignment, the adjustment information includes adjusting the varus / valgus position and the amount of osteotomy of the prosthesis while ensuring that the osteotomy amount matches the prosthesis thickness; wherein, the varus / valgus position of the prosthesis is adjusted first. In the case of the current alignment method being functional alignment, the adjustment information includes adjusting the angle of the force line.

2. The system according to claim 1, characterized in that, The data processing module is also specifically used for: The parameter information input by the surgeon through the display feedback module is obtained, and the parameter information includes the parameter range of multiple parameters; When any of the flexion / extension data or any of the pressure data exceeds the parameter range of the corresponding parameter, a prompt message is generated for the parameter, and the prompt message is displayed through the display feedback module; The first intraoperative planning information is obtained by adjusting the preoperative planning information generated based on the first alignment method according to the parameters.

3. The system according to claim 1 or 2, characterized in that, The display feedback module is also specifically used for: The adjustment information is displayed to guide the surgeon to adjust the intraoperative procedures according to the adjustment information.

4. The system according to claim 1 or 2, characterized in that, The verification record module is also used for: After completing the total knee replacement surgery on the patient, the surgical information for this surgery was recorded.

5. The system according to claim 4, characterized in that, The pressure sensor is a pressure pad that can be placed at the patient's knee joint and fits against the femoral and tibial trial molds.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the following method implemented by the orthopedic surgical robot system as described in any one of claims 1 to 5 is performed: Collect flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle; The system receives pressure data at the patient's knee joint collected by a pressure sensor and generates intraoperative planning information based on the flexion-extension data and the pressure data. The intraoperative planning information includes alignment methods. The intraoperative planning information is either a first intraoperative planning information obtained by adjusting the preoperative planning scheme while keeping the first alignment method determined in the preoperative planning unchanged, or a second intraoperative planning information generated based on the second alignment method when the first alignment method determined in the preoperative planning is adjusted to a second alignment method. The second alignment method is selected by the surgeon after evaluating the scheme corresponding to the first intraoperative planning information and confirming that the scheme corresponding to the first intraoperative planning information is not suitable for the patient. Postoperative simulation information after osteotomy and prosthesis installation is generated according to the intraoperative planning information; The postoperative simulation information is displayed, and after confirming that the plan corresponding to the intraoperative planning information is appropriate, the intraoperative planning information is displayed to guide the surgeon to perform total knee replacement surgery on the patient. The computer device also implements the following method: processing the pressure data collected by the pressure sensor to obtain contact point distribution information and pressure value at the patient's knee joint; and generating adjustment information for the contact point distribution information or the pressure value if the contact point distribution information or the pressure value does not meet the requirements of the intraoperative planning information. Wherein, if the contact point distribution information does not meet the requirements of the intraoperative planning information, the adjustment information includes adjusting the anterior-posterior position, lateral position, and / or internal / external rotation position of the prosthesis; where the pressure value does not meet the requirements of the intraoperative planning information, the adjustment information is determined based on the current alignment method; wherein: When the current alignment method is mechanical alignment, the adjustment information includes adjusting the inversion / exversion position of the prosthesis and the amount of osteotomy while ensuring the force line angle; wherein, the amount of osteotomy is adjusted first. When the current alignment method is kinematic alignment, the adjustment information includes adjusting the varus / valgus position and the amount of osteotomy of the prosthesis while ensuring that the osteotomy amount matches the prosthesis thickness; wherein, the varus / valgus position of the prosthesis is adjusted first. In the case of the current alignment method being functional alignment, the adjustment information includes adjusting the angle of the force line.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, the following method implemented by the orthopedic surgical robot system as described in any one of claims 1 to 5 is performed: Collect flexion and extension data of the patient's leg, including multiple flexion and extension angles of the patient's knee joint and associated data related to each flexion and extension angle; The system receives pressure data at the patient's knee joint collected by a pressure sensor and generates intraoperative planning information based on the flexion-extension data and the pressure data. The intraoperative planning information includes alignment methods. The intraoperative planning information is either a first intraoperative planning information obtained by adjusting the preoperative planning scheme while keeping the first alignment method determined in the preoperative planning unchanged, or a second intraoperative planning information generated based on the second alignment method when the first alignment method determined in the preoperative planning is adjusted to a second alignment method. The second alignment method is selected by the surgeon after evaluating the scheme corresponding to the first intraoperative planning information and confirming that the scheme corresponding to the first intraoperative planning information is not suitable for the patient. Postoperative simulation information after osteotomy and prosthesis installation is generated according to the intraoperative planning information; The postoperative simulation information is displayed, and after confirming that the plan corresponding to the intraoperative planning information is appropriate, the intraoperative planning information is displayed to guide the surgeon to perform total knee replacement surgery on the patient. When the computer program runs, the following methods are also executed: processing the pressure data collected by the pressure sensor to obtain contact point distribution information and pressure value at the patient's knee joint; and generating adjustment information for the contact point distribution information or the pressure value if the contact point distribution information or the pressure value does not meet the requirements of the intraoperative planning information. Wherein, if the contact point distribution information does not meet the requirements of the intraoperative planning information, the adjustment information includes adjusting the anterior-posterior position, lateral position, and / or internal / external rotation position of the prosthesis; where the pressure value does not meet the requirements of the intraoperative planning information, the adjustment information is determined based on the current alignment method; wherein: When the current alignment method is mechanical alignment, the adjustment information includes adjusting the inversion / exversion position of the prosthesis and the amount of osteotomy while ensuring the force line angle; wherein, the amount of osteotomy is adjusted first. When the current alignment method is kinematic alignment, the adjustment information includes adjusting the varus / valgus position and the amount of osteotomy of the prosthesis while ensuring that the osteotomy amount matches the prosthesis thickness; wherein, the varus / valgus position of the prosthesis is adjusted first. In the case of the current alignment method being functional alignment, the adjustment information includes adjusting the angle of the force line.

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