Robot system, computer readable storage medium and control device

Abstract

The invention provides a robot system, a computer readable storage medium and a control device, and the system comprises an object platform which is used for placing a target object; the measuring and positioning device is used for measuring mounting and positioning geometric structure parameters of the all-in-one osteotomy plate; the mechanical arm is used for intercepting the distal end face of the femur of the target object according to the distal end face osteotomy thickness and the reference datum point and carrying out installation hole positioning, punching operation and osteotomy plate installation according to the installation positioning geometric structure parameters and the posterior condyle reference datum plane; the all-in-one osteotomy plate is used for conducting femur posterior condylar face osteotomy, anterior condylar face osteotomy, anterior inclined face osteotomy and posterior inclined face osteotomy on a target object. By means of the scheme, accurate and efficient knee joint replacement osteotomy can be achieved without the need for a prosthesis company to authorize complete prosthesis geometric model parameters.

Description

Technical Field

[0001] This application belongs to the field of artificial intelligence technology, and in particular relates to a robot system, a computer-readable storage medium, and a control device. Background Technology

[0002] Existing surgical robots assist in knee replacement surgery. The robot system can assist in performing five osteotomies on the distal femoral surface, anterior condyle, posterior condyle, anterior oblique surface, and posterior oblique surface of the knee joint, as well as a single osteotomy on the tibial plateau, thereby improving the surgical precision and consistency of surgical outcomes in knee replacement.

[0003] However, for robot-assisted knee replacement, the robot system needs to obtain the complete geometric parameters of the knee prosthesis (including the distal surface, anterior condylar surface, posterior condylar surface, anterior slope surface, posterior slope surface, and the corresponding osteotomy angle, osteotomy thickness, and relative spatial pose geometric parameters of the osteotomy surface of the tibial plateau), establish an accurate three-dimensional model of the prosthesis, and then guide the robot to complete the osteotomy operation of all osteotomy surfaces.

[0004] However, the complete geometric parameters of knee prostheses require authorization from the prosthesis company, and these parameters are not fully disclosed to the public. Currently, most mainstream prosthesis companies do not authorize prosthesis parameters, and orthopedic surgical robot systems are primarily closed or semi-closed systems, supporting only one brand of prosthesis, or a specific type of brand. For example, the Mako robot only supports Stryker prostheses, the Rosa robot only supports Zimmer prostheses, and the Velys robot only supports Johnson & Johnson prostheses.

[0005] In other words, while existing joint replacement robot systems can achieve robot-assisted bone cutting throughout the entire process, they generally use closed or semi-closed prosthesis platforms, supporting only one brand of prosthesis or a specific type of prosthesis. Other prosthesis brands are not compatible, which affects the user's freedom of choice in prosthesis selection.

[0006] In other words, after purchasing the robot, users are restricted to using only specific brands of implants, and cannot freely choose the brand of implant as needed, thus affecting the surgeon's choice of surgical procedures. Users generally prefer open-system implant platform robotic solutions, where doctors can freely choose the type and brand of implant to perform robotic surgery based on the patient's condition and surgical requirements.

[0007] There is currently no effective solution to the above problems. Summary of the Invention

[0008] The purpose of this application is to provide a robotic system, a computer-readable storage medium, and a control device that are not limited by the choice of prosthesis and can achieve precise, efficient, and flexible knee replacement osteotomy.

[0009] This application provides a robot system, a computer-readable storage medium, and a control device implemented as follows:

[0010] A robot system includes: an object platform, a robotic arm, and a measurement and positioning device, wherein:

[0011] The object platform is used to place the target object;

[0012] The measuring and positioning device is used to measure the installation and positioning geometric parameters of the multi-in-one osteotomy plate;

[0013] The robotic arm is used to cut the distal femoral surface of the target object according to the distal osteotomy thickness and reference reference point, and to perform mounting hole positioning, drilling operation and osteotomy plate installation according to the installation positioning geometric parameters and the posterior condyle reference reference plane;

[0014] The all-in-one osteotomy plate is used to perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object.

[0015] In one embodiment, the measuring and positioning device includes: a posterior condylar osteotomy groove and two central column mounting holes, wherein:

[0016] The posterior condyle osteotomy groove is used to align with the posterior condyle osteotomy groove of the multi-in-one osteotomy plate;

[0017] Two central post mounting holes are provided for matching and mounting with the central post of the all-in-one osteotomy plate;

[0018] A lateral adjustment mechanism is used to adjust the distance between the two center column mounting holes;

[0019] A longitudinal adjustment mechanism is used to adjust the distance between the central column mounting hole and the posterior condyle osteotomy groove;

[0020] The lateral adjustment mechanism is equipped with a first-scale measuring instrument for real-time display of the center distance between the two central pillars, and the longitudinal adjustment mechanism is equipped with a second-scale measuring instrument for real-time display of the distance from the central pillar to the posterior condyle reference surface.

[0021] In one embodiment, the measuring and positioning device includes:

[0022] Alignment positioning piece, used to align the posterior condyle groove of the measuring positioning device with the posterior condyle osteotomy groove of the all-in-one osteotomy plate to form a posterior condyle reference surface;

[0023] A measuring instrument is used to measure the center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference plane.

[0024] In one embodiment, the measurement and positioning device includes: a projection camera and a processor, wherein:

[0025] The projection camera is used to capture a top view of the all-in-one osteotomy plate;

[0026] The processor is configured to extract the center-to-center distance between the two central posts of the multi-in-one osteotomy plate and the distance from the central post to the posterior condyle reference plane from a top view of the multi-in-one osteotomy plate.

[0027] In one embodiment, the all-in-one osteotomy plate includes:

[0028] Multiple osteotomy grooves for robot-assisted osteotomy;

[0029] The perforated guide groove is used to enable drilling and positioning of the central post of the multi-in-one osteotomy plate.

[0030] A computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the following method:

[0031] The robotic arm is controlled to cut the distal femur of the target object based on the distal osteotomy thickness and reference points;

[0032] The installation positioning geometry parameters of the all-in-one osteotomy plate are measured using the built-in measuring and positioning device.

[0033] The mounting hole positioning, drilling, and osteotomy plate installation are performed based on the installation positioning geometry parameters and the posterior condyle reference plane.

[0034] After the installation of the multi-in-one osteotomy plate is completed, the posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy are performed on the target object.

[0035] In one implementation, controlling the robotic arm to cut the distal femoral face of the target object based on the distal osteotomy thickness and a reference point includes:

[0036] Set the distal tangent points of the medial condyle and the distal tangent points of the lateral condyle as reference points;

[0037] The plane formed by the reference point and the distal femur surface is used as the reference plane for distal osteotomy.

[0038] The distal osteotomy thickness is translated along the normal of the distal osteotomy reference plane to form the distal osteotomy target plane;

[0039] The robotic arm is controlled to cut the distal femur of the target object along the target plane of distal osteotomy.

[0040] In one implementation, the distal tangent points of the medial condyle and the distal tangent points of the lateral condyle are set as reference points, including:

[0041] Acquire preoperative medical images of the target subject and set reference points on the medical images;

[0042] Alternatively, during the operation, a probe can be used to scan the bone surface of the target object to create a three-dimensional model of the femur, and reference points can be set on the three-dimensional model.

[0043] In one embodiment, the installation positioning geometry parameters of the all-in-one osteotomy plate are measured using a built-in measuring and positioning device, including:

[0044] Obtain the center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface;

[0045] The center-to-center distance between the two central pillars of the all-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, are used as the installation and positioning geometric parameters of the all-in-one osteotomy plate.

[0046] In one embodiment, the installation hole positioning, drilling, and osteotomy plate installation are performed based on the installation positioning geometry parameters and the posterior condyle reference datum, including:

[0047] The most prominent points on the medial and lateral sides of the posterior condyle were obtained as reference points for osteotomy.

[0048] The posterior condyle reference plane is formed by tangenting the osteotomy reference datum to the posterior condyle of the femur;

[0049] The posterior condyle osteotomy thickness is translated along the normal vector of the posterior condyle reference plane to form the posterior condyle osteotomy target plane;

[0050] Using the posterior condyle osteotomy target plane as a reference, the distance from the central column to the posterior condyle reference plane is translated along the normal vector to obtain the installation target plane of the osteotomy plate central column;

[0051] The target plane for installing the central column of the osteotomy plate intersects with the target plane for distal femoral osteotomy to obtain the target axis for drilling the central column of the osteotomy plate.

[0052] Based on the target axis of the drilling of the central column of the osteotomy plate and the center distance between the two central columns, determine the target axis of the drilling of the medial condyle and the target axis of the drilling of the lateral condyle;

[0053] Control the robotic arm to move to the target position, so that the drilling guide groove of the multi-piece osteotomy plate at the end of the robotic arm is aligned with the target axis of the medial condyle drilling and the target axis of the lateral condyle drilling, so as to complete the drilling of the medial condyle and the lateral condyle of the central column of the multi-piece osteotomy plate.

[0054] In one embodiment, after drilling the medial condyle and lateral condyle holes of the central post of the multi-joint osteotomy plate, the method further includes:

[0055] The multi-piece osteotomy plate is fixedly installed onto the distal femoral surface along the drilled holes.

[0056] In one embodiment, obtaining the center-to-center distance between the two central posts of the all-in-one osteotomy plate, and the distance from the central post to the posterior condyle reference surface, includes:

[0057] The posterior condyle groove of the measuring positioning device is aligned with the posterior condyle osteotomy groove of the multi-in-one osteotomy plate by the positioning and alignment device to form a reference surface;

[0058] The spacing between the mounting holes of the central column is adjusted by the lateral adjustment mechanism, and the spacing between the central column and the posterior condyle groove is adjusted by the longitudinal adjustment mechanism, so that the two central holes of the measuring and positioning device are aligned with the two central columns of the multi-in-one osteotomy plate.

[0059] The distance between the centers of the two central pillars of the multi-in-one osteotomy plate and the distance from the central pillar to the posterior condyle reference surface were measured using a calibrator of the measuring and positioning device.

[0060] In one embodiment, obtaining the center-to-center distance between the two central posts of the all-in-one osteotomy plate, and the distance from the central post to the posterior condyle reference surface, includes:

[0061] The control positioning and alignment device is inserted into the posterior condyle osteotomy groove of the all-in-one osteotomy plate to form a posterior condyle reference surface;

[0062] The distance between the centers of the two central pillars of the multi-piece osteotomy plate and the distance from the central pillar to the posterior condyle reference plane were measured using measuring instruments.

[0063] In one embodiment, obtaining the center-to-center distance between the two central posts of the all-in-one osteotomy plate, and the distance from the central post to the posterior condyle reference surface, includes:

[0064] Feature points were collected on the central column and the posterior condyle groove of the multi-in-one osteotomy plate using a digital probe instrument.

[0065] The collected feature points are fitted to an image to obtain the fitting result;

[0066] The center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, as well as the distance from the central pillar to the posterior condyle reference surface, were determined by the fitting results.

[0067] A control device for use in a robot system, comprising:

[0068] The control module is used to control the robotic arm to cut the distal femoral surface of the target object according to the distal osteotomy thickness and reference point;

[0069] The measurement module is used to measure the installation positioning geometry parameters of the all-in-one osteotomy plate through the built-in measurement and positioning device.

[0070] The installation module is used to locate the mounting holes, perform drilling operations, and install the osteotomy plate based on the installation positioning geometry parameters and the posterior condyle reference plane;

[0071] The osteotomy module is used to perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object after the installation of the all-in-one osteotomy plate is completed.

[0072] An electronic device includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, performs the steps of the following method:

[0073] The robotic arm is controlled to cut the distal femur of the target object based on the distal osteotomy thickness and reference points;

[0074] The installation positioning geometry parameters of the all-in-one osteotomy plate are measured using the built-in measuring and positioning device.

[0075] The mounting hole positioning, drilling, and osteotomy plate installation are performed based on the installation positioning geometry parameters and the posterior condyle reference plane.

[0076] After the installation of the multi-in-one osteotomy plate is completed, the posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy are performed on the target object.

[0077] The robotic system provided in this application is equipped with a measurement and positioning device for locating and drilling mounting holes in the all-in-one osteotomy plate. This allows for the integration of robot-assisted partial osteotomy, robot-assisted positioning and drilling, and the all-in-one osteotomy plate, based on the publicly available technical parameters of the prosthesis, to jointly complete the entire knee joint assisted osteotomy process. The solution in this application does not require authorization from the prosthesis company for complete prosthesis geometric model parameters, thus meeting the osteotomy requirements of an open prosthesis platform and enabling precise and efficient knee replacement osteotomy. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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 recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is a structural schematic diagram of the joint surgery robot system and its surgical application scenarios provided in this application;

[0080] Figure 2 This is a schematic diagram of the technical parameters of the prosthesis provided in this application;

[0081] Figure 3 This is a schematic diagram of the reference feature point setting for distal femoral osteotomy provided in this application;

[0082] Figure 4 This is a schematic diagram confirming the target plane for distal femoral osteotomy provided in this application;

[0083] Figure 5 This is a schematic diagram of a robot-assisted distal femoral osteotomy scenario provided in this application;

[0084] Figure 6 This is a test schematic diagram of two geometric parameters of the central column of the osteotomy plate provided in this application;

[0085] Figure 7 This is a schematic diagram of the structure of the measurement and positioning device provided in this application;

[0086] Figure 8 This is a schematic diagram of an application scenario of the measurement and positioning device provided in this application;

[0087] Figure 9 This is a schematic diagram of another application scenario of the measurement and positioning device provided in this application;

[0088] Figure 10 This is a schematic diagram of another application scenario of the measurement and positioning device provided in this application;

[0089] Figure 11 This is a schematic diagram of the feature points setting of the reference surface of the posterior femoral condyle provided in this application;

[0090] Figure 12 This is a schematic diagram confirming the mounting plane of the central column of the osteotomy plate and the osteotomy plane of the posterior femoral condyle provided in this application;

[0091] Figure 13 This is a schematic diagram showing the target axis for drilling holes in the central column of the osteotomy plate provided in this application;

[0092] Figure 14 This is a schematic diagram of the multifunctional integrated osteotomy plate with perforated guide groove provided in this application;

[0093] Figure 15 This is a schematic diagram of a scenario where the robot-guided osteotomy plate central column is drilled and positioned according to the present application.

[0094] Figure 16 This is a schematic diagram of the positioning and installation scenario of the all-in-one osteotomy plate provided in this application;

[0095] Figure 17 This is a flowchart of one embodiment of the operation control method provided in this application;

[0096] Figure 18This is a hardware structure block diagram of an electronic device for an operation control method provided in this application;

[0097] Figure 19 This is a schematic diagram of the module structure of one embodiment of the operation control device provided in this application. Detailed Implementation

[0098] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0099] This example presents an open-prosthetic platform joint surgery robot system. Based on the publicly available technical parameters of the prosthesis, combined with a self-designed positioning and measurement device, it integrates robot-assisted partial osteotomy, robot-assisted positioning and drilling, and traditional multi-functional osteotomy plates to jointly complete the entire knee joint osteotomy process. This solution achieves open-prosthetic platform osteotomy without requiring authorization from the prosthesis company for complete prosthesis geometric model parameters. In other words, it enables precise and efficient knee replacement osteotomy surgery and allows for open prosthesis solutions, without being limited by prosthesis selection.

[0100] like Figure 1 The diagram shows a structural schematic of a joint surgery robot system and its surgical application scenario. The surgical robot system may include: a navigation cart, an end effector, a robotic arm, a vision sensor, a robotic arm cart, a patient platform, and a positioning and measurement device. In this example, the robot and the all-in-one osteotomy plate are integrated to collaboratively complete the entire knee osteotomy process. The robot is used to cut the distal femoral surface and the tibial plateau, and to drill the mounting holes for the all-in-one osteotomy plate. After the all-in-one osteotomy plate is installed and positioned with the assistance of the robot system and the positioning and measurement device, the posterior condyle, anterior condyle, anterior oblique, and posterior oblique osteotomies of the femur are performed using the all-in-one osteotomy plate, completing all osteotomy procedures. In actual implementation, the tibial osteotomy can be performed simultaneously with the distal femoral surface cutting, or before, after, or after the posterior condyle, anterior condyle, anterior oblique, and posterior oblique osteotomies of the femur. The specific execution order is not limited in this example.

[0101] The aforementioned all-in-one osteotomy plate, after installation and positioning, can be used to cut the anterior condyle, posterior condyle, anterior oblique, and posterior oblique surfaces. In the actual osteotomy process, each prosthesis has its own unique osteotomy plate; each model and size of prosthesis corresponds to one osteotomy plate, with its own all-in-one osteotomy plate designed in a one-to-one correspondence with its prosthesis. In this example, it is not necessary to authorize complete prosthesis model parameters from the prosthesis company; the entire osteotomy procedure can be completed based solely on publicly available parameters. In actual implementation, the aforementioned all-in-one osteotomy plate can be a four-in-one osteotomy plate or other types of osteotomy plates; the specific type of osteotomy plate can be selected according to actual needs.

[0102] like Figure 2 The diagram shows the prosthesis technical parameters required for this example. Required parameters for the femoral condyle may include: distal femoral prosthesis osteotomy thickness D, posterior femoral prosthesis osteotomy thickness P, and the distance between the anterior and posterior femoral condyles A / P (e.g., ...). Figure 2 (as shown in a), and the femoral prosthesis width M / L (as shown in a diagram). Figure 2 (As shown in b) These parameters are standard requirements for joint replacement surgery and are disclosed by the prosthesis manufacturer in its technical documents. Therefore, these prosthesis technical parameters can be obtained from the publicly available technical documents. In this example, robot-assisted osteotomy does not require the geometric position and angle parameters of the anterior condyle, anterior slope, and posterior slope of the prosthesis; these parameters require special authorization from the manufacturer. Among them, the distance between the anterior and posterior condyles of the femoral prosthesis (A / P) and the width of the femoral prosthesis (M / L) can be used for preoperative surgical planning to determine the appropriate prosthesis size and model for the patient and to assess the fit.

[0103] In this example, the robot needs to perform distal femoral osteotomy. Specifically, the robot can set reference feature points on preoperative medical images (or reconstructed 3D images) of the femur, and then perform spatial position transformation mapping in combination with the aforementioned disclosed prosthesis technical parameters to confirm the target osteotomy plane.

[0104] like Figure 3 The diagram shows the setting of reference feature points for distal femoral osteotomy to achieve robot-assisted distal femoral osteotomy in open prosthesis mode. Specifically, osteotomy feature reference points can be set on preoperative femoral medical images. These reference points are used to determine the osteotomy reference benchmark. Preoperative femoral medical images can include, but are not limited to, CT images, MR images, and XR images.

[0105] For example, the distal incision point of the medial condyle (the highest point of the medial condyle on the distal face) and the distal incision point of the lateral condyle (the highest point of the lateral condyle on the distal face) can be selected to form reference benchmarks for distal face osteotomy. In practice, other feature points can also be selected on the medial and lateral sides of the distal face as osteotomy reference benchmarks. Furthermore, regarding the selection of feature points, osteotomy reference feature points can be selected based on preoperative medical images, or based on intraoperative probe scanning of the bone surface, completing 3D reconstruction of the femur by laser scanning of the bone surface, or generating a 3D printed model, and then selecting feature points on the reconstructed 3D model for osteotomy planning.

[0106] like Figure 4 The diagram shows the confirmation of the target plane for distal femoral osteotomy. After confirming the two reference points, the distal condyle incision point and the distal lateral condyle incision point, a distal osteotomy reference plane is formed based on the tangency of the reference points with the distal femoral surface. Then, the distal surface osteotomy thickness D is translated along the normal of the osteotomy reference plane to form the target plane for distal osteotomy.

[0107] like Figure 5 The diagram illustrates a robot-assisted distal femoral osteotomy scenario. Through intraoperative bone registration and matching between the robot and 3D visual sensors, preoperative CT medical images, intraoperative 3D visual sensors, and the coordinate system of the mechanical system can be fused. The visual sensors can monitor the relative spatial pose of the robotic arm and the patient's bones (femur and tibia) in real time, and then guide the robotic arm to move to the target osteotomy position.

[0108] In vision-guided positioning of a robotic arm, guided by visual sensors, the robotic arm moves to the target osteotomy plane. The osteotomy plate at the end of the robotic arm aligns with the target osteotomy plane, guiding the user to complete the osteotomy on the target plane. Osteotomy methods support integrated guide plates, power tools, and grinding tools at the end of the robotic arm. Handheld osteotomy tools are also supported, with the end of the arm capable of integrating oscillating saws, grinding tools, or polishing tools.

[0109] In this implementation scheme, a robotic arm assists in the osteotomy of the distal femur and tibial plateau, and in drilling the mounting holes for the multi-functional osteotomy plate. After the multi-functional osteotomy plate is positioned and installed with the assistance of the robotic system and positioning and measuring device, it is used to perform osteotomies on the posterior condyle, anterior condyle, anterior oblique, and posterior oblique surfaces of the femur. That is, after the robotic arm assists in the distal femur resection, the robot needs to drill the mounting holes for the multi-functional osteotomy plate to determine its installation and fixation position.

[0110] This example provides a measurement and positioning device for confirming the mounting hole positions. Specifically, it can test two geometric parameters of the osteotomy plate's central post, and then integrate with a robot to collaboratively locate the target hole positions. For example, it can be like... Figure 6As shown in b and c, the geometric parameters of the osteotomy plate are obtained. These parameters may include the distance L between the two central pillars of the osteotomy plate, and the distance CP from the central pillars to the posterior condylar groove of the osteotomy plate. For example... Figure 6 As shown in a, the multi-in-one osteotomy plate is installed on the femur for osteotomy. The distance between the corresponding prosthesis mounting hole is L, and the distance from the prosthesis mounting hole to the posterior condyle osteotomy surface is CP.

[0111] like Figure 7 The diagram shows the structure of the measurement and positioning device. This device may include: a posterior condyle osteotomy groove for aligning with the osteotomy plate; and two central post mounting holes for matching and mounting with the central posts of the osteotomy plate. The measurement and positioning device can be equipped with two degrees of freedom: a lateral adjustment mechanism and a longitudinal adjustment mechanism. The lateral adjustment mechanism can adjust the distance between the two central post mounting holes to accommodate the central post distances of different brands of osteotomy plates; the longitudinal adjustment mechanism can adjust the distance between the central post mounting holes and the posterior condyle osteotomy groove.

[0112] Both the aforementioned lateral and longitudinal adjustment mechanisms can be equipped with a measuring instrument. This instrument can display in real time the lateral distance between the two central post mounting holes, as well as the distance from the central mounting post to the posterior condyle osteotomy groove. The measuring instrument can be either a digital display measuring instrument or a mechanically calibrated measuring instrument.

[0113] like Figure 8 The diagram illustrates one application scenario of the measurement and positioning device. A positioning alignment device (e.g., a U-shaped alignment positioning piece) aligns the posterior condyle groove of the measurement and positioning device with the posterior condyle groove of the multi-piece osteotomy plate, forming a reference surface. Then, a lateral adjustment device adjusts the spacing between the central post mounting holes, and a longitudinal adjustment device adjusts the spacing between the central posts relative to the posterior condyle groove, ensuring that the two central holes of the measurement and positioning device are aligned with the two central posts of the multi-piece osteotomy plate. Finally, the distance L between the two central posts of the osteotomy plate and the distance CP from the central post to the posterior condyle groove of the osteotomy plate are measured using the measurement and positioning device's measuring instrument.

[0114] like Figure 9 The diagram shows another application scenario of the measurement and positioning device. The positioning and alignment device (e.g., U-shaped alignment and positioning piece) is inserted into the posterior condyle osteotomy groove of the multi-in-one osteotomy plate to form the posterior condyle reference surface. Then, the center distance L between the two central pillars and the distance CP from the central pillar to the posterior condyle reference surface are measured using a measuring instrument (e.g., vernier caliper).

[0115] like Figure 10 The diagram illustrates another application scenario of the measurement and positioning device, using a projection camera or 3D vision sensor to measure relevant parameters. For example, a top view of a multi-piece osteotomy plate is taken using a projection camera, and then referenced... Figure 6 In the diagram, points b and c are used to identify the center distance L between the two central pillars and the distance CP from the central pillar to the posterior condyle reference surface from the top-view planar image using an image spacing measurement algorithm. Alternatively, using the robot system's built-in 3D navigation instrument and a digital probe instrument, feature points are selected on the central pillar of the osteotomy plate and the posterior condyle groove of the osteotomy plate, respectively. The navigation software system collects the feature points and performs image fitting to indirectly identify the center distance L between the two central pillars and the distance CP from the central pillar to the posterior condyle reference surface.

[0116] After identifying and measuring the two geometric parameters of the central column of the osteotomy plate using the aforementioned measurement and positioning device, the positioning holes for the central column of the multi-in-one osteotomy plate are drilled by robot-guided positioning and drilling.

[0117] like Figure 11 The diagram shows the setting of feature points for the reference surface of the posterior condyle of the femur. You can select the posterior incision point of the medial condyle (the most prominent point on the medial side of the posterior condyle) and the posterior incision point of the lateral condyle (the most prominent point on the lateral side of the posterior condyle) to form the osteotomy reference benchmark for the posterior condyle. Alternatively, you can select feature points on the medial and lateral sides of the posterior condyle as osteotomy reference benchmarks.

[0118] like Figure 12 The diagram shows the confirmation of the mounting plane of the osteotomy plate's central post and the osteotomy plane of the posterior condyle of the femur. After confirming the two reference points, the posterior incision point of the medial condyle and the posterior incision point of the lateral condyle, a posterior condyle reference reference plane is formed by tangenting these reference points to the posterior condyle surface. Then, the posterior condyle osteotomy thickness P is translated along the normal vector of the posterior condyle reference reference plane to form the target plane for posterior condyle osteotomy. Finally, using the target plane for posterior condyle osteotomy as a reference, the mounting target plane of the osteotomy plate's central post is obtained by translating along its normal vector by a distance CP (the distance from the central post to the posterior condyle reference surface).

[0119] like Figure 13 The diagram shown illustrates the confirmation of the target axis for drilling holes in the central post of the osteotomy plate. Figure 12 After confirming the target plane for the osteotomy plate center post as shown, align the target plane with... Figure 4 The confirmed distal femoral osteotomy target planes intersect to obtain the target axis for drilling holes in the osteotomy plate's central pillar. Then, by combining the center distance L between the two central pillars, the target axis for drilling holes in the medial condyle and the target axis for drilling holes in the lateral condyle are confirmed.

[0120] like Figure 14 The image shows a multi-functional integrated osteotomy plate with a perforated guide groove. It may include: multiple osteotomy grooves for robot-assisted osteotomy; and a perforated guide groove for positioning the central column of the multi-functional osteotomy plate.

[0121] like Figure 15 The diagram illustrates a scenario where a robot guides the drilling and positioning of the central post of an osteotomy plate. Based on... Figure 13After determining the target axes for drilling the medial and lateral condyles as shown, the robotic arm moves to the target pose under visual guidance, aligning the drilling guide groove of the multifunctional osteotomy plate at the end of the robotic arm with the target axes. Then, drilling is performed on the medial condyle and lateral condyle of the central column of the multifunctional osteotomy plate.

[0122] like Figure 16 The diagram shows a scenario for the positioning and installation of an all-in-one osteotomy plate. Figure 15 After drilling the medial and lateral condyles of the central column of the multi-functional osteotomy plate, the plate can be fixedly installed onto the distal femoral surface along these holes. Following installation, the multi-functional osteotomy plate is used to perform osteotomies on other surfaces of the femur, including anterior condylar osteotomy, posterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy, thus achieving a complete osteotomy procedure.

[0123] In the above scheme, the robot first performs distal femoral osteotomy. Then, the robot guides the drilling of mounting holes for the multi-piece osteotomy plate. To achieve robot-guided drilling, in this example, two geometric parameters of the multi-piece osteotomy plate (the distance between the central pillars of the plate, L, and the distance to the posterior condyle groove, CP) are measured first. Then, combined with the geometric spatial mapping of the posterior condyle surface of the prosthesis (unresected), the mounting position of the multi-piece osteotomy plate on the femur is determined. The robot then guides the drilling of these two holes. After drilling, the multi-piece osteotomy plate can be directly installed and fixed in these two holes. Then, the multi-piece osteotomy plate is used to perform multi-incision osteotomies of the anterior condyle, posterior condyle, anterior oblique, and posterior oblique. In other words, the robot needs to perform distal femoral resection and guide the drilling (the two mounting holes for the multi-piece osteotomy plate).

[0124] In the example above, an open-prosthetic platform joint surgery robot system was proposed. Based on the publicly available technical parameters of the prosthesis, combined with a self-designed positioning and measurement device, it integrates robot-assisted partial osteotomy, robot-assisted positioning and drilling, and a multi-functional osteotomy plate to jointly complete the entire knee joint assisted osteotomy process. The solution proposed in this application does not require authorization from the prosthesis company for complete prosthesis geometric model parameters to meet the osteotomy requirements of an open-prosthetic platform. That is, this solution can achieve precise and efficient knee replacement osteotomy surgery, and can also implement an open prosthesis approach, without being limited by the choice of prosthesis.

[0125] The aforementioned open-prosthetic platform joint surgery robot system can be applied to, but is not limited to, total knee replacement surgery, minimally invasive or small-incision total knee replacement surgery. After purchasing the robot, users are no longer restricted to using only specific brands of prostheses; instead, they can freely choose the prosthesis brand according to their needs. Surgeons can also freely choose the type of prosthesis brand to perform robotic surgery based on the patient's condition and surgical requirements. The promotion of this technology removes the limitations of prosthesis-only robot systems, giving surgeons more freedom of choice. The application of this technology will also greatly benefit the application of orthopedic surgical robots themselves, further facilitating their widespread adoption.

[0126] This example provides a robot system that may include: an object platform, a robotic arm, and a measurement and positioning device, wherein:

[0127] 1) Object platform, used to place target objects;

[0128] 2) Measurement and positioning device, used to measure the installation and positioning geometric parameters of the multi-in-one osteotomy plate;

[0129] 3) A robotic arm is used to cut the distal femoral surface of the target object according to the distal osteotomy thickness and reference reference point, and to perform mounting hole positioning, drilling operations and osteotomy plate installation according to the installation positioning geometry parameters and the posterior condyle reference reference plane;

[0130] 4) The multi-functional osteotomy plate is used to perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy and posterior oblique osteotomy on the target object.

[0131] Among them, the parameters used in the osteotomy process, such as the distance between the anterior and posterior condyles of the femoral prosthesis, the width of the femoral prosthesis, the thickness of the distal osteotomy, and the thickness of the posterior condyle osteotomy, are all publicly available parameters of the prosthesis and can be obtained without special authorization.

[0132] The aforementioned measurement and positioning device may include: a posterior condylar osteotomy groove and two central post mounting holes, wherein the posterior condylar osteotomy groove is used to align with the posterior condylar osteotomy groove of the multi-in-one osteotomy plate; the two central post mounting holes are used to match and install with the central posts of the multi-in-one osteotomy plate; a lateral adjustment mechanism is used to adjust the distance between the two central post mounting holes; and a longitudinal adjustment mechanism is used to adjust the distance between the central post mounting holes and the posterior condylar osteotomy groove; wherein the lateral adjustment mechanism is provided with a first-scale measuring instrument for real-time display of the center distance between the two central posts, and the longitudinal adjustment mechanism is provided with a second-scale measuring instrument for real-time display of the distance from the central post to the posterior condylar reference surface, thereby enabling the acquisition of installation and positioning geometric parameters.

[0133] In this example, a measurement positioning device is also provided, which may include: an alignment positioning piece for aligning the posterior condyle groove of the measurement positioning device with the posterior condyle osteotomy groove of the multi-in-one osteotomy plate to form a posterior condyle reference surface; and a measuring instrument for measuring the center distance between the two central posts of the multi-in-one osteotomy plate and the distance from the central posts to the posterior condyle reference surface.

[0134] In practical implementation, image processing can also be used to obtain the center distance between the two central pillars of the multi-in-one osteotomy plate, as well as the distance from the central pillar to the posterior condyle reference surface. Based on this, the measurement and positioning device can include: a projection camera and a processor, wherein: the projection camera is used to capture a top view of the multi-in-one osteotomy plate; the processor is used to extract the center distance between the two central pillars of the multi-in-one osteotomy plate and the distance from the central pillar to the posterior condyle reference surface from the top view of the multi-in-one osteotomy plate.

[0135] To enable accurate control of the robotic arm, the aforementioned robotic system may further include a vision sensor connected to the robotic arm for real-time monitoring of the relative spatial pose of the robotic arm and the target object, and for guiding the robotic arm to the osteotomy position.

[0136] Specifically, the end effector of the aforementioned robotic arm can be equipped with an osteotomy plate, a guide plate, a power tool, and a grinding tool. The osteotomy plate may include: multiple osteotomy grooves for robot-assisted osteotomy; and a drilling guide groove for drilling and positioning the central post of the multi-functional osteotomy plate.

[0137] Specifically, after determining the target axes for drilling the medial and lateral condyles, the robotic arm moves to the target pose under visual guidance, aligning the drilling guide groove of the multifunctional osteotomy plate at the end of the robotic arm with the target axes. Then, drilling is performed on the medial and lateral condyles of the central column of the multifunctional osteotomy plate. After drilling the medial and lateral condyles of the central column, the multifunctional osteotomy plate is fixedly installed onto the distal femoral surface along the drilled holes. After the multifunctional osteotomy plate is fixedly installed, it is used to perform osteotomies on other surfaces of the femur, including anterior condylar osteotomy, posterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy, thus achieving a complete osteotomy process.

[0138] Based on the aforementioned robot operation system, this example provides an operation control method applied to robot operation. Figure 17This is a flowchart of one embodiment of the operation control method provided in this application. Although this application provides method operation steps or apparatus structures as shown in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this application. When the method or module structure is applied in actual devices or terminal products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or figures (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment).

[0139] Specifically, such as Figure 17 As shown, the above-mentioned operation control method may include the following steps:

[0140] Step 1701: Control the robotic arm to cut the distal femoral face of the target object according to the distal osteotomy thickness and reference point;

[0141] Step 1702: Measure the installation and positioning geometry parameters of the all-in-one osteotomy plate using the built-in measuring and positioning device;

[0142] Step 1703: Based on the installation positioning geometry parameters and the posterior condyle reference plane, perform the installation hole positioning, drilling operation, and osteotomy plate installation;

[0143] Step 1704: After the installation of the multi-in-one osteotomy plate is completed, perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object.

[0144] In one implementation, controlling the robotic arm to cut the distal femoral face of the target object based on the distal osteotomy thickness and a reference point may include:

[0145] S1: Set the distal tangent points of the medial condyle and the distal tangent points of the lateral condyle as reference points;

[0146] Specifically, preoperative medical images of the target object can be acquired, and reference points can be set on the medical images; or, during the operation, the bone surface of the target object can be scanned with a probe to establish a three-dimensional model of the femur, and reference points can be set on the three-dimensional model.

[0147] S2: The plane formed by the reference point and the distal femur surface is used as the reference plane for distal osteotomy.

[0148] S3: Translate the distal osteotomy thickness along the normal of the distal osteotomy reference plane to form the distal osteotomy target plane;

[0149] S4: Control the robotic arm to cut the distal femur of the target object along the distal osteotomy target plane.

[0150] Step 1702 above measures the installation and positioning geometric parameters of the multi-in-one osteotomy plate using a built-in measuring and positioning device. This may include: obtaining the center distance between the two central posts of the multi-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface; and using the center distance between the two central posts of the multi-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface as the installation and positioning geometric parameters of the multi-in-one osteotomy plate.

[0151] Specifically, the installation hole positioning, drilling, and osteotomy plate installation, based on the installation positioning geometry parameters and the posterior condyle reference datum, may include:

[0152] S1: Obtain the most prominent point on the medial side of the posterior condyle and the most prominent point on the lateral side of the posterior condyle as reference points for osteotomy;

[0153] S2: The posterior condyle reference plane is formed by tangenting the osteotomy reference datum to the posterior condyle of the femur;

[0154] S3: Translate the posterior condyle osteotomy thickness along the normal vector of the posterior condyle reference plane to form the posterior condyle osteotomy target plane;

[0155] S4: Using the target plane of the posterior condyle osteotomy as a reference, translate the distance from the central column to the posterior condyle reference plane along the normal vector to obtain the installation target plane of the central column of the osteotomy plate;

[0156] S5: Intersect the installation target plane of the osteotomy plate center column with the target plane of distal femoral osteotomy to obtain the target axis of the drilling of the osteotomy plate center column;

[0157] S6: Determine the target axis for drilling the medial condyle and the target axis for drilling the lateral condyle based on the target axis for drilling the central column of the osteotomy plate and the center distance between the two central columns;

[0158] S7: Control the robotic arm to move to the target position, so that the drilling guide groove of the multi-piece osteotomy plate at the end of the robotic arm is aligned with the target axis of the medial condyle drilling and the target axis of the lateral condyle drilling, so as to complete the drilling of the medial condyle hole and the lateral condyle hole of the central column of the multi-piece osteotomy plate.

[0159] Accordingly, after drilling the medial condyle and lateral condyle holes of the central column of the multi-in-one osteotomy plate, the multi-in-one osteotomy plate is fixedly installed onto the distal femoral surface along the drilled holes.

[0160] The center-to-center distance between the two central pillars of the aforementioned multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, can be obtained as follows: The posterior condyle groove of the measuring positioning device is aligned with the posterior condyle osteotomy groove of the multi-in-one osteotomy plate using a positioning alignment device to form a reference surface; the spacing between the central pillar mounting holes is adjusted using a lateral adjustment mechanism, and the spacing between the central pillars relative to the posterior condyle groove is adjusted using a longitudinal adjustment mechanism, so that the two central holes of the measuring positioning device are aligned with the two central pillars of the multi-in-one osteotomy plate; the center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, are measured using a measuring instrument on the measuring positioning device.

[0161] The center-to-center distance between the two central pillars of the aforementioned multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, can also be obtained as follows: A positioning and alignment device is inserted into the posterior condyle osteotomy groove of the multi-in-one osteotomy plate to form the posterior condyle reference surface; the center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, are measured using a measuring instrument. Alternatively, they can be obtained as follows: Feature points are collected on the central pillars and the posterior condyle groove of the multi-in-one osteotomy plate using a digital probe instrument; image fitting is performed on the collected feature points to obtain the fitting result; the center-to-center distance between the two central pillars of the multi-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, are determined using the fitting result.

[0162] The methods and embodiments provided in the above-described embodiments of this application can be executed in a mobile terminal, computer terminal, or similar computing device. Taking operation on an electronic device as an example... Figure 18 This is a hardware structure block diagram of an electronic device for an operation control method provided in this application. (See diagram for example.) Figure 18 As shown, the electronic device 10 may include one or more (only one is shown in the figure) processors 02 (processors 02 may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), a memory 04 for storing data, and a transmission module 06 for communication functions. Those skilled in the art will understand that... Figure 18 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, electronic device 10 may also include... Figure 18 The more or fewer components shown, or having the same Figure 18 The different configurations shown.

[0163] The memory 04 can be used to store software programs and modules of application software, such as the program instructions / modules corresponding to the operation control method in this embodiment. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, thereby realizing the operation control method of the aforementioned application. The memory 04 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 04 may further include memory remotely located relative to the processor 02, and these remote memories can be connected to the electronic device 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0164] The transmission module 06 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 10. In one example, the transmission module 06 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 06 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0165] At the software level, the aforementioned operation control device is applied to operate the robot, and can, for example... Figure 19 As shown, it includes:

[0166] Control module 1901 is used to control the robotic arm to cut the distal femoral surface of the target object according to the distal osteotomy thickness and reference reference point;

[0167] Measurement module 1902 is used to measure the installation positioning geometry parameters of the all-in-one osteotomy plate through the built-in measurement and positioning device;

[0168] Mounting module 1903 is used for positioning mounting holes, drilling, and installing osteotomy plates based on the mounting positioning geometry parameters and the posterior condyle reference plane.

[0169] The osteotomy module 1904 is used to perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object after the installation of the all-in-one osteotomy plate is completed.

[0170] In one embodiment, the control module 1901 may specifically set the distal tangent point of the medial condyle and the distal tangent point of the lateral condyle as reference reference points; use the plane formed by the reference reference points and the distal femoral surface as the distal osteotomy reference plane; translate the distal surface osteotomy thickness along the normal of the distal osteotomy reference plane to form the distal osteotomy target plane; and control the robotic arm to cut the distal femoral surface of the target object along the distal osteotomy target plane.

[0171] In one implementation, setting the distal medial condyle incision point and the distal lateral condyle incision point as reference reference points may include: acquiring preoperative medical images of the target object and setting the reference reference points on the medical images; or, during the operation, scanning the bone surface of the target object with a probe to establish a three-dimensional model of the femur and setting the reference reference points on the three-dimensional model.

[0172] In one embodiment, the measurement module 1902 can specifically obtain the center distance between the two central posts of the all-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface; and use the center distance between the two central posts of the all-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface as the installation and positioning geometric parameters of the all-in-one osteotomy plate.

[0173] In one embodiment, the mounting module 1903 can specifically obtain the most prominent point on the medial side of the posterior condyle and the most prominent point on the lateral side of the posterior condyle as osteotomy reference benchmarks; form a posterior condyle reference benchmark plane by tangent to the posterior condyle surface of the femur through the osteotomy reference benchmarks; translate the posterior condyle osteotomy thickness along the normal vector of the posterior condyle reference benchmark plane to form a posterior condyle osteotomy target plane; using the posterior condyle osteotomy target plane as a benchmark, translate the distance from the central column to the posterior condyle reference surface along the normal vector to obtain the mounting target plane of the osteotomy plate central column; and connect the mounting target plane of the osteotomy plate central column with... The target planes of the distal femoral osteotomy intersect to obtain the target axis for drilling holes in the central column of the osteotomy plate. Based on the target axis for drilling holes in the central column of the osteotomy plate and the center distance between the two central columns, the target axes for drilling holes in the medial condyle and the lateral condyle are determined. The robotic arm is controlled to move to the target position so that the drilling guide groove of the multi-functional osteotomy plate at the end of the robotic arm is aligned with the target axes for drilling holes in the medial and lateral condyles, so as to complete the drilling of holes in the medial and lateral condyles of the central column of the multi-functional osteotomy plate. The multi-functional osteotomy plate is then fixedly installed onto the distal femoral surface along the drilling holes.

[0174] In one embodiment, obtaining the center distance between the two central posts of the all-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface may include: aligning the posterior condyle groove of the measuring positioning device with the posterior condyle osteotomy groove of the all-in-one osteotomy plate using a positioning alignment device to form a reference surface; adjusting the spacing between the mounting holes of the central posts using a lateral adjustment mechanism and adjusting the spacing between the central posts relative to the posterior condyle groove using a longitudinal adjustment mechanism, so that the two central holes of the measuring positioning device are aligned with the two central posts of the all-in-one osteotomy plate; and measuring the center distance between the two central posts of the all-in-one osteotomy plate and the distance from the central post to the posterior condyle reference surface using a measuring instrument of the measuring positioning device.

[0175] In one embodiment, obtaining the center distance between the two central pillars of the multi-in-one osteotomy plate and the distance from the central pillar to the posterior condyle reference surface may include: controlling the positioning and alignment device to be inserted into the posterior condyle osteotomy groove of the multi-in-one osteotomy plate to form the posterior condyle reference surface; and measuring the center distance between the two central pillars of the multi-in-one osteotomy plate and the distance from the central pillar to the posterior condyle reference surface using a measuring instrument.

[0176] In one embodiment, obtaining the center-to-center distance between the two central pillars of the all-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, may include: acquiring feature points on the central pillars of the all-in-one osteotomy plate and the posterior condyle groove of the osteotomy plate respectively using a digital probe instrument; performing image fitting on the acquired feature points to obtain the fitting result; and determining the center-to-center distance between the two central pillars of the all-in-one osteotomy plate, and the distance from the central pillar to the posterior condyle reference surface, based on the fitting result.

[0177] This application also provides a specific implementation of an electronic device capable of implementing all steps of the control method in the above embodiments. The electronic device specifically includes: a processor, a memory, a communication interface, and a bus; wherein the processor, memory, and communication interface communicate with each other via the bus; the processor is used to call a computer program in the memory, and when the processor executes the computer program, it implements all steps of the control method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0178] Step 1: Control the robotic arm to cut the distal femur of the target object according to the distal osteotomy thickness and reference point;

[0179] Step 2: Measure the installation and positioning geometry parameters of the all-in-one osteotomy plate using the built-in measuring and positioning device;

[0180] Step 3: Based on the installation positioning geometry parameters and the posterior condyle reference plane, perform the mounting hole positioning, drilling, and osteotomy plate installation;

[0181] Step 4: After the installation of the multi-in-one osteotomy plate is completed, perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object.

[0182] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the control method in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the control method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0183] Step 1: Control the robotic arm to cut the distal femur of the target object according to the distal osteotomy thickness and reference point;

[0184] Step 2: Measure the installation and positioning geometry parameters of the all-in-one osteotomy plate using the built-in measuring and positioning device;

[0185] Step 3: Based on the installation positioning geometry parameters and the posterior condyle reference plane, perform the mounting hole positioning, drilling, and osteotomy plate installation;

[0186] Step 4: After the installation of the multi-in-one osteotomy plate is completed, perform posterior condylar osteotomy, anterior condylar osteotomy, anterior oblique osteotomy, and posterior oblique osteotomy on the target object.

[0187] As described above, the embodiments of this application include a measuring and positioning device for locating the mounting holes of the all-in-one osteotomy plate. This allows for the integration of robot-assisted partial osteotomy, robot-assisted positioning and drilling, and the all-in-one osteotomy plate, based on the publicly available technical parameters of the prosthesis, to jointly complete the entire assisted osteotomy process for the knee joint. The solution of this application does not require authorization from the prosthesis company for complete prosthesis geometric model parameters, thus meeting the osteotomy requirements of an open prosthesis platform and enabling precise and efficient knee replacement osteotomy.

[0188] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0189] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0190] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0191] While this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or end product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded.

[0192] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware components, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0193] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0194] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0195] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0196] The embodiments described in this specification can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The embodiments of this specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0197] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0198] The above description is merely an embodiment of the present specification and is not intended to limit the embodiments of the present specification. For those skilled in the art, various modifications and variations can be made to the embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present specification should be included within the scope of the claims of the embodiments of the present specification.

Claims

1. A robotic system, characterized by, The application relates to a kind of methods for installing and positioning multi-in-one osteotomy plate, comprising: Object platform, mechanical arm, measuring positioning device, wherein: The object platform is used for placing target objects; The measuring positioning device is used for measuring the installation positioning geometry parameters of the multi-in-one osteotomy plate; The mechanical arm is used for cutting the distal femoral surface of the target object according to the distal femoral surface osteotomy thickness and the reference datum point, and positioning, drilling and installing the osteotomy plate according to the installation positioning geometry parameters and the posterior condyle reference datum plane; The multi-in-one osteotomy plate is used for performing posterior condyle surface osteotomy, anterior condyle surface osteotomy, anterior slope surface osteotomy and posterior slope surface osteotomy on the target object.

2. The robotic system of claim 1, wherein, The measuring positioning device comprises a posterior condyle osteotomy slot and two center column installation holes, wherein: The posterior condyle osteotomy slot is used for aligning the posterior condyle osteotomy slot of the multi-in-one osteotomy plate; The two center column installation holes are used for matching installation with the center column of the multi-in-one osteotomy plate; The lateral adjustment mechanism is used for adjusting the distance between the two center column installation holes; The longitudinal adjustment mechanism is used for adjusting the distance between the center column installation hole and the posterior condyle osteotomy slot; In the lateral adjustment mechanism, a first scale gauge is arranged for real-time display of the center distance of the two center columns, and in the longitudinal adjustment mechanism, a second scale gauge is arranged for real-time display of the distance between the center column and the posterior condyle reference plane.

3. The robotic system of claim 1, wherein, The measuring positioning device comprises: An alignment positioning sheet is used for aligning the posterior condyle slot of the measuring positioning device with the posterior condyle osteotomy slot of the multi-in-one osteotomy plate to form a posterior condyle reference plane; A measuring instrument is used for measuring the center distance of the two center columns of the multi-in-one osteotomy plate and the distance between the center column and the posterior condyle reference plane.

4. The robotic system of claim 1, wherein, The measuring positioning device comprises a projection camera and a processor, wherein: The projection camera is used for taking an overhead view of the multi-in-one osteotomy plate; The processor is used for extracting the center distance of the two center columns of the multi-in-one osteotomy plate and the distance between the center column and the posterior condyle reference plane from the overhead view of the multi-in-one osteotomy plate.

5. The robotic system of claim 1, wherein, The multi-in-one osteotomy plate comprises: A plurality of osteotomy slots are used for robot-assisted osteotomy; A drilling guide slot is used for realizing drilling positioning of the center column of the multi-in-one osteotomy plate.

6. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to realize the steps of the following method: Control the mechanical arm to cut the distal femoral surface of the target object according to the distal femoral surface osteotomy thickness and the reference datum point; Measure the installation positioning geometry parameters of the multi-in-one osteotomy plate by the built-in measuring positioning device; Position, drill and install the osteotomy plate according to the installation positioning geometry parameters and the posterior condyle reference datum plane; After the installation of the multi-in-one osteotomy plate is completed, perform posterior condyle surface osteotomy, anterior condyle surface osteotomy, anterior slope surface osteotomy and posterior slope surface osteotomy on the target object.

7. The computer-readable storage medium of claim 6, wherein, Controlling the mechanical arm to cut the distal femoral surface of the target object according to the distal femoral surface osteotomy thickness and the reference datum point comprises: Setting the medial condyle distal cut point and the lateral condyle distal cut point as the reference datum points; Taking the plane formed by the reference datum points tangent to the distal femoral surface as the distal osteotomy reference plane; Translating the distal femoral surface along the normal line of the distal osteotomy reference plane by the distal femoral surface osteotomy thickness to form a distal osteotomy target plane; Controlling the mechanical arm to cut the distal femoral surface of the target object along the distal osteotomy target plane.

8. The computer-readable storage medium of claim 7, wherein, Setting the distal end cut point of the medial condyle and the distal end cut point of the lateral condyle as reference datum points, comprising: Obtaining the preoperative medical image of the target object, and setting the reference datum points on the medical image; Or, in the operation, scanning the bone surface of the target object by a probe, establishing a three-dimensional model of the femur, and setting the reference datum points on the three-dimensional model.

9. The computer-readable storage medium of claim 6, wherein, Measuring the installation and positioning geometric structure parameters of the multi-in-one osteotomy plate through the built-in measuring and positioning device, comprising: Obtaining the center distance of the two center columns of the multi-in-one osteotomy plate, and the distance from the center column to the posterior condyle reference surface; Taking the center distance of the two center columns of the multi-in-one osteotomy plate and the distance from the center column to the posterior condyle reference surface as the installation and positioning geometric structure parameters of the multi-in-one osteotomy plate.

10. The computer-readable storage medium of claim 9, wherein, According to the installation and positioning geometric structure parameters and the posterior condyle surface reference datum, performing installation hole positioning, drilling operation and osteotomy plate installation, comprising: Obtaining the most protruding point on the medial side of the posterior condyle surface and the most protruding point on the lateral side of the posterior condyle surface as the osteotomy reference datum; Forming a posterior condyle reference datum plane by tangentially cutting the posterior condyle surface of the femur through the osteotomy reference datum; Translating the posterior condyle osteotomy thickness along the normal vector of the posterior condyle reference datum plane to form a posterior condyle osteotomy target plane; Taking the posterior condyle osteotomy target plane as the reference, translating the distance from the center column to the posterior condyle reference surface along the normal vector to obtain the installation target plane of the center column of the osteotomy plate; Intersecting the installation target plane of the center column of the osteotomy plate with the femoral distal osteotomy target plane to obtain the center column drilling target axis of the osteotomy plate; According to the center distance of the two center columns and the center column drilling target axis of the osteotomy plate, determining the medial condyle drilling target axis and the lateral condyle drilling target axis; Controlling the mechanical arm to move to the target pose, so that the drilling guide groove of the multi-in-one osteotomy plate at the end of the mechanical arm is aligned with the medial condyle drilling target axis and the lateral condyle drilling target axis, to complete the medial condyle hole position drilling and the lateral condyle hole position drilling of the center column of the multi-in-one osteotomy plate.

11. The computer-readable storage medium of claim 10, wherein, After completing the medial condyle hole position drilling and the lateral condyle hole position drilling of the center column of the multi-in-one osteotomy plate, further comprising: Fixing and installing the multi-in-one osteotomy plate on the femoral distal surface along the drilled hole position.

12. The computer-readable storage medium of claim 9, wherein, Obtaining the center distance of the two center columns of the multi-in-one osteotomy plate and the distance from the center column to the posterior condyle reference surface, comprising: Aligning the posterior condyle groove of the measuring and positioning device with the posterior condyle osteotomy groove of the multi-in-one osteotomy plate through the positioning alignment device to form a reference reference surface; Adjusting the spacing between the center column installation holes through the transverse adjustment mechanism, and adjusting the spacing of the center column relative to the posterior condyle groove through the longitudinal adjustment mechanism, so that the two center holes of the measuring and positioning device are aligned with the two center columns of the multi-in-one osteotomy plate; Measuring the center distance of the two center columns of the multi-in-one osteotomy plate and the distance from the center column to the posterior condyle reference surface through the scale gauge of the measuring and positioning device.

13. The computer-readable storage medium of claim 9, wherein, Obtaining the center distance of the two center columns of the multi-in-one osteotomy plate and the distance from the center column to the posterior condyle reference surface, comprising: Controlling the positioning alignment device to be inserted into the posterior condyle osteotomy groove of the multi-in-one osteotomy plate to form the posterior condyle reference surface; Measuring the center distance of the two center columns of the multi-in-one osteotomy plate and the distance from the center column to the posterior condyle reference surface through the measuring instrument.

14. The computer-readable storage medium of claim 9, wherein, Obtaining the center distance of the two center columns of the all-in-one osteotomy plate, and the distance from the center column to the posterior condyle reference surface, comprising: Collecting feature points on the center column and the posterior condyle slot of the all-in-one osteotomy plate respectively by a digital probe instrument; Image fitting is performed on the collected feature points to obtain a fitting result; The center distance of the two center columns of the all-in-one osteotomy plate, and the distance from the center column to the posterior condyle reference surface are determined through the fitting result.

15. A control device characterized by comprising: Applied to a robot system, comprising: A control module for controlling a mechanical arm to cut the distal femoral surface of a target object according to the distal surface osteotomy thickness and the reference datum point; A measurement module for measuring the installation and positioning geometric structure parameters of the all-in-one osteotomy plate through an internal measurement and positioning device; An installation module for performing installation hole positioning, punching operation and osteotomy plate installation according to the installation and positioning geometric structure parameters and the posterior condyle reference datum plane; An osteotomy module for performing distal femoral condyle surface osteotomy, anterior condyle surface osteotomy, anterior slope surface osteotomy and posterior slope surface osteotomy on the target object after the installation of the all-in-one osteotomy plate is completed.

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