Surgical robot control method and device for orthopedic trauma repair

Abstract

The invention provides a surgical robot control method, device and equipment for orthopedic trauma repair and a computer readable storage medium. The surgical robot control method is applied to an orthopedic surgery robot system, the orthopedic surgery robot system comprises at least one mechanical arm used for assisting orthopedic surgery operation, and the surgical robot control method used for orthopedic trauma repair comprises the steps that a medical image of a trauma part is obtained; performing intraoperative planning according to the medical image of the wound part, and determining an orthopedic wound fixing scheme; according to the orthopedic trauma fixing scheme, the end effector of at least one mechanical arm is moved to the operation position, and the end effector is controlled to assist in orthopedic trauma repairing operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of orthopedic trauma repair, and particularly relates to a surgical robot control method, device and equipment for orthopedic trauma repair and a computer readable storage medium. BACKGROUND

[0002] With the rapid development of AI technology and surgical robot technology, more and more orthopedic surgical robots have entered the operating room to assist doctors in various types of orthopedic surgeries.

[0003] When using an orthopedic surgical robot to perform an orthopedic surgery, it is often necessary to perform preoperative planning according to medical images such as CT images of a patient before the surgery, and to perform registration, osteotomy and other surgical operations according to the preoperative planning content during the surgery. After the entire process is completed, a relatively satisfactory surgical result can be obtained, but a lot of time is consumed. For relatively simple surgical procedures such as orthopedic trauma repair, this process requires a lot of time and effort, resulting in low surgical efficiency, which is not conducive to the promotion of orthopedic surgical robots in orthopedic surgeries.

[0004] Therefore, how to use an orthopedic surgical robot to perform an orthopedic trauma repair surgery more quickly and accurately is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0005] The embodiments of the present application provide a surgical robot control method, device and equipment for orthopedic trauma repair and a computer readable storage medium, which can more accurately determine an intraoperative planning scheme, and then quickly and accurately fix a trauma site during the surgery.

[0006] In a first aspect, the embodiments of the present application provide a surgical robot control method for orthopedic trauma repair, which is applied to an orthopedic surgical robot system, the orthopedic surgical robot system comprising at least one mechanical arm for assisting orthopedic surgical operations; the surgical robot control method comprises:

[0007] obtaining medical images of a trauma site;

[0008] performing intraoperative planning according to the medical images of the trauma site to determine an orthopedic trauma fixation scheme;

[0009] moving an end effector of the at least one mechanical arm to a surgical position according to the orthopedic trauma fixation scheme, and controlling the end effector to assist in orthopedic trauma repair operations.

[0010] Optionally, in the case where the orthopedic surgical robot system comprises one mechanical arm, the moving of the end effector of the at least one mechanical arm to the surgical position according to the orthopedic trauma fixation scheme and the controlling of the end effector to assist in orthopedic trauma repair operations comprise:

[0011] The screw placement guide is moved to the surgical position according to the orthopedic trauma fixation protocol to assist in the screw placement and fixation procedure; or,

[0012] According to the orthopedic trauma fixation plan, the orthopedic fixation instruments are moved to the surgical position to assist in the orthopedic trauma repair operation.

[0013] Optionally, in the case of an orthopedic surgical robot system comprising two robotic arms, the step of moving the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation scheme, and controlling the end effector to assist in orthopedic trauma repair operations, includes:

[0014] According to the orthopedic trauma fixation plan, the first end effector of the first robotic arm is moved to the first surgical position, and the first end effector is controlled to assist in the orthopedic trauma repair operation; and,

[0015] According to the orthopedic trauma fixation plan, the second end effector of the second robotic arm is moved to the second surgical position, and the second end effector is controlled to assist in the orthopedic trauma repair operation.

[0016] Optionally, the orthopedic trauma fixation scheme includes:

[0017] The first robotic arm moves the staple placement guide to the first ready position of the surgical site;

[0018] The second robotic arm moves the screw placement power tool to the second ready position of the surgical site;

[0019] Powered screw placement tools are used to assist doctors in inserting Kirschner wires or bone screws into the wound site for wound fixation.

[0020] Optionally, the orthopedic trauma fixation scheme includes:

[0021] The first robotic arm uses a bone clamp to help fix the wound site;

[0022] The second robotic arm moves the staple placement guide to the second ready position of the surgical site;

[0023] A pin guide is used to assist doctors in placing Kirschner wires or bone screws into the wound site for wound fixation.

[0024] Optionally, the surgical robot control method further includes:

[0025] Real-time monitoring of force feedback data at the end effector of each robotic arm;

[0026] When abnormal data is detected in the force feedback data, an emergency stop or rollback operation is triggered.

[0027] Optionally, moving the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation protocol includes:

[0028] In the case of a surgical robot comprising multiple robotic arms, the motion path of each robotic arm is calculated separately, and the robotic arms are controlled to move sequentially; or,

[0029] Within the respective motion area of ​​each robotic arm, the motion path of each robotic arm is calculated, and each robotic arm is controlled to move simultaneously.

[0030] Secondly, embodiments of this application provide a surgical robot navigation and positioning device for orthopedic trauma repair, comprising:

[0031] The acquisition module is used to acquire medical images of the trauma site;

[0032] The intraoperative planning module is used to plan the operation based on medical images of the trauma site and determine the fixation plan for orthopedic trauma.

[0033] The control module is used to move the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation plan, and to control the end effector to assist in the orthopedic trauma repair operation.

[0034] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0035] When the processor executes the computer program instructions, it implements a surgical robot control method for orthopedic trauma repair.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement a surgical robot control method for orthopedic trauma repair.

[0037] The surgical robot control method, apparatus, device, and computer-readable storage medium for orthopedic trauma repair according to the embodiments of this application can more accurately determine the preoperative planning scheme and then accurately remove the lesion during the operation.

[0038] This surgical robot control method is applied to an orthopedic surgical robot system, which includes at least one robotic arm for assisting orthopedic surgical operations; the surgical robot control method includes:

[0039] Obtain medical images of the wound site;

[0040] Intraoperative planning is conducted based on medical images of the trauma site to determine the orthopedic trauma fixation plan;

[0041] According to the orthopedic trauma fixation protocol, the end effector of at least one robotic arm is moved to the surgical position, and the end effector is controlled to assist in the orthopedic trauma repair operation. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a surgical robot control method for orthopedic trauma repair according to an embodiment of this application; Figure 2 This is a schematic diagram of the intraoperative positioning during the use of a surgical robot control method for orthopedic trauma repair provided in one embodiment of this application;

[0044] Figure 3 This is a schematic diagram of a dual-arm surgical robot adapted to a surgical robot control method for orthopedic trauma repair provided in one embodiment of this application;

[0045] Figure 4 This is a schematic diagram of an interface displaying the difference data between the real-time pose and the desired pose during the use of a surgical robot control method for orthopedic trauma repair provided in one embodiment of this application;

[0046] Figure 5 This is a schematic diagram of a screw placement guide during the use of a surgical robot control method for orthopedic trauma repair according to an embodiment of this application;

[0047] Figure 6 This is a schematic diagram of the structure of a surgical robot navigation and positioning device for orthopedic trauma repair provided in one embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0049] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, 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, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0051] To address the problems of the prior art, embodiments of this application provide a surgical robot control method, apparatus, device, and computer-readable storage medium for orthopedic trauma repair. The surgical robot control method for orthopedic trauma repair provided in this application embodiment is described below.

[0052] Figure 1 A flowchart illustrating a surgical robot control method for orthopedic trauma repair according to an embodiment of this application is shown. The surgical robot control method is applied to an orthopedic surgical robot system, which includes at least one robotic arm for assisting orthopedic surgical operations; such as Figure 1 As shown, the surgical robot control method includes:

[0053] S101. Obtain medical images of the wound site.

[0054] S102. Based on medical images of the trauma site, conduct intraoperative planning and determine the orthopedic trauma fixation plan.

[0055] S103. According to the orthopedic trauma fixation plan, move the end effector of at least one robotic arm to the surgical position and control the end effector to assist in the orthopedic trauma repair operation.

[0056] Figure 2This is a schematic diagram of the intraoperative positioning during the use of a surgical robot control method for orthopedic trauma repair provided in one embodiment of this application.

[0057] In some embodiments, the surgical robot control method for orthopedic trauma repair can be applied to a surgical robot navigation and positioning system for orthopedic trauma repair. Figure 2 In this embodiment, the surgical robot navigation and positioning system for orthopedic trauma repair can be deployed on the main control console, where robot engineers or doctors can perform intraoperative image registration, intraoperative planning, robotic arm control, and other operations. In practical applications, the functional modules of the surgical robot navigation and positioning system for orthopedic trauma repair can also be deployed on different devices as needed, and this embodiment does not limit this.

[0058] In some embodiments, when the orthopedic surgical robot system includes a robotic arm, the step of moving the end effector of at least one robotic arm to the surgical position according to an orthopedic trauma fixation scheme, and controlling the end effector to assist in orthopedic trauma repair operations, includes:

[0059] The screw placement guide is moved to the surgical position according to the orthopedic trauma fixation plan to assist in the screw placement and fixation operation; or, the orthopedic fixation instrument is moved to the surgical position according to the orthopedic trauma fixation plan to assist in the orthopedic trauma repair operation.

[0060] In some embodiments, when the orthopedic surgical robot system includes two robotic arms, the step of moving the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation scheme and controlling the end effector to assist in the orthopedic trauma repair operation includes: moving the first end effector of the first robotic arm to the first surgical position according to the orthopedic trauma fixation scheme and controlling the first end effector to assist in the orthopedic trauma repair operation; and moving the second end effector of the second robotic arm to the second surgical position according to the orthopedic trauma fixation scheme and controlling the second end effector to assist in the orthopedic trauma repair operation.

[0061] Figure 3 One embodiment of this application provides a dual-arm surgical robot adapted to a surgical robot control method for orthopedic trauma repair. The dual-arm surgical robot includes a first robotic arm, a second robotic arm, and a navigation and positioning system. The first robotic arm and the second robotic arm can independently or cooperate with each other to assist in the corresponding surgical operations.

[0062] In some embodiments, the orthopedic trauma fixation scheme includes: a first robotic arm moving a screw placement guide to a first preparatory position of the surgical location; a second robotic arm moving a screw placement power tool to a second preparatory position of the surgical location; the screw placement power tool is used to assist the physician in placing Kirschner wires or bone screws into the trauma site for trauma fixation.

[0063] In some embodiments, the orthopedic trauma fixation scheme includes: a first robotic arm assisting in fixing the trauma site with a bone clamp; a second robotic arm moving a pin placement guide to a second preparatory position of the surgical location; the pin placement guide is used to assist the surgeon in placing Kirschner wires or bone screws into the trauma site for trauma fixation.

[0064] In some embodiments, when the end effector is moved to the surgical position according to the orthopedic trauma fixation scheme, real-time path planning can be performed on at least one robotic arm of the surgical robot based on the orthopedic trauma fixation scheme and real-time data acquired by the multi-view camera, generating real-time motion control commands corresponding to each robotic arm; and each robotic arm is controlled to move according to the real-time motion control commands to move the end effector to the surgical position.

[0065] The real-time acquisition data from the multi-view camera may include color image data, depth image data, target pose data, etc. The target pose data may be the pose data of a preset target such as an end effector, patient skeleton, or surgical robot.

[0066] When performing real-time path planning, path planning can be performed based on real-time path planning algorithms or models to achieve intelligent navigation and obstacle avoidance.

[0067] In some embodiments, the surgical robot control method further includes: real-time monitoring of force feedback data at the end of each robotic arm; and triggering an emergency stop or retraction operation when abnormal data is detected in the force feedback data.

[0068] Figure 4 This is a schematic diagram of an interface displaying the difference data between the real-time pose and the desired pose during the use of a surgical robot control method for orthopedic trauma repair provided in one embodiment of this application.

[0069] Figure 4 The data presented shows the differences for screw 1 out of the three screws, specifically the entry point deviation of 0.1 mm, exit point deviation of 0.1 mm, and angle deviation of 0.1°. Figure 4 The green lines in the interface indicate the actual pin placement path of the current end effector, which represents the current real-time pose of the end effector. Doctors can understand the current surgical progress based on the content presented on the interface.

[0070] In some embodiments, moving the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation scheme includes: when the surgical robot includes multiple robotic arms, calculating the motion path of each robotic arm and controlling each robotic arm to move sequentially; or, calculating the motion path of each robotic arm within the motion area corresponding to each robotic arm and controlling each robotic arm to move simultaneously.

[0071] Figure 5 This is a schematic diagram of a screw placement guide in the process of using a surgical robot control method for orthopedic trauma repair according to an embodiment of this application. By placing the screw placement guide at the surgical site, the screw placement operation at the surgical site can be assisted.

[0072] In some embodiments, in addition to intraoperative planning and surgical robot control as described above, preoperative planning can also be performed, and the robotic arm of the surgical robot can be controlled to assist in orthopedic trauma repair operations according to the preoperative planning scheme and intraoperative configuration steps.

[0073] During the preoperative planning process, preoperative medical images of at least one modality of the trauma site can be acquired, and preoperative planning can be carried out based on the acquired preoperative medical images of at least one modality of the trauma site to obtain a preoperative planning scheme.

[0074] In some embodiments, the preoperative planning scheme includes a fixation scheme and a repositioning scheme corresponding to the trauma site, and the preoperative planning module is further configured to obtain the fixation scheme and repositioning scheme corresponding to the trauma site according to the following steps:

[0075] Acquire medical images corresponding to the trauma site; segment the bones in the medical images and establish a 3D model of the bones; repair the broken bones at the trauma site, determine the rotation matrix of the broken bones, and construct a reduction scheme containing the rotation matrix of the broken bones; based on the trauma location after bone repair, determine the parameter configuration information of the trauma fixation device, and construct a fixation scheme containing the parameter registration information of the trauma fixation device.

[0076] In some embodiments, when repairing the fractured bone at the injury site and determining the rotation matrix of the fractured bone, the proximal fractured bone can be fitted to determine the fitted femoral head center point and femoral neck center point, and the femoral head-neck axis can be determined; the proximal fractured bone is the femoral head, and the distal fractured bone is the femoral shaft; the distal fractured bone is sampled and fitted to obtain the femoral shaft axis; the fracture surface point set of the proximal fractured bone and the fracture surface point set of the distal fractured bone are extracted; the rotation matrix of the femoral head is determined based on the fracture surface point set, the femoral shaft axis, and the femoral head-neck axis.

[0077] Specifically, when determining the rotation matrix of the femoral head based on the fracture surface point set, the femoral shaft axis, and the femoral head-neck axis, an initial rotation matrix of the femoral head can be generated; the neck-shaft angle can be calculated based on the femoral shaft axis and the adjusted femoral head-neck axis; the anteversion angle can be calculated based on the adjusted femoral head-neck axis and the reference plane; the rotation matrix can be iterated until the neck-shaft angle and the anteversion angle meet a preset angle range; the point set distance can be calculated based on the fracture surface point set of the femoral shaft and the iterated fracture surface point set of the femoral head; and the rotation matrix can be iterated again until the point set distance is minimized.

[0078] In other embodiments, when planning a fracture reduction scheme before surgery, the following steps can also be taken: acquiring medical images corresponding to the trauma site; inputting the medical images into a pre-trained fracture reduction model to obtain reduction schemes corresponding to each fracture in the trauma site.

[0079] The fracture reduction model includes a data processing module, a fracture identification and segmentation module, a fracture end 3D reconstruction and registration module, a reduction path planning module, and a scheme synthesis and output module. The data processing module performs image standardization, image denoising, image data enhancement, and orthopedic extraction (preliminary segmentation of the bone region to reduce soft tissue interference). The fracture identification and segmentation module can be an architecture with semantic segmentation capabilities, such as U-Net or nnU-Net, used for pixel-level segmentation and fracture classification, outputting a mask image with fracture lines and bone labels. Pixel-level segmentation includes accurately identifying each bone in the image and labeling the fracture lines. Fracture classification determines the fracture type (e.g., transverse, oblique, comminuted) and severity (displacement, angulation, rotation). The fracture end 3D reconstruction and registration module is used to construct a 3D skeletal model based on the input 2D image sequence. For limb fractures, it can automatically register the affected side bones with the mirror-symmetrical bones of the healthy side (using iterative nearest point algorithm or other deep learning algorithms), thereby accurately calculating the translation and rotation matrices of the distal fracture end relative to the target position, and outputting the 3D model of the affected side, the 3D template model of the healthy side, and displacement parameters. The reduction path planning module is used to plan the reduction path according to motion planning algorithms, finite element analysis, etc., to obtain the fracture reduction path. It can optimize the path through collision detection, path optimization algorithms, mechanical simulation algorithms, etc. The scheme synthesis and output module is used to fuse the analysis results of each input module and summarize them to generate reduction schemes corresponding to each fracture in the trauma site.

[0080] In this way, three-dimensional modeling and preoperative planning can be carried out based on multimodal preoperative medical images of the trauma site in the preoperative stage, and a preoperative planning scheme including orthopedic trauma reduction and fixation can be constructed. Orthopedic trauma repair can be carried out through intraoperative registration and intraoperative planning, so as to achieve efficient operation for complex orthopedic trauma repair scenarios and accurately and quickly assist doctors in completing orthopedic trauma repair.

[0081] Figure 6 This is a schematic diagram of a surgical robot navigation and positioning device for orthopedic trauma repair according to an embodiment of this application. The surgical robot navigation and positioning device for orthopedic trauma repair includes:

[0082] Acquisition module 601 is used to acquire medical images of the trauma site;

[0083] The intraoperative planning module 602 is used to perform intraoperative planning based on medical images of the trauma site and to determine the orthopedic trauma fixation plan.

[0084] The control module 603 is used to move the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation scheme, and to control the end effector to assist in the orthopedic trauma repair operation.

[0085] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0086] The electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0087] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0088] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 702 may include removable or non-removable (or fixed) media. Where suitable, memory 702 may be internal or external to an electronic device. In a particular embodiment, memory 702 may be a non-volatile solid-state memory.

[0089] In one embodiment, memory 702 may be read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0090] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the surgical robot control methods for orthopedic trauma repair in the above embodiments.

[0091] In one example, the electronic device may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0092] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0093] Bus 710 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0094] Furthermore, in conjunction with the surgical robot control method for orthopedic trauma repair described in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the surgical robot control methods for orthopedic trauma repair described in the above embodiments.

[0095] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0096] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0097] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0098] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in 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, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0099] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A surgical robot control method for orthopedic trauma repair, characterized in that, The surgical robot control method is applied to an orthopedic surgical robot system, which includes at least one robotic arm for assisting orthopedic surgical operations; the surgical robot control method includes: Obtain medical images of the wound site; Intraoperative planning is conducted based on medical images of the trauma site to determine the orthopedic trauma fixation plan; According to the orthopedic trauma fixation protocol, the end effector of at least one robotic arm is moved to the surgical position, and the end effector is controlled to assist in the orthopedic trauma repair operation.

2. The surgical robot control method for orthopedic trauma repair according to claim 1, characterized in that, In the case of an orthopedic surgical robot system that includes a robotic arm, the step of moving the end effector of at least one robotic arm to the surgical position according to an orthopedic trauma fixation scheme, and controlling the end effector to assist in orthopedic trauma repair operations, includes: The screw placement guide is moved to the surgical position according to the orthopedic trauma fixation protocol to assist in the screw placement and fixation procedure; or, According to the orthopedic trauma fixation plan, the orthopedic fixation instruments are moved to the surgical position to assist in the orthopedic trauma repair operation.

3. The surgical robot control method for orthopedic trauma repair according to claim 2, characterized in that, In the case of an orthopedic surgical robot system comprising two robotic arms, the step of moving the end effector of at least one robotic arm to the surgical position according to an orthopedic trauma fixation scheme, and controlling the end effector to assist in orthopedic trauma repair operations, includes: According to the orthopedic trauma fixation plan, the first end effector of the first robotic arm is moved to the first surgical position, and the first end effector is controlled to assist in the orthopedic trauma repair operation; and, According to the orthopedic trauma fixation plan, the second end effector of the second robotic arm is moved to the second surgical position, and the second end effector is controlled to assist in the orthopedic trauma repair operation.

4. The surgical robot control method for orthopedic trauma repair according to claim 3, characterized in that, The orthopedic trauma fixation plan includes: The first robotic arm moves the staple placement guide to the first ready position of the surgical site; The second robotic arm moves the screw placement power tool to the second ready position of the surgical site; Powered screw placement tools are used to assist doctors in inserting Kirschner wires or bone screws into the wound site for wound fixation.

5. The surgical robot control method for orthopedic trauma repair according to claim 3, characterized in that, The orthopedic trauma fixation plan includes: The first robotic arm uses a bone clamp to help fix the wound site; The second robotic arm moves the staple placement guide to the second ready position of the surgical site; A pin guide is used to assist doctors in placing Kirschner wires or bone screws into the wound site for wound fixation.

6. The surgical robot control method for orthopedic trauma repair according to claim 1, characterized in that, The surgical robot control method also includes: Real-time monitoring of force feedback data at the end effector of each robotic arm; When abnormal data is detected in the force feedback data, an emergency stop or rollback operation is triggered.

7. The surgical robot control method for orthopedic trauma repair according to claim 1, characterized in that, The method of moving the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation protocol includes: In the case of a surgical robot comprising multiple robotic arms, the motion path of each robotic arm is calculated separately, and the robotic arms are controlled to move sequentially; or, Within the respective motion area of ​​each robotic arm, the motion path of each robotic arm is calculated, and each robotic arm is controlled to move simultaneously.

8. A surgical robot control device for orthopedic trauma repair, characterized in that, include: The acquisition module is used to acquire medical images of the trauma site; The intraoperative planning module is used to plan the operation based on medical images of the trauma site and determine the fixation plan for orthopedic trauma. The control module is used to move the end effector of at least one robotic arm to the surgical position according to the orthopedic trauma fixation plan, and to control the end effector to assist in the orthopedic trauma repair operation.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the surgical robot control method for orthopedic trauma repair as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the surgical robot control method for orthopedic trauma repair as described in any one of claims 1-7.

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