A surgical robotic system and control method for periacetabular osteotomy

Abstract

This application provides a surgical robot system and control method for periacetabular osteotomy. The system includes: a preoperative planning module, used to generate a three-dimensional model of the hip joint based on the patient's hip joint medical images, and to perform personalized preoperative planning to determine the periacetabular osteotomy plan; the periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information; and a navigation and positioning module, used to register the intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint using an optical positioning instrument and an optical positioning frame to map the periacetabular osteotomy plan, track the pose of the surgical tools and the physical hip joint in real time, and display and compare the periacetabular osteotomy plan and the real-time osteotomy process on a display screen. In this application, through preoperative planning and intraoperative optical positioning navigation, the osteotomy status of the surgical tools can be tracked in real time during the operation, avoiding multiple medical imaging images, thereby greatly improving the surgical outcome.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot system for periacetabular osteotomy and a control method. BACKGROUND

[0002] Periacetabular osteotomy is a common and complex hip-preserving surgical procedure. Traditional hip-preserving surgery usually requires the surgeon to rely on multiple medical imaging images during the operation to achieve complete osteotomy around the acetabulum. SUMMARY

[0003] To solve the above problems, the first aspect of the present application provides a surgical robot system for periacetabular osteotomy, comprising: a preoperative planning module and a navigation positioning module; The preoperative planning module is used to generate a three-dimensional model of the hip joint according to the medical image of the patient's hip joint, and to perform individualized preoperative planning for the patient to determine the periacetabular osteotomy scheme; the periacetabular osteotomy scheme includes osteotomy surface planning information and acetabular adjustment information; The navigation positioning module is used to register the in-situ entity hip joint and the preoperative three-dimensional model of the hip joint according to the optical positioning instrument and the optical positioning frame, to map the periacetabular osteotomy scheme, to track the pose of the surgical tool and the entity hip joint in real time, and to display and compare the periacetabular osteotomy scheme and the real-time osteotomy process on the display screen.

[0004] The second aspect of the present application provides a surgical robot control method for periacetabular osteotomy, comprising: According to the medical image of the patient's hip joint, a three-dimensional model of the hip joint is generated, and individualized preoperative planning is performed for the patient to determine the periacetabular osteotomy scheme; the periacetabular osteotomy scheme includes osteotomy surface planning information and acetabular adjustment information; According to the optical positioning instrument and the optical positioning frame, the in-situ entity hip joint and the preoperative three-dimensional model of the hip joint are registered to map the periacetabular osteotomy scheme, to track the pose of the surgical tool and the entity hip joint in real time, and to display and compare the periacetabular osteotomy scheme and the real-time osteotomy process on the display screen.

[0005] The third aspect of the present application provides an electronic device, comprising: a memory and a processor; The memory is used to store programs; The processor is coupled to the memory and is used to execute the programs for: According to the medical image of the patient's hip joint, a three-dimensional model of the hip joint is generated, and individualized preoperative planning is performed for the patient to determine the periacetabular osteotomy scheme; the periacetabular osteotomy scheme includes osteotomy surface planning information and acetabular adjustment information; The intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint are registered using an optical positioning instrument and an optical positioning frame to map the osteotomy plan around the acetabulum. The position of the surgical tools and the physical hip joint are tracked in real time, and the osteotomy plan around the acetabulum and the real-time osteotomy process are displayed and compared on the display screen.

[0006] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the surgical robot control method for periacetabular osteotomy described above.

[0007] In this application, preoperative planning and intraoperative optical positioning navigation are used to track the osteotomy of surgical tools in real time during the operation, avoiding multiple medical irradiation images and thus greatly improving the surgical outcome.

[0008] In this application, through preoperative planning, intraoperative navigation, and robotic arm osteotomy, the osteotomy status of the surgical tools can be tracked in real time during the operation, and the osteotomy can be completed automatically. This not only avoids multiple medical irradiation images, but also achieves precise planning and precise osteotomy, greatly improving the surgical outcome. Attached Figure Description

[0009] Figure 1 This is an architectural diagram of a surgical robot system for periacetabular osteotomy according to an embodiment of this application; Figure 2 This is a schematic diagram of the preoperative planning module of a surgical robot system for periacetabular osteotomy according to an embodiment of this application; Figure 3 This is a schematic diagram of the osteotomy surface planning of a surgical robot system for periacetabular osteotomy according to an embodiment of this application; Figure 4 This is a schematic diagram of the equivalent sphere of the surgical robot system for periacetabular osteotomy according to an embodiment of this application; Figure 5 This is a schematic diagram of the right side osteotomy of the periacetabular osteotomy using a surgical robot system for periacetabular osteotomy according to an embodiment of this application. Figure 6 This is a flowchart of a surgical robot control method for periacetabular osteotomy according to an embodiment of this application; Figure 7 This is an architectural diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0010] To make the above-mentioned objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application will be described in detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0011] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0012] For ease of understanding, the following terms may be used and are explained below: This application provides a surgical robot system for periacetabular osteotomy, the specific solution of which is as follows: Figures 1-5 As shown.

[0013] Combination Figure 1 The diagram shown is an architectural diagram of a surgical robot system for periacetabular osteotomy according to an embodiment of this application; wherein the surgical robot system for periacetabular osteotomy includes: a preoperative planning module and a navigation and positioning module; The preoperative planning module is used to generate a three-dimensional model of the hip joint based on the patient's hip joint medical images, and to perform personalized preoperative planning for the patient, determining the osteotomy plan around the acetabulum; the osteotomy plan around the acetabulum includes osteotomy surface planning information and acetabular adjustment information; The navigation and positioning module is used to register the intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint based on the optical positioning instrument and optical positioning frame, so as to map the osteotomy plan around the acetabulum, track the position of surgical tools and physical hip joint in real time, and display and compare the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen.

[0014] In this application, preoperative planning and intraoperative optical positioning navigation are used to track the osteotomy of surgical tools in real time during the operation, avoiding multiple medical irradiation images and thus greatly improving the surgical outcome.

[0015] In one implementation, combined with Figure 1 As shown, the surgical robot system for periacetabular osteotomy further includes: The robotic arm control module is used to plan the motion path and / or osteotomy path of the robotic arm based on the pose of the surgical tools tracked by the navigation and positioning module and the mapped osteotomy scheme around the acetabulum, and to control the robotic arm to execute the motion path and / or osteotomy path.

[0016] In this application, through preoperative planning, intraoperative navigation, and robotic arm osteotomy, the osteotomy status of the surgical tools can be tracked in real time during the operation, and the osteotomy can be completed automatically. This not only avoids multiple medical irradiation images, but also achieves precise planning and precise osteotomy, greatly improving the surgical outcome.

[0017] In this application, it should be noted that osteotomy in the surgical robot system can be performed solely through preoperative planning and intraoperative navigation positioning. In this case, a positioning frame is installed on the osteotomy tool, and the position of the surgical tool is displayed in real time on a screen based on this positioning frame. Medical personnel can move the osteotomy tool based on the display on the screen to perform the osteotomy. Furthermore, by introducing a robotic arm control module, the corresponding osteotomy can also be performed by controlling the surgical tool mounted on the end effector of the robotic arm. Both methods share similarities in their specific implementation methods, namely, the ability to share the preoperative planning module and the navigation positioning module. Therefore, in this application, this aspect will only be described sequentially without a comparative description of the two methods.

[0018] In one implementation, the preoperative planning module specifically includes: a three-dimensional skeleton model generation submodule, a key point annotation submodule, and an osteotomy surface planning submodule; The 3D skeleton model generation submodule is used to acquire medical images of the hip joint, perform segmentation based on a convolution model, obtain segmentation results, and reconstruct a 3D skeleton model of the hip joint based on the segmentation results. The key point annotation submodule is used to manually or automatically annotate the key points of the acetabulum and acetabular joint of the hip joint. The osteotomy surface planning submodule is used to manually plan multiple osteotomy surfaces around the acetabulum, or, based on the manual planning, to provide suitable areas for adjacent osteotomy surfaces to guide the planning, or to automatically plan multiple osteotomy surfaces to ensure that the bone blocks do not collide or overlap with the original acetabulum after movement.

[0019] In one implementation, the osteotomy surface planning submodule is used to automatically plan multiple osteotomy surfaces, including: The adjustment information for the acetabulum is determined based on the direction of the acetabular opening, the location and extent of the defect being covered; Based on the three-dimensional model of the hip joint, a simulation environment, state space, and reward function for reinforcement learning are constructed. The osteotomy position of the acetabulum is trained based on reinforcement learning and acetabular adjustment information. After training is completed, the osteotomy location with the highest cumulative reward is selected as the osteotomy surface planning information.

[0020] In one embodiment, the surgical robot system for periacetabular osteotomy further includes a remote 5G module; The remote 5G module is connected to the preoperative planning module and is used to perform remote personalized preoperative planning for the patient based on the patient's hip joint medical images, and to determine the patient's periacetabular osteotomy plan. Alternatively, it can be connected to a navigation and positioning module for remote mapping of periacetabular osteotomy plans, as well as for real-time tracking and remote display of the pose of surgical tools and the physical hip joint.

[0021] In one embodiment, the periacetabular osteotomy plan includes at least a first osteotomy surface, a second osteotomy surface, a third osteotomy surface, and a fourth osteotomy surface; the robotic arm control module is used to plan the motion path of the robotic arm and / or the osteotomy path based on the pose of the surgical tools tracked by the navigation and positioning module and the mapped periacetabular osteotomy plan, and to control the robotic arm to execute the motion path and / or the osteotomy path; specifically used for: Obtain the mapped first, second, third, and fourth osteotomy surfaces; Generate the motion path of the robotic arm from its current position to the ready position of the first osteotomy surface, the second osteotomy surface, the third osteotomy surface, and the fourth osteotomy surface; Determine the safety boundaries of the first, second, third, and fourth osteotomy surfaces, and plan the osteotomy path within the safety boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

[0022] It should be noted that in this application, the osteotomy path within the safety boundary is planned, specifically the osteotomy surface of the robotic arm and the safety boundary are planned, and the robotic arm is controlled to execute the osteotomy path (complete the osteotomy within the safety boundary) by force and position combination control.

[0023] The specific control process includes: Obtain the end effector force of the robotic arm; Obtain information on the pose changes of the surgical site; The system decomposes the end-effector force and pose change information and generates comprehensive control parameters based on the decomposition results to control the robotic arm.

[0024] The decomposition of end-effector force and pose change information, and the generation of comprehensive control parameters based on the decomposition results, include: Obtain information about the osteotomy plane; The end force is decomposed according to the osteotomy plane to obtain the force control parameters parallel to the osteotomy plane; The pose change information is decomposed according to the osteotomy plane to obtain the position control parameters; the position control parameters include pose parameters and position parameters perpendicular to the osteotomy plane; By coupling the force control parameters and the position control parameters, a comprehensive control parameter is obtained.

[0025] After decomposing the end force according to the osteotomy plane to obtain force control parameters parallel to the osteotomy plane, the method further includes: Obtain the security boundary; The force control parameters are adjusted based on the safety boundary.

[0026] The correction of the force control parameters based on the safety boundary includes: Establish the correspondence between proximity distance and correction factor; Obtain the proximity distance between the vertex of the robotic arm's end effector and the safety boundary; When the approach distance is less than the distance threshold, the correction coefficient is used as a weight to update the force control parameters.

[0027] In one implementation, the security boundary is composed of a plurality of consecutively set virtual points; obtaining the current normal vector of the security boundary includes: Identify multiple virtual points adjacent to the vertex of the robotic arm's end effector; Determine the corresponding independent normal vectors based on adjacent virtual points; Assign weights to each independent normal vector, and determine the current normal vector based on the weights.

[0028] In this process, multiple virtual points closest to the end tool are selected; the perpendicular line connecting two adjacent virtual points determines their corresponding independent normal vectors; each pair of adjacent virtual points corresponds to an independent normal vector; each independent normal vector is assigned a weight based on the distance and direction between the two adjacent virtual points and the end tool; the independent normal vectors are weighted to obtain the total normal vector, which is the current normal vector.

[0029] Among them, multiple virtual points closest to the end tool can be selected by using a distance threshold.

[0030] In one embodiment, the surgical robot system for periacetabular osteotomy further includes a virtual projection module; The virtual projection module is connected to the navigation and positioning module and is used to virtually project the osteotomy plan around the acetabulum onto the actual hip joint during the operation, as well as to track the position and posture of the surgical tools and the actual hip joint in real time and display them virtually. Alternatively, it can be connected to a remote 5G module to virtually project the guidance actions of a remote expert onto the physical hip joint or the robotic arm's operating position, enabling real-time guidance from a remote expert during surgery.

[0031] Among them, virtual projection is AR / VR projection; VR projection displays three-dimensional content in the VR glasses worn by medical staff. Medical staff can switch the screen by eye movement, blinking or voice operation, so that medical staff can clearly observe the actual operation during the operation and the preoperative planning mapped, so as to achieve better observation and surgical results.

[0032] AR projection projects three-dimensional content onto the actual hip joint during surgery, allowing medical staff to directly observe the actual surgical procedure and the mapped preoperative plan on the hip joint, thus achieving better observation and surgical outcomes.

[0033] The AR / VR projection module can be a head-mounted display device, a projection display device, or a combination thereof.

[0034] In one implementation, combined with Figure 2 As shown, the preoperative planning module specifically includes: a three-dimensional skeleton model generation submodule, a key point annotation submodule, and an osteotomy surface planning submodule; The 3D skeleton model generation submodule is used to acquire medical images of the hip joint, perform segmentation based on a convolution model, obtain segmentation results, and reconstruct a 3D skeleton model of the hip joint based on the segmentation results. The key point annotation submodule is used to manually or automatically annotate the key points of the acetabulum and acetabular joint of the hip joint. The osteotomy surface planning submodule is used to manually plan multiple osteotomy surfaces around the acetabulum, or, based on the manual planning, to provide suitable areas for adjacent osteotomy surfaces to guide the planning, or to automatically plan multiple osteotomy surfaces to ensure that the bone blocks do not collide or overlap with the original acetabulum after movement.

[0035] In one implementation, combined with Figure 4 As shown, the osteotomy surface planning submodule is used to provide suitable areas for adjacent osteotomy surfaces to guide the planning based on manual planning, including: Based on the annotated 3D skeletal model of the hip joint, the adjustment information of the acetabulum is determined; The adjustment of the acetabulum is equivalent to the rotation of a ball with the center of the acetabulum as its center. Based on the adjustment information of the acetabulum, determine the rotation direction of the corresponding ball; Based on artificial planning, suitable areas for adjacent osteotomy surfaces are determined in the direction of sphere rotation.

[0036] In one implementation, adjustment information for the acetabulum is determined based on an annotated three-dimensional skeletal model of the hip joint, including: Calculate the lateral central edge angle, acetabular roof tilt angle, and head-acetabular coverage based on key points of the acetabulum and femur; The direction of the acetabular opening is assessed by the outer central edge angle and the acetabular roof tilt angle. The extent and location of the defect are determined by the coverage rate of the cephaladum. Based on the assessment results of the acetabular opening direction, the location and extent of the covered defect, and the standard acetabular tilt angle, the adjustment information of the acetabulum is determined.

[0037] In one implementation, combined with Figure 3 As shown, the navigation and positioning module specifically includes: a probe osteotomy tool accuracy verification submodule, an acetabular model registration submodule, and an osteotomy real-time positioning submodule. The probe osteotomy tool accuracy verification submodule is part of the preoperative preparation process. Specifically, it uses an optical navigator, an optical positioning frame mounted on the probe and osteotomy tool, and an accuracy verification device with the optical positioning frame to verify the accuracy of the probe and osteotomy tool. The acetabular model registration submodule, based on the optical navigation system, probe, and the intraoperative solid acetabular, registers the intraoperative solid acetabular with the preoperative 3D model of the hip joint, determines the corresponding registration matrix, and maps the osteotomy plan around the acetabular onto the intraoperative solid acetabular based on the registration matrix. The real-time osteotomy positioning submodule, based on an optical navigator, a physical acetabulum equipped with an optical positioning frame, and osteotomy tools, tracks the position and orientation of the osteotomy tools and the physical hip joint in real time, determines the differences between the osteotomy plan around the acetabulum, and displays and compares the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen.

[0038] In one embodiment, the navigation and positioning module further includes: an osteotomy block rotation submodule and an osteotomy block pin placement module; The osteotomy block rotation submodule, based on an optical navigator and a bone block equipped with an optical positioning frame, tracks the current pose of the bone block in real time, determines the difference between the pose and the planned pose in the osteotomy scheme around the acetabulum, and displays and compares the osteotomy scheme around the acetabulum and the real-time osteotomy process on the display screen. The osteotomy bone block screw placement module, based on an optical navigator and a screw placement tool equipped with an optical positioning frame, tracks the current pose of the bone block and the screw placement tool in real time, determines the difference between the screw placement position and the planned screw placement position in the periacetabular osteotomy scheme, or simply displays the current pose of the screw placement tool and the extended screw placement channel, and displays and compares the periacetabular osteotomy scheme and the real-time osteotomy process on the display screen.

[0039] The osteotomy block rotation submodule displays the difference between the current position of the bone block and the planned position in the hip-preserving surgery plan on the screen. Medical staff can adjust the clamping instruments to continuously reduce the difference until they match, thus achieving accurate rotation of the bone block according to the plan.

[0040] The osteotomy bone block nail placement module is used to fix the bone block after it has been rotated to the correct position with nails.

[0041] In one embodiment, the key points marked on the acetabulum of the hip joint specifically include: the pubic symphysis, the lower edge of the iliac wing, the lower edge of the anterior superior iliac spine, the point above the anterolateral edge of the acetabulum, the center of rotation, the iliac bone registration point, and the iliac bone verification point.

[0042] The key points marked on the acetabulum of the hip joint are combinations of one or more of the aforementioned key points. These key points are used for at least one of the following: acetabular 3D model construction, hip joint spatial registration, rotation center calculation, preoperative planning, and intraoperative navigation and positioning.

[0043] The iliac bone registration points include multiple points, including at least multiple points located on the edge of the iliac bone and multiple points located on the surface of the iliac bone.

[0044] The rotation center is generated by selecting multiple points on the inner wall of the acetabulum and performing fitting calculations based on the selected points.

[0045] The iliac bone verification point is used to verify the accuracy of the iliac bone registration results.

[0046] In one embodiment, the key points marked on the femur of the hip joint specifically include: above the lesser trochanter, the center of the femoral neck, and the center of the femoral head.

[0047] Similarly, the key points marked on the femur of the hip joint are combinations of one or more of the aforementioned key points. These key points are used for at least one of the following: femoral 3D model construction, spatial registration, axis determination, preoperative planning, and intraoperative navigation and positioning.

[0048] The femoral head center is used to determine the femoral rotation center or mechanical axis reference point; the femoral neck center is used to determine the femoral axis and the feeding direction of surgical instruments.

[0049] In one embodiment, the multiple osteotomy surfaces of the periacetabular osteotomy specifically include: a vertical section of the anterior superior iliac spine, a cross section of the anterior superior iliac spine, a lateral section of the iliac bone at the acetabular roof, a lateral section of the quadrilateral body, a lateral section of the ischium, and a lateral section of the pubis.

[0050] Multiple osteotomy surfaces are used to form a complete osteotomy contour around the acetabulum to assist in the separation, rotation, and reduction of the acetabular bone fragments.

[0051] The multiple osteotomy surfaces are defined based on the patient's individualized acetabular 3D model and are associated with the key point annotation results to determine the spatial position, orientation, and range of each osteotomy surface.

[0052] In one embodiment, the real-time osteotomy positioning submodule, based on an optical navigator, a solid acetabulum equipped with an optical positioning frame, and osteotomy tools, tracks the position and orientation of the osteotomy tools and the solid hip joint in real time, determines the differences from the osteotomy plan around the acetabulum, and displays and compares the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen, including: The optical positioning frame is used to identify the field of view of the optical navigator, and the type of osteotomy tool is determined based on the optical positioning frame and displayed on the screen in real time. Calculate the distance between the tip of the osteotomy tool and each osteotomy surface, determine the closest osteotomy surface, and highlight the osteotomy surface and the distance on the screen; Based on the preset osteotomy threshold, the distance is determined to be either an osteotomy-accessible distance or an osteotomy-inaccessible distance, and is displayed using different colors; Within the osteotomy distance, the trajectory of the osteotomy tool's end point is recorded and displayed using a special color; Repeat the above steps to record and display the osteotomy trajectory of all osteotomy tools in real time until the osteotomy is completed.

[0053] This application provides a control method for the surgical robot system for periacetabular osteotomy described above. The specific scheme of this method is as follows: Figure 6 As shown below, the surgical robot control method for periacetabular osteotomy is described in detail.

[0054] Combination Figure 6 As shown, the surgical robot control method for the periacetabular osteotomy includes: S101, Based on the patient's hip joint medical images, generate a three-dimensional model of the hip joint, and perform personalized preoperative planning for the patient to determine the periacetabular osteotomy plan; the periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information; S102, based on the optical positioning instrument and optical positioning frame, registers the intraoperative solid hip joint and the preoperative three-dimensional model of the hip joint to map the osteotomy plan around the acetabulum, tracks the position of the surgical tools and the solid hip joint in real time, and displays and compares the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen.

[0055] In one embodiment, the surgical robot control method for periacetabular osteotomy further includes: S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped osteotomy scheme around the acetabulum, plans the motion path of the robotic arm and / or the osteotomy path, and controls the robotic arm to execute the motion path and / or the osteotomy path.

[0056] In one implementation, S101, based on the patient's hip joint medical images, a three-dimensional model of the hip joint is generated, and personalized preoperative planning is performed for the patient to determine the periacetabular osteotomy plan; the periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information, including: Medical images of the hip joint are acquired, segmentation is performed based on a convolutional model, and the segmentation results are obtained. A three-dimensional skeletal model of the hip joint is reconstructed based on the segmentation results. The key points of the acetabulum and acetabular joint of the hip joint can be manually or automatically annotated. Multiple osteotomy surfaces around the acetabulum can be manually planned, or, based on the manual planning, appropriate areas for adjacent osteotomy surfaces can be given to guide the planning, or multiple osteotomy surfaces can be automatically planned to ensure that the bone fragments do not collide or overlap with the original acetabulum after movement.

[0057] In one implementation, the osteotomy surface planning submodule is used to provide suitable areas for adjacent osteotomy surfaces to guide the planning based on manual planning, including: Based on the annotated 3D skeletal model of the hip joint, the adjustment information of the acetabulum is determined; The adjustment of the acetabulum is equivalent to the rotation of a ball with the center of the acetabulum as its center. Based on the adjustment information of the acetabulum, determine the rotation direction of the corresponding ball; Based on artificial planning, suitable areas for adjacent osteotomy surfaces are determined in the direction of sphere rotation.

[0058] In one embodiment, the surgical robot control method for periacetabular osteotomy further includes: The preoperative planning module is connected and used to remotely perform personalized preoperative planning for patients based on medical images of the patient's hip joint, and determine the osteotomy plan around the acetabulum. Alternatively, it can be connected to a navigation and positioning module for remote mapping of periacetabular osteotomy plans, as well as for real-time tracking and remote display of the pose of surgical tools and the physical hip joint.

[0059] In one embodiment, the periacetabular osteotomy plan includes at least a first osteotomy surface, a second osteotomy surface, a third osteotomy surface, and a fourth osteotomy surface; S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped periacetabular osteotomy plan, a motion path and / or osteotomy path for the robotic arm is planned, and the robotic arm is controlled to execute the motion path and / or osteotomy path; specifically used for: Obtain the mapped first, second, third, and fourth osteotomy surfaces; Generate the motion path of the robotic arm from its current position to the ready position of the first osteotomy surface, the second osteotomy surface, the third osteotomy surface, and the fourth osteotomy surface; Determine the safety boundaries of the first, second, third, and fourth osteotomy surfaces, and plan the osteotomy path within the safety boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

[0060] In one embodiment, the surgical robot control method for periacetabular osteotomy further includes: The navigation and positioning module is connected to virtually project the osteotomy plan around the acetabulum onto the actual hip joint during the operation, and to track the position and pose of the surgical tools and the actual hip joint in real time and display them virtually. Alternatively, it can be connected to a remote 5G module to virtually project the guidance actions of a remote expert onto the physical hip joint or the robotic arm's operating position, enabling real-time guidance from a remote expert during surgery.

[0061] In one embodiment, S102, the intraoperative solid hip joint and the preoperative three-dimensional model of the hip joint are registered according to the optical positioning device and the optical positioning frame to map the periacetabular osteotomy plan, track the pose of the surgical tools and the solid hip joint in real time, and display and compare the periacetabular osteotomy plan and the real-time osteotomy process on the display screen, including: The accuracy of the probe and osteotomy tool is verified by using an optical navigator, an optical positioning frame mounted on the probe and osteotomy tool, and an accuracy verification device with the optical positioning frame mounted on it. Based on the optical navigation system, probe, and the intraoperative solid acetabulum, the intraoperative solid acetabulum and the preoperative three-dimensional model of the hip joint are registered to determine the corresponding registration matrix, and the osteotomy plan around the acetabulum is mapped onto the intraoperative solid acetabulum based on the registration matrix. Based on an optical navigator, a solid acetabulum equipped with an optical positioning frame, and osteotomy tools, the system tracks the position and orientation of the osteotomy tools and the solid hip joint in real time, determines the differences from the osteotomy plan around the acetabulum, and displays and compares the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen.

[0062] In one embodiment, S102, the intraoperative solid hip joint and the preoperative three-dimensional model of the hip joint are registered according to the optical positioning device and the optical positioning frame to map the periacetabular osteotomy plan, track the pose of the surgical tools and the solid hip joint in real time, and display and compare the periacetabular osteotomy plan and the real-time osteotomy process on the display screen, and the method further includes: Based on an optical navigator and a bone block equipped with an optical positioning frame, the current position of the bone block is tracked in real time, the difference between the position and the planned position in the periacetabular osteotomy scheme is determined, and the periacetabular osteotomy scheme and the real-time osteotomy process are displayed and compared on the display screen. Based on an optical navigator and a screw placement tool equipped with an optical positioning frame, the current pose of the bone block and the screw placement tool are tracked in real time. The difference between the current pose and the planned screw placement position in the periacetabular osteotomy scheme is determined. Alternatively, only the pose of the current screw placement tool and the extended screw placement channel are displayed. The periacetabular osteotomy scheme and the real-time osteotomy process are displayed and compared on the display screen.

[0063] In one embodiment, the key points marked on the acetabulum of the hip joint specifically include: the pubic symphysis, the lower edge of the iliac wing, the lower edge of the anterior superior iliac spine, the point above the anterolateral edge of the acetabulum, the center of rotation, the iliac bone registration point, and the iliac bone verification point.

[0064] In one embodiment, the key points marked on the femur of the hip joint specifically include: above the lesser trochanter, the center of the femoral neck, and the center of the femoral head.

[0065] In one embodiment, the multiple osteotomy surfaces of the periacetabular osteotomy specifically include: a vertical section of the anterior superior iliac spine, a cross section of the anterior superior iliac spine, a lateral section of the iliac bone at the acetabular roof, a lateral section of the quadrilateral body, a lateral section of the ischium, and a lateral section of the pubis.

[0066] In one embodiment, the real-time osteotomy positioning submodule, based on an optical navigator, a solid acetabulum equipped with an optical positioning frame, and osteotomy tools, tracks the position and orientation of the osteotomy tools and the solid hip joint in real time, determines the differences from the osteotomy plan around the acetabulum, and displays and compares the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen, including: The optical positioning frame is used to identify the field of view of the optical navigator, and the type of osteotomy tool is determined based on the optical positioning frame and displayed on the screen in real time. Calculate the distance between the tip of the osteotomy tool and each osteotomy surface, determine the closest osteotomy surface, and highlight the osteotomy surface and the distance on the screen; Based on the preset osteotomy threshold, the distance is determined to be either an osteotomy-accessible distance or an osteotomy-inaccessible distance, and is displayed using different colors; Within the osteotomy distance, the trajectory of the osteotomy tool's end point is recorded and displayed using a special color; Repeat the above steps to record and display the osteotomy trajectory of all osteotomy tools in real time until the osteotomy is completed.

[0067] The surgical robot control method for periacetabular osteotomy provided in the above embodiments of this application corresponds to the surgical robot system for periacetabular osteotomy provided in the embodiments of this application. Therefore, the specific content of the method corresponds to the surgical robot system for periacetabular osteotomy. The specific content can be referred to the records in the surgical robot system for periacetabular osteotomy, which will not be repeated in this application.

[0068] The surgical robot control method for periacetabular osteotomy provided in the above embodiments of this application and the surgical robot system for periacetabular osteotomy provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by their stored applications.

[0069] Based on the same inventive concept, another embodiment of the present invention provides an electronic device for implementing the surgical robot control method for periacetabular osteotomy described in the above embodiments. Figure 7 As shown, the electronic device includes a memory 301 and a processor 303.

[0070] Memory 301 can be configured to store a program.

[0071] Additionally, memory 301 can also be configured to store various other data to support operation on the electronic device. Examples of this data include instructions for any application or method used to operate on the electronic device, contact data, phonebook data, messages, pictures, videos, etc.

[0072] Memory 301 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Processor 303, coupled to memory 301, is used to execute programs in memory 301 for: Based on the patient's hip joint medical images, a three-dimensional model of the hip joint is generated, and personalized preoperative planning is carried out for the patient to determine the periacetabular osteotomy plan; the periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information; The intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint are registered using an optical positioning instrument and an optical positioning frame to map the osteotomy plan around the acetabulum. The position of the surgical tools and the physical hip joint are tracked in real time, and the osteotomy plan around the acetabulum and the real-time osteotomy process are displayed and compared on the display screen.

[0073] In this application, Figure 7 The diagram only shows some components and does not mean that the electronic device includes only these components. Figure 7 The components shown.

[0074] The electronic device provided in this embodiment is based on the same inventive concept as the force-optimized robotic arm osteotomy control method provided in the embodiments of this application, and has the same beneficial effects as the methods adopted, run or implemented by the application stored therein.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] 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 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 Figure 1 The steps of the function specified in one or more boxes.

[0078] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0079] This application also provides a computer-readable storage medium corresponding to the force-optimized robotic arm osteotomy control method provided in the foregoing embodiments, wherein a computer program (i.e., a program product) is stored thereon. When the computer program is run by a processor, it executes the interactive image analysis assistance method for 3D aerial imaging provided in any of the foregoing embodiments.

[0080] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, optical disc read-only memory (CDROM), digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] The computer-readable storage medium provided in the above embodiments of this application and the surgical robot control method for periacetabular osteotomy provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.

[0082] It should be noted that numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0083] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, system, 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, system, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, system, article, or apparatus that includes said element.

[0084] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A surgical robotic system for periacetabular osteotomy, characterized in that, include: Preoperative planning module and navigation and positioning module; The preoperative planning module is used to generate a three-dimensional model of the hip joint based on the patient's hip joint medical images, and to perform personalized preoperative planning for the patient, determining the osteotomy plan around the acetabulum; the osteotomy plan around the acetabulum includes osteotomy surface planning information and acetabular adjustment information; The navigation and positioning module is used to register the intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint based on the optical positioning instrument and optical positioning frame, so as to map the osteotomy plan around the acetabulum, track the position of surgical tools and physical hip joint in real time, and display and compare the osteotomy plan around the acetabulum and the real-time osteotomy process on the display screen.

2. The surgical robot system for periacetabular osteotomy according to claim 1, characterized in that, Also includes: The robotic arm control module is used to plan the motion path and / or osteotomy path of the robotic arm based on the pose of the surgical tools tracked by the navigation and positioning module and the mapped osteotomy scheme around the acetabulum, and to control the robotic arm to execute the motion path and / or osteotomy path.

3. The surgical robot system for periacetabular osteotomy according to claim 1, characterized in that, The preoperative planning module specifically includes: a three-dimensional bone model generation submodule, a key point annotation submodule, and an osteotomy surface planning submodule; The 3D skeleton model generation submodule is used to acquire medical images of the hip joint, perform segmentation based on a convolution model, obtain segmentation results, and reconstruct a 3D skeleton model of the hip joint based on the segmentation results. The key point annotation submodule is used to manually or automatically annotate the key points of the acetabulum and acetabular joint of the hip joint. The osteotomy surface planning submodule is used to manually plan multiple osteotomy surfaces around the acetabulum, or, based on the manual planning, to provide suitable areas for adjacent osteotomy surfaces to guide the planning, or to automatically plan multiple osteotomy surfaces to ensure that the bone blocks do not collide or overlap with the original acetabulum after movement.

4. The surgical robot system for periacetabular osteotomy according to claim 3, characterized in that, The osteotomy surface planning submodule is used to automatically plan multiple osteotomy surfaces, including: The adjustment information for the acetabulum is determined based on the direction of the acetabular opening, the location and extent of the defect being covered; Based on the three-dimensional model of the hip joint, a simulation environment, state space, and reward function for reinforcement learning are constructed. The osteotomy position of the acetabulum is trained based on reinforcement learning and acetabular adjustment information. After training is completed, the osteotomy location with the highest cumulative reward is selected as the osteotomy surface planning information.

5. The surgical robotic system for periacetabular osteotomy according to any one of claims 1-4, characterized in that, It also includes a remote 5G module; The remote 5G module is connected to the preoperative planning module and is used to perform remote personalized preoperative planning for the patient based on the patient's hip joint medical images, and to determine the patient's periacetabular osteotomy plan. Alternatively, it can be connected to a navigation and positioning module for remote mapping of periacetabular osteotomy plans, as well as for real-time tracking and remote display of the pose of surgical tools and the physical hip joint.

6. The surgical robot system for periacetabular osteotomy according to claim 4, characterized in that, The periacetabular osteotomy plan includes at least a first osteotomy surface, a second osteotomy surface, a third osteotomy surface, and a fourth osteotomy surface; the robotic arm control module is used to plan the motion path of the robotic arm and / or the osteotomy path based on the pose of the surgical tools tracked by the navigation and positioning module and the mapped periacetabular osteotomy plan, and to control the robotic arm to execute the motion path and / or the osteotomy path; specifically used for: Obtain the mapped first, second, third, and fourth osteotomy surfaces; Generate the motion path of the robotic arm from its current position to the ready position of the first osteotomy surface, the second osteotomy surface, the third osteotomy surface, and the fourth osteotomy surface; Determine the safety boundaries of the first, second, third, and fourth osteotomy surfaces, and plan the osteotomy path within the safety boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

7. The surgical robot system for periacetabular osteotomy according to claim 5, characterized in that, It also includes a virtual projection module; The virtual projection module is connected to the navigation and positioning module and is used to virtually project the osteotomy plan around the acetabulum onto the actual hip joint during the operation, as well as to track the position and posture of the surgical tools and the actual hip joint in real time and display them virtually. Alternatively, it can be connected to a remote 5G module to virtually project the guidance actions of a remote expert onto the physical hip joint or the robotic arm's operating position, enabling real-time guidance from a remote expert during surgery.

8. A surgical robot control method for periacetabular osteotomy, characterized in that, include: Based on the patient's medical images of the hip joint, a three-dimensional model of the hip joint is generated, and personalized preoperative planning is carried out for the patient to determine the osteotomy plan around the acetabulum. The periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information; The intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint are registered using an optical positioning instrument and an optical positioning frame to map the osteotomy plan around the acetabulum. The position of the surgical tools and the physical hip joint are tracked in real time, and the osteotomy plan around the acetabulum and the real-time osteotomy process are displayed and compared on the display screen.

9. An electronic device, characterized in that, include: Memory and processor; The memory is used to store programs; The processor, coupled to the memory, is used to execute the program for: Based on the patient's hip joint medical images, a three-dimensional model of the hip joint is generated, and personalized preoperative planning is carried out for the patient to determine the periacetabular osteotomy plan; the periacetabular osteotomy plan includes osteotomy surface planning information and acetabular adjustment information; The intraoperative physical hip joint and the preoperative three-dimensional model of the hip joint are registered using an optical positioning instrument and an optical positioning frame to map the osteotomy plan around the acetabulum. The position of the surgical tools and the physical hip joint are tracked in real time, and the osteotomy plan around the acetabulum and the real-time osteotomy process are displayed and compared on the display screen.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by a processor to implement the surgical robot control method for periacetabular osteotomy as described in claim 8.

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