A surgical robotic system and control method for proximal femoral osteotomy

Abstract

The application provides a surgical robot system and control method for proximal femur osteotomy, the system comprises: a preoperative planning module for constructing a hip joint three-dimensional model and performing preoperative planning according to the hip joint three-dimensional model to generate a proximal femur osteotomy scheme, which is one of a femoral head rotation osteotomy scheme, a femoral neck rotation osteotomy scheme, an intertrochanteric rotation osteotomy scheme and a subtrochanteric rotation osteotomy scheme; a navigation positioning module for registering the entity femur in operation and the hip joint three-dimensional model before operation according to an optical positioner and an optical positioning frame to map the proximal femur osteotomy scheme, real-time tracking the pose of the surgical tool and the entity femur, and displaying and comparing the proximal femur osteotomy scheme and the real-time osteotomy process on a display screen. In the application, the preoperative planning-intraoperative optical positioning navigation can track the osteotomy condition of the surgical tool in real time during operation, and multiple medical imaging is avoided, thereby greatly improving the surgical effect.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a surgical robot system and control method for proximal femoral osteotomy. Background Technology

[0002] Proximal femoral osteotomy is a common and complex hip-preserving surgical procedure. Currently, when surgical robots are used in proximal femoral osteotomy, the robots only participate in preoperative planning. Intraoperative procedures are generally performed manually. This surgical approach is slow, and due to differences in surgical experience, the skill levels of surgeons vary, potentially leading to less than expected surgical outcomes. Summary of the Invention

[0003] To address the aforementioned issues, the first aspect of this application provides a surgical robot system for proximal femoral osteotomy, comprising: a preoperative planning module and a navigation and positioning module; The preoperative planning module is used to construct a three-dimensional model of the hip joint and perform preoperative planning based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan. The navigation and positioning module is used to register the intraoperative solid femur and the preoperative three-dimensional model of the hip joint with the optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position and pose of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

[0004] A second aspect of this application provides a surgical robot control method for proximal femoral osteotomy, comprising: A three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan; The intraoperative solid femur and preoperative hip joint 3D model are registered using an optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

[0005] A third aspect of this application provides an electronic device comprising: a memory and a processor; The memory is used to store programs; The processor, coupled to the memory, is used to execute the program for: A three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan; The intraoperative solid femur and preoperative hip joint 3D model are registered using an optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process 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 proximal femoral osteotomy described above.

[0007] In this way, the robotic arm can be controlled to assist in hip-preserving osteotomy through preoperative planning and intraoperative optical navigation, solving the problem of inconsistent surgical skills and unsatisfactory surgical results caused by individual differences in current manual surgery. Attached Figure Description

[0008] Figure 1 This is an architectural diagram of a surgical robot system for proximal femoral 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 proximal femoral osteotomy according to an embodiment of this application; Figure 3 This is a schematic diagram of the planning of a combined osteotomy scheme for a surgical robot system for proximal femoral osteotomy according to an embodiment of this application. Figure 4 This is a postoperative schematic diagram of a combined osteotomy scheme using a surgical robot system for proximal femoral osteotomy according to an embodiment of this application; Figure 5 This is a schematic diagram of a surgical robot system for proximal femoral osteotomy according to an embodiment of this application; Figure 6 This is a flowchart of a surgical robot control method for proximal femoral 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

[0009] 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.

[0010] 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.

[0011] For ease of understanding, the following terms may be used and are explained below: This application provides a surgical robot system for proximal femoral osteotomy. The specific solution of the system is as follows: Figures 1-5 As shown.

[0012] Combination Figure 1 The diagram shown is an architectural diagram of a surgical robot system for proximal femoral osteotomy according to an embodiment of this application; wherein, the surgical robot system for proximal femoral osteotomy includes: a preoperative planning module and a navigation and positioning module; The preoperative planning module is used to construct a three-dimensional model of the hip joint and perform preoperative planning based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan. The navigation and positioning module is used to register the intraoperative solid femur and the preoperative three-dimensional model of the hip joint with the optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position and pose of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

[0013] In this way, the robotic arm can be controlled to assist in hip-preserving osteotomy through preoperative planning and intraoperative optical navigation, solving the problem of inconsistent surgical skills and unsatisfactory surgical results caused by individual differences in current manual surgery.

[0014] It should be noted that proximal femoral osteotomy is a key technique in hip-preserving surgery, and common forms include femoral head rotational osteotomy, femoral neck rotational osteotomy, intertrochanteric rotational osteotomy, and subtrochanteric osteotomy. These surgeries have extremely high requirements for the position, angle, rotation, and screw placement of the osteotomy plane, and there are significant individual differences among patients. Current preoperative planning only plans the osteotomy for proximal femoral osteotomy with a predetermined surgical procedure, and cannot consider optimization for different procedures.

[0015] In this application, by generating preoperative planning schemes for proximal femoral osteotomy with different surgical techniques and comparing them laterally, it is possible not only to optimize individual surgical techniques, but also to optimize the relationships between different surgical techniques.

[0016] In this way, by generating multiple different types of proximal femoral osteotomy schemes on the same patient's three-dimensional skeletal model, we can achieve horizontal comparison between different surgical procedures, rather than just fine-tuning parameters within a single surgical procedure.

[0017] In one implementation, combined with Figure 1 As shown, the surgical robot system for proximal femoral osteotomy also includes: 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 proximal femoral osteotomy scheme, and to control the robotic arm to execute the motion path and / or the osteotomy path.

[0018] In this way, by planning and screening different surgical techniques for femoral rotation osteotomy, the most suitable preoperative plan can be obtained, and the robotic arm can be controlled to assist in completing the femoral rotation osteotomy surgery based on intraoperative navigation, thus solving the current problems of low adaptability and poor results of femoral rotation osteotomy.

[0019] 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.

[0020] 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 image segmentation, and then 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 femur of the hip joint. The multidimensional planning submodule is used to plan one of the following based on the annotation results: femoral head rotational osteotomy, femoral neck rotational osteotomy, intertrochanteric rotational osteotomy, and subtrochanteric rotational osteotomy, as well as optionally plan a composite varus / valgus osteotomy. The planning and optimization submodule is used to compare and optimize multiple osteotomy plans to determine the final proximal femoral osteotomy plan.

[0021] In this way, multiple osteotomy options are compared to determine the final proximal femoral osteotomy option.

[0022] The multidimensional planning submodule generates different types of proximal femoral osteotomy schemes based on the annotation results, specifically including: Based on femoral key points and axis information, corresponding osteotomy surface parameters are automatically or semi-automatically generated. The parameters include at least the spatial position of the osteotomy surface, the normal direction of the osteotomy surface, and the angular relationship between the osteotomy surface and the anatomical axis. For rotational osteotomy, determine the rotation angle and rotation axis direction after osteotomy; For the combined varus and valgus treatment plan, further determine the wedge osteotomy angle and the amount of varus or valgus; The candidate osteotomy plans are overlaid on the 3D femoral model, allowing doctors to interactively adjust the position, angle, and rotation parameters of the osteotomy surface.

[0023] The planning and optimization submodule is used to quantitatively evaluate and optimize multiple candidate osteotomy schemes, specifically including: Different osteotomy methods are compared under the same evaluation index system to generate quantitative evaluation results, which are then sorted according to preset rules. These quantitative evaluation results can be obtained by assigning different weights to each evaluation index and calculating the weights and index scores. Based on the quantitative evaluation results, the final proximal femoral osteotomy plan is determined. The final plan includes osteotomy surface information, osteotomy type, and rotation or varus / valgus parameters.

[0024] Preferably, osteotomy plans that do not meet clinical requirements are eliminated according to a preset reasonable range or threshold, and the remaining plans are sorted.

[0025] In one implementation, the planning optimization submodule compares multiple osteotomy schemes based on evaluation indicators, which include one or more of the following: neck-shaft angle, femoral head weight-bearing zone orientation, CE angle, acetabular top angle, offset difference, leg length difference, and head-acetabular coverage.

[0026] Among them, the neck-shaft angle is calculated based on the angle between the femoral neck axis and the femoral shaft axis in the simulated postoperative femoral model; the orientation of the femoral head weight-bearing area is determined based on the relationship between the femoral head surface and the acetabulum coverage, determining the spatial orientation change of the main weight-bearing area of ​​the femoral head; the CE angle is calculated based on the geometric relationship between the center of the femoral head and the outer edge of the acetabulum in the simulated postoperative model; the acetabular apex angle is calculated by calculating the angle between the acetabular apex area and the horizontal reference line; the offset difference is compared with the change in femoral offset before and after osteotomy; the leg length difference is calculated based on the bony reference point to calculate the difference in length between the two lower limbs; and the femoral head-acetabular coverage ratio is calculated by calculating the proportion of the area or volume of the femoral head covered by the acetabulum in the simulated postoperative period.

[0027] In one embodiment, the femoral head rotation osteotomy scheme includes osteotomy surface information located at the femoral head-neck junction and femoral head rotation information; the robotic arm control module is specifically used for: Obtain the mapped osteotomy surface information and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the osteotomy preparation position; Determine the safe boundaries of the osteotomy surface and plan the osteotomy path within the safe boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

[0028] In one embodiment, the femoral neck rotation osteotomy scheme includes osteotomy surface information at the base of the femoral neck, screw placement information, and femoral neck rotation information; the robotic arm control module is specifically used for: Acquire the mapped osteotomy surface information, pin placement information, and the pose of the guide device at the end of the robotic arm tracked by the navigation and positioning module; Generate a first motion path for the robotic arm guide device from the current position to the osteotomy preparation position, and a second motion path from the current position to the screw placement preparation position; Upon receiving the operation command, execute the first motion path and / or the second motion path.

[0029] In one embodiment, the intertrochanteric rotational osteotomy scheme includes a first osteotomy surface located distal to the trochanteric line, a second osteotomy surface located at the upper edge of the lesser trochanter and perpendicular to the first osteotomy surface, and osteotomy rotation information; the robotic arm control module is specifically used for: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the first osteotomy surface preparation position and the second osteotomy surface preparation position; determine the safety boundaries of the first osteotomy surface and the second osteotomy surface, and plan the osteotomy path within the safety boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

[0030] In one implementation, combined with Figure 3 , Figure 4 The combined subtrochanteric rotation osteotomy scheme and varus / valgus scheme includes a first osteotomy surface located below the lesser trochanter of the femur, a second osteotomy surface wedge-shaped with the first osteotomy surface, and osteotomy rotation information; the robotic arm control module is specifically used for: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the ready position of the first and second osteotomy surfaces; Determine the safety boundaries of the first and second 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.

[0031] This application provides a surgical machine control method for proximal femoral osteotomy as described above. The specific scheme of this method is as follows: Figure 6 As shown, the surgical robot control method for proximal femoral osteotomy is described in detail below.

[0032] Combination Figure 6 As shown, the surgical robot control method for proximal femoral osteotomy includes: S101, Construct a three-dimensional model of the hip joint, and perform preoperative planning based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan. S102, based on the optical positioning instrument and optical positioning frame, registers the intraoperative solid femur and the preoperative three-dimensional model of the hip joint to map the proximal femoral osteotomy plan, tracks the position and pose of the surgical tools and solid femur in real time, and displays and compares the proximal femoral osteotomy plan and the real-time osteotomy process on the display screen.

[0033] In one embodiment, the surgical robot control method for proximal femoral osteotomy further includes: S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped proximal femoral osteotomy scheme, 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.

[0034] In one implementation, S101, a three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan, including: Medical images of the hip joint are acquired and segmented, and then a three-dimensional skeletal model of the hip joint is reconstructed based on the segmentation results. The key points of the acetabulum and femur of the hip joint can be manually or automatically marked. Based on the annotation results, plan one of the following: femoral head rotational osteotomy scheme, femoral neck rotational osteotomy scheme, intertrochanteric rotational osteotomy scheme, and subtrochanteric rotational osteotomy scheme, as well as an optional composite inversion and valgus osteotomy scheme. By comparing and optimizing multiple osteotomy plans, the final proximal femoral osteotomy plan was determined.

[0035] In one implementation, the comparison of multiple osteotomy schemes is based on evaluation indicators, which include one or more of the following: neck-shaft angle, femoral head weight-bearing zone orientation, CE angle, acetabular top angle, offset difference, leg length difference, and head-acetabular coverage.

[0036] In one embodiment, the femoral head rotation osteotomy scheme includes osteotomy surface information located at the femoral head-neck junction and femoral head rotation information; S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped proximal femoral osteotomy scheme, 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, including: Obtain the mapped osteotomy surface information and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the osteotomy preparation position; Determine the safe boundaries of the osteotomy surface and plan the osteotomy path within the safe boundaries; Upon receiving the operation command, the motion path and / or osteotomy path are executed.

[0037] In one embodiment, the femoral neck rotation osteotomy scheme includes osteotomy surface information, screw placement information, and femoral neck rotation information located at the base of the femoral neck; S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped proximal femoral osteotomy scheme, 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, including: Acquire the mapped osteotomy surface information, pin placement information, and the pose of the guide device at the end of the robotic arm tracked by the navigation and positioning module; Generate a first motion path for the robotic arm guide device from the current position to the osteotomy preparation position, and a second motion path from the current position to the screw placement preparation position; Upon receiving the operation command, execute the first motion path and / or the second motion path.

[0038] In one embodiment, the intertrochanteric rotational osteotomy scheme includes a first osteotomy surface located distal to the trochanteric line, a second osteotomy surface located at the upper edge of the lesser trochanter and perpendicular to the first osteotomy surface, and osteotomy rotation information; S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped proximal femoral osteotomy scheme, 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, including: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the first osteotomy surface preparation position and the second osteotomy surface preparation position; Determine the safety boundaries of the first and second 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.

[0039] In one embodiment, the subtrochanteric rotational osteotomy scheme is combined with the varus / valgus scheme, including a first osteotomy surface located below the lesser trochanter of the femur, a second osteotomy surface wedge-shaped with the first osteotomy surface, and osteotomy rotation information; S103, based on the pose of the surgical tool tracked by the navigation and positioning module and the mapped proximal femoral osteotomy scheme, 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, including: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the ready position of the first and second osteotomy surfaces; Determine the safety boundaries of the first and second 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.

[0040] The surgical robot control method for proximal femoral osteotomy provided in the above embodiments of this application corresponds to the surgical robot system for proximal femoral osteotomy provided in the embodiments of this application. Therefore, the specific content of the method corresponds to the surgical robot system for proximal femoral osteotomy. The specific content can be referred to the records in the surgical robot system for proximal femoral osteotomy, which will not be repeated in this application.

[0041] The surgical robot control method for proximal femoral osteotomy provided in the above embodiments of this application and the surgical robot system for proximal femoral 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.

[0042] Based on the same inventive concept, another embodiment of the present invention provides an electronic device for implementing the surgical robot control method for proximal femoral osteotomy described in the above embodiments. Figure 7 As shown, the electronic device includes a memory 301 and a processor 303.

[0043] Memory 301 can be configured to store a program.

[0044] 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.

[0045] 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: A three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan; The intraoperative solid femur and preoperative hip joint 3D model are registered using an optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

[0046] 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.

[0047] The electronic device provided in this embodiment is based on the same inventive concept as the surgical robot control method for proximal femoral osteotomy provided in this application embodiment, and has the same beneficial effects as the methods adopted, run or implemented by the application stored therein.

[0048] 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.

[0049] 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.

[0050] 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 The steps of the function specified in one or more boxes.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The computer-readable storage medium provided in the above embodiments of this application and the surgical robot control method for proximal femoral 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 application stored therein.

[0055] 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.

[0056] 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.

[0057] 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 robot system for proximal femoral osteotomy, characterized in that, include: Preoperative planning module and navigation and positioning module; The preoperative planning module is used to construct a three-dimensional model of the hip joint and perform preoperative planning based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan. The navigation and positioning module is used to register the intraoperative solid femur and the preoperative three-dimensional model of the hip joint with the optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position and pose of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

2. The surgical robot system for proximal femoral osteotomy according to claim 1, characterized in that, Also includes: 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 proximal femoral osteotomy scheme, and to control the robotic arm to execute the motion path and / or the osteotomy path.

3. The surgical robot system for proximal femoral 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 image segmentation, and then 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 femur of the hip joint. The multidimensional planning submodule is used to plan one of the following based on the annotation results: femoral head rotational osteotomy, femoral neck rotational osteotomy, intertrochanteric rotational osteotomy, and subtrochanteric rotational osteotomy, as well as optionally plan a composite varus / valgus osteotomy. The planning and optimization submodule is used to compare and optimize multiple osteotomy plans to determine the final proximal femoral osteotomy plan.

4. The surgical robot system for proximal femoral osteotomy according to claim 1, 2, or 3, characterized in that, The femoral neck rotational osteotomy scheme includes osteotomy surface information, screw placement information, and femoral neck rotation information located at the base of the femoral neck; the robotic arm control module is specifically used for: Acquire the mapped osteotomy surface information, pin placement information, and the pose of the guide device at the end of the robotic arm tracked by the navigation and positioning module; Generate a first motion path for the robotic arm guide device from the current position to the osteotomy preparation position, and a second motion path from the current position to the screw placement preparation position; Upon receiving the operation command, execute the first motion path and / or the second motion path.

5. The surgical robot system for proximal femoral osteotomy according to claim 3, characterized in that, The planning optimization submodule compares multiple osteotomy schemes based on evaluation indicators, including one or more of the following: neck-shaft angle, femoral head weight-bearing zone orientation, CE angle, acetabular top angle, offset difference, leg length difference, and head-acetabular coverage.

6. The surgical robot system for proximal femoral osteotomy according to claim 1, 2, or 3, characterized in that, The intertrochanteric rotational osteotomy scheme includes a first osteotomy surface located distal to the trochanteric line, a second osteotomy surface located at the upper edge of the lesser trochanter and perpendicular to the first osteotomy surface, and osteotomy rotation information; the robotic arm control module is specifically used for: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the first osteotomy surface preparation position and the second osteotomy surface preparation position; Determine the safety boundaries of the first and second 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 proximal femoral osteotomy according to claim 1, 2, or 3, characterized in that, The combined subtrochanteric rotation osteotomy scheme and varus / valgus scheme includes a first osteotomy surface located below the lesser trochanter of the femur, a second osteotomy surface wedge-shaped with the first osteotomy surface, and osteotomy rotation information; the robotic arm control module is specifically used for: Obtain the mapped first and second osteotomy surfaces and the pose of the surgical tools tracked by the navigation and positioning module; Generate the motion path of the robotic arm from its current position to the ready position of the first and second osteotomy surfaces; Determine the safety boundaries of the first and second 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.

8. A surgical robot control method for proximal femoral osteotomy, characterized in that, include: A three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; The proximal femoral osteotomy scheme is one of the following: femoral head rotational osteotomy scheme, femoral neck rotational osteotomy scheme, intertrochanteric rotational osteotomy scheme, and subtrochanteric rotational osteotomy scheme, and optionally includes a combined varus and valgus osteotomy scheme. The intraoperative solid femur and preoperative hip joint 3D model are registered using an optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process 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: A three-dimensional model of the hip joint is constructed, and preoperative planning is performed based on the three-dimensional model of the hip joint to generate a proximal femoral osteotomy plan; the proximal femoral osteotomy plan is one of the following: femoral head rotational osteotomy plan, femoral neck rotational osteotomy plan, intertrochanteric rotational osteotomy plan, subtrochanteric rotational osteotomy plan, and optionally includes a composite varus / valgus osteotomy plan; The intraoperative solid femur and preoperative hip joint 3D model are registered using an optical positioning instrument and optical positioning frame to map the proximal femoral osteotomy plan, track the position of surgical tools and solid femur in real time, and display and compare the proximal femoral osteotomy plan and real-time osteotomy process on the display screen.

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

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