Bone hole formation control device and bone hole formation control method

Abstract

To provide a bone hole formation control device capable of accurately forming a bone hole.SOLUTION: The bone hole formation control device of the present disclosure includes a position information acquisition unit 11, a bone hole trajectory information calculation unit 12, and a control unit 13. The position information acquisition unit 11 acquires position information of two reference points for defining a bone hole trajectory in a bone of a surgical subject. Based on the position information, the bone hole trajectory information calculation unit 12 calculates bone hole trajectory information of a straight line connecting the two reference points in the bone. Based on the bone hole trajectory information, the control unit 13 controls movement of a robot arm of a bone hole formation device to perforate the bone with a drill device attached to the robot arm.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a bone tunnel preparation control device and a bone tunnel preparation control method. [Background technology]

[0002] In anterior cruciate ligament reconstruction, the all-inside technique is a minimally invasive surgical technique that minimizes bone damage. Non-Patent Documents 1 and 2 disclose a method using the all-inside technique for anterior cruciate ligament reconstruction, which uses instruments (drill pins and reamers) to simultaneously create bone tunnels in the femur and tibia. The instruments are assembled intra-articularly to create linear bone tunnels in both the femur and tibia in one stage. In this procedure, the knee joint is fixed in a flexed position, and linear bone tunnels are created in the femur and tibia using drill pins. A reamer is then attached to the drill pin within the knee joint and moved back and forth to widen the tunnels. This method allows for a tight fit between the grafted ligament and the bone tunnels, improving joint stability and shortening rehabilitation time, resulting in favorable postoperative joint stability and clinical outcomes. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Watanabe S, Takahashi T, Hino K, Kutsuna T, Ohnishi Y, Ishimaru M, Miura H.,Short-term study of the outcome of a new instrument for all-inside double-bundle anterior cruciate ligament reconstruction. Arthroscopy.,2015 Oct,31(10),pp1893-1902 [Non-patent document 2] Takahashi T, Watanabe S, Ito T. A surgical technique for anterior cruciate ligament reconstruction using semitendinosus graft: an all-inside transfemoral approach. Arthrosc Tech. 2023 May 29;12(6): e975-e982. doi: 10.1016 / j.eats.2023.02.035. Summary of the Invention [Problem to be solved by the invention]

[0004] Although the surgical technique in Non-Patent Document 1 makes it possible to easily perform minimally invasive double-bundle reconstruction, there is a problem in that the creation of the bone tunnel with a drill is performed manually, and the operator's hand movement causes an error with respect to the target position, and the accuracy of the bone tunnel position depends on the operator's skill and experience. This problem is not limited to anterior cruciate ligament reconstruction, but is a common problem in surgical techniques for creating bone tunnels in bones during surgical operations.

[0005] Therefore, an object of the present invention is to provide a bone tunnel preparation control device and a bone tunnel preparation control method that can accurately prepare a bone tunnel. [Means for solving the problem]

[0006] In order to achieve the above object, the bone hole preparation control device of the present disclosure includes: a position information acquiring unit, a bone hole trajectory information calculating unit, and a control unit; the position information acquisition unit acquires position information of two reference points for defining a bone hole trajectory in a bone of a surgical target; the bone hole trajectory information calculation unit calculates bone hole trajectory information of a straight line connecting the two reference points in the bone based on the position information, the control unit controls the movement of a robot arm of a bone hole creating device based on the bone hole trajectory information, and drills the bone using a drilling device attached to the robot arm. A bone hole creation control device.

[0007] The bone hole creation control method of the present disclosure includes: The method includes a position information acquisition step, a bone hole trajectory information calculation step, and a control step, The position information acquiring step acquires position information of two reference points for defining a bone hole trajectory in a bone of a surgical target, The bone hole trajectory information calculation step calculates bone hole trajectory information of a straight line connecting the two reference points in the bone based on the position information, the control step controls the movement of a robot arm of a bone hole creating device based on the bone hole trajectory information, and drills the bone using a drilling device attached to the robot arm. A method for controlling bone tunnel creation. [Effects of the Invention]

[0008] According to the present disclosure, bone holes can be created accurately, so that even an inexperienced doctor can create bone holes in a knee joint, for example. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram illustrating an example of a control device according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of a hardware configuration of the control device according to the first embodiment. [Figure 3] FIG. 3 is a flowchart illustrating an example of a control method according to the first embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of a system according to the second embodiment. [Figure 5] FIG. 5 is a schematic diagram showing an example of a robot arm according to the second embodiment. [Figure 6] FIG. 6 is a schematic view showing an example of a drilling device according to the second embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of bone hole creation in a knee joint. [Figure 8]FIG. 8 is a schematic diagram showing an example of bone hole creation in a knee joint. [Figure 9] FIG. 9 is a flowchart of the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] In the bone hole preparation control device of the present disclosure, The position information of the two reference points is acquired by the surgeon performing the surgical operation by bringing a probe attached to the robot arm into contact with the two reference points of the bone, and the position information of the two reference points is position information defined in three-dimensional coordinates for defining the position of the robot arm in the bone hole creation device. This may be the case.

[0011] In the bone hole preparation control device of the present disclosure, In the bone hole trajectory information calculation unit, a straight line trajectory connecting the positions of the two reference points is calculated in the three-dimensional coordinate system to calculate the bone hole trajectory information. This may be the case.

[0012] The bone hole preparation device system of the present disclosure comprises: The present disclosure includes a bone hole preparation control device and a bone hole preparation device, the bone hole preparation device includes a robot arm, and a bone drill and a probe are detachably attached to the robot arm; In this system, the movement of the robot arm of the bone tunnel preparation device is controlled by the bone tunnel preparation control device.

[0013] In the bone hole creation control method of the present disclosure, The position information of the two reference points is acquired by the surgeon performing the surgical operation by bringing a probe attached to the robot arm into contact with the two reference points of the bone, and the position information of the two reference points is position information defined in three-dimensional coordinates for defining the position of the robot arm in the bone hole creation device. This may be the case.

[0014] In the bone hole creation control method of the present disclosure, In the bone hole trajectory information calculation step, a straight line trajectory connecting the positions of the two reference points is calculated in the three-dimensional coordinate system to calculate the bone hole trajectory information. This may be the case.

[0015] The bone hole preparation method of the present disclosure includes: The present disclosure includes a bone hole creation control method and a bone hole creation method, The bone hole preparation method is carried out using a bone hole preparation device, the bone hole preparation device includes a robot arm, and a bone drill and a probe are detachably attached to the robot arm; In this embodiment, the movement of the robot arm of the bone tunnel creating device is controlled by the control in the bone tunnel creating control method, and the bone tunnel creating method is carried out.

[0016] The program of the present disclosure is a program that causes a computer to execute the steps of the control method of the present disclosure as procedures.

[0017] The recording medium of the present disclosure is a computer-readable recording medium on which the program of the present disclosure is recorded.

[0018] In this disclosure, the term "system" includes the meaning of "apparatus."

[0019] In the present disclosure, the term "single drilling" refers to, for example, when forming a femoral tunnel and a tibial tunnel, drilling the femur and the tibia continuously by advancing the drill along a single axis, rather than drilling the femur and the tibia separately. The drill may be advanced along a single axis, and for example, when the tip of the drill is forward, the drill may advance only forward, or may advance both forward and backward.

[0020] The bone tunnel creation control method of the present disclosure can be implemented, for example, by the bone tunnel creation control device of the present disclosure, and the bone tunnel creation method of the present disclosure can be implemented, for example, by the bone tunnel creation device system of the present disclosure. Hereinafter, the descriptions of the bone tunnel creation control device, bone tunnel creation control method, bone tunnel creation device system, and bone tunnel creation method of the present disclosure can be respectively cited.

[0021] Next, embodiments of the present disclosure will be described. However, the present disclosure is not limited to the following embodiments. In the following drawings, the same parts are denoted by the same reference numerals. Furthermore, the descriptions of the embodiments can be mutually incorporated unless otherwise specified. Furthermore, the configurations of the embodiments can be combined unless otherwise specified.

[0022] [Embodiment 1] (1) Bone hole creation control device First, an example of a control device of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an example of the control device of this embodiment. The control device 10 includes a position information acquisition unit 11, a bone hole trajectory information calculation unit 12, and a control unit 13. The control device 10 may be, for example, a single device including the above-mentioned units, or a device to which the above-mentioned units can be connected. The connection method is not particularly limited and may be an electrical connection not via a communication network, or an electrical connection via a communication network. In the former case, for example, a connection method using a cable may be used. As a specific example, for example, a port such as a USB port may be provided, and the above-mentioned units can be connected by connecting a cable such as a USB cable. In the latter case, the communication network is not particularly limited and may be, for example, wired or wireless, and any known communication network can be used. Specific examples include the Internet, telephone lines, LAN (Local Area Network), WiFi (Wireless Fidelity), Bluetooth (registered trademark), etc. The control device 10 is also referred to as a control system.

[0023] The position information acquisition unit 11 acquires position information of two reference points for defining a bone tunnel trajectory in the bone of the surgical target. The bone tunnel trajectory information calculation unit 12 calculates bone tunnel trajectory information of a straight line connecting the two reference points in the bone based on the position information. The control unit 13 controls the movement of the robot arm of the bone tunnel creation device based on the bone tunnel trajectory information, and drills the bone using a drilling device attached to the robot arm.

[0024] Although not shown, the control device 10 may be provided with an output section, and the output section outputs control information to the bone hole forming device.

[0025] 2 shows an example of a block diagram of the hardware configuration of the control device 10. The control device 10 includes, for example, a central processing unit (CPU, GPU, etc.) 101, a memory 102, a bus 103, an input device 105, a display device (display) 106, a communication device 107, and a storage device 104. The components of the control device 10 are connected to each other via the bus 103, for example, by their respective interfaces (I / F).

[0026] The central processing unit 101 is responsible for overall control of the control device 10. In the control device 10, the central processing unit 101 executes, for example, programs (including the program of the present invention) and also reads and writes various types of information.

[0027] The bus 103 connects functional units such as the central processing unit 101 and the memory 102. The bus 103 can also be connected to external devices, for example. Examples of the external devices include an endoscope device and a bone hole preparation device (drilling device), which will be described later. The connection between the control device 10 and the external device is not particularly limited, and may be an electrical connection that does not involve a communication network, or an electrical connection that involves a communication network. In the former case, the connection may be made using a cable, for example. As a specific example, the control device 10 has a port such as a USB port, and can be connected to the external device by connecting a cable such as a USB cable. In the latter case, the control device 10 can be connected to a communication network by a communication device 107 connected to the bus 103, and can be connected to the external device via the communication network. The communication network is not particularly limited, and may be, for example, wired or wireless, and any known communication network can be used. Specific examples include the Internet, telephone lines, LAN (Local Area Network), WiFi (Wireless Fidelity), Bluetooth (registered trademark), etc.

[0028] The memory 102 includes, for example, a main memory, which is also referred to as a primary storage device. When the central processing unit 101 performs processing, the memory 102 reads various operating programs, such as the program of the present invention, stored in, for example, an auxiliary storage device described below, and the central processing unit 101 receives data from the memory 102 and executes the programs. The main memory is, for example, a RAM (random access memory). The memory 102 further includes, for example, a ROM (read only memory).

[0029] The storage device 104 is also referred to as an auxiliary storage device, for example, in contrast to the main memory (primary storage device). The storage device 104 includes, for example, a storage medium and a drive for reading and writing data from and to the storage medium. The storage medium is not particularly limited and may be an internal or external type, and examples thereof include a hard disk (HD), a floppy disk (FD), a CD-ROM, a CD-R, a CD-RW, an MO, a DVD, a flash memory, and a memory card, and the drive is not particularly limited. An example of the storage device 104 is a hard disk drive (HDD) in which a storage medium and a drive are integrated. The storage device 104 may store, for example, the above-mentioned three-dimensional position information as well as information acquired by each unit.

[0030] Examples of the display device (display) 106 include an LED display, a liquid crystal display, etc. Examples of the input device 105 include a connection interface with the external device, a user interface such as a keyboard, etc. Furthermore, the input device 105 and the display device 106 may be a user interface such as a touch panel that is a combination of the input device 105 and the display device 106.

[0031] In the case of the touch panel, the control device 10 further includes, for example, a touch recognition unit that recognizes a touch by a user, and the touch recognition unit is, for example, a user interface. The touch is not particularly limited and includes, for example, a swipe, a pinch in, a pinch out, etc. in addition to a touch.

[0032] Figure 3 shows a flowchart of the control device 10 of this embodiment. As shown in the figure, in the control device 10 of this embodiment, in a position information acquisition step S11, position information of two reference points for defining a bone tunnel trajectory in the bone of the surgical target is acquired. Next, in a bone tunnel trajectory information calculation step S12, bone tunnel trajectory information of a straight line connecting the two reference points in the bone is calculated based on the position information. Next, in a control unit step S13, the movement of the robot arm of the bone tunnel creation device is controlled based on the bone tunnel trajectory information, and the bone is drilled using a drilling device attached to the robot arm.

[0033] [Embodiment 2] (2) Bone Tunnel Creation System Next, an example of a bone tunnel creation device system of the present disclosure is shown in Figure 4. As shown, this system 20 includes a bone tunnel creation control device 10 and a bone tunnel creation device 20, and the bone tunnel creation control device 10 and the bone tunnel creation device 20 can communicate with each other via wire or wirelessly. The bone tunnel creation control device can be described in the first embodiment. The bone tunnel creation device 20 is composed of a robot arm and a drilling device. The robot arm is composed of an arm portion 21 and a joint portion 22. The drilling device is composed of a drill driving portion 23 and a drill pin 24 or a probe.

[0034] FIG. 5 shows an example of a robot arm. The illustrated robot arm has six joints 22a to 22f, which enable three-dimensional arm movement. In the figure, straight and curved arrows indicate the rotation axes and directions of the joints. The robot arm can move freely in three dimensions in response to control signals. A drill drive unit of a drilling device can be detachably attached to the tip of the robot arm (joint 22f). FIG. 6 shows an example of a drilling device attached to the tip of a robot arm. As shown in FIG. 6, the drilling device has a drill pin 24 attached to a drill drive unit (spindle motor) 23. The drilling device can be used by replacing both the drill pin 24 and the probe. The robot arm can grasp its three-dimensional position based on the rotation angle of each joint, and as a result, it can freely move the drill pin of the drilling device attached to its tip. The robot arm is automatically controlled by a robot controller (robot control device). The robot controller may be built into the robot arm or an external device. The robot arm used in the present disclosure may be a homemade one or a commercially available one, such as a product from Universal Robots.

[0035] [Embodiment 3] (3) Bone tunnel preparation method Next, an example of a bone tunnel preparation method using the bone tunnel preparation device system of the second embodiment will be described using an anterior cruciate ligament reconstruction surgery as an example.

[0036] Prior to surgery, the patient's knee is first immobilized and each instrument is set in its designated position. The surgeon uses an endoscope to insert the tip of the endoscope into the knee and capture an image of the knee joint. The endoscope is typically inserted into the knee from the inside or outside below the patella. The image of the knee joint captured by the imaging unit of the endoscope is displayed, for example, on the display of the endoscope.

[0037] When the joint image is displayed on the display, the doctor determines a part of the femur as the first drilling position (one reference point) and a part of the tibia as the second drilling position (another reference point) on the joint image as drilling positions for penetrating the femur and tibia in a straight line, and marks them on the bones.

[0038] The positional relationship between the first drilling position of the femur and the second drilling position of the tibia is illustrated in the schematic diagrams of Figures 7 and 8. Figure 7 is a front view of a knee joint with the knee of the left leg bent, showing the joint from the front of the knee, and Figure 8 is a perspective view showing the inside of the joint, and is a schematic diagram showing an outline of the first drilling position and the second drilling position. Figures 7(A) and 7(B) show the femur 41 and tibia 42 of the knee joint, and the surface of the femur 41 in the area surrounded by a circle M1 is the first drilling position, and the surface of the tibia 42 in the area surrounded by a circle M2 is the second drilling position. Specifically, as shown in Figure 8, when the knee is bent, the first drilling position M1 and the second drilling position M2 are determined by a doctor near where the femur 41 and the tibia 42 face each other. In FIG. 7(B), a straight line connecting the first drilling position M1 and the second drilling position M2 is the drilling trajectory (bone hole H1, bone hole H2).

[0039] FIG. 9 shows a flowchart of a mode for determining a drilling trajectory using a probe (probe mode) and a working mode for creating a bone hole (drilling mode) using a drill pin.

[0040] (Probe mode) First, the surgeon attaches a probe to the drilling device of the bone hole preparation device, and under the endoscope, moves the probe to contact the first drilling position as shown in Figure 9, and presses the position determination button. This determines one of the two reference points (hole drilling position 1), which is then stored in the bone hole preparation device. Next, the surgeon moves the probe to contact the second drilling position and presses the position determination button. This determines the other of the two reference points (hole drilling position 2), which is then stored in the bone hole preparation device. Once the two reference points have been stored, the surgeon ends the probe mode.

[0041] (Drilling mode) First, in the bone tunnel creation device, a drill pin is attached to the drilling device instead of a probe. Next, when the drilling mode is started in the bone tunnel creation control device, the equation of the line connecting two reference points is calculated, and the drilling trajectory (target position) in three-dimensional coordinates of the bone tunnel creation device is calculated from the equation of the line. Next, the calculated drilling trajectory (target position) is sent to the robot controller (the control device for the robot arm of the bone tunnel creation device), the robot arm moves, and the tip of the drill pin attached to the robot arm moves to the drilling start position. At this point, a drill pin may be attached to the drilling device instead of a probe. Next, when the drilling start button is pressed in the bone tunnel creation device, the drilling operation begins, and the robot arm moves the tip of the drill pin along the drilling trajectory to create a bone tunnel in the bone. Note that in the bone tunnel creation device of this embodiment, pressing the stop button stops the rotation of the drill pin and the movement of the robot arm. Also, in the bone tunnel creation device of this embodiment, pressing the back button causes the robot arm to move in the reverse direction on the drilling trajectory. As the drilling operation progresses, when the drill pin reaches the final position of the drilling trajectory (target position), the hole drilling mode (drilling operation) ends.

[0042] In Figure 7(C), when the drill bit 331 of the drill 33 is the ligament reconstruction tool of Patent No. 58775508, the drill 33 can be advanced, for example, as follows: In Figure 7(C), the drill bit 331 is a schematic diagram of the ligament reconstruction tool of Patent No. 58775508, and includes a main body 331a (also called an auger main body) and a reamer 331b.

[0043] As shown in FIG. 7( c), when using the drill bit 331, the tip of the body 331a is first placed against the outside of the femur 41 and advanced along the imaginary drilling trajectory to penetrate the femur 41. Next, using, for example, forceps provided in an endoscopic device, the reamer 331b is inserted into the joint, and the tip of the body 331a is passed through the center hole of the reamer 331b. The body 331a is then advanced further to penetrate the tibia 42. The reamer 331b positioned within the joint, specifically between the femur 41 and the tibia 42, is then fixed to the body 331a, and the body 331a is advanced further to advance the fixed reamer 331b into the tibia 42. This allows the reamer 331b to enlarge the hole on the inside side of the joint of the tibia 42. Next, the body 331a is advanced backward to advance the fixed reamer 331b into the femur 41. This allows the reamer 331b to enlarge the hole on the intra-articular side of the femur 41. The distance by which the reamer 331b is advanced into the femur 41 and the tibia 42 can be set appropriately. In this form, the drill 33 advances not only forward but also backward along the uniaxial direction, but as described above, the advancement is along the uniaxial direction, and this constitutes a single drilling operation.

[0044] Generally, advancing a drill from the outside of a bone toward the inside of a joint is referred to as “advancing a drill antegrade,” and advancing a drill from the inside of a joint toward the outside of a bone is referred to as “advancing a drill retrograde.” Drilling to enlarge a hole with the reamer 331b is a retrograde drill advancement in both the femur 41 and the tibia 42, for example.

[0045] [Embodiment 4] The techniques of the present disclosure can be applied to, for example, the following surgical procedures. (1) Pinning (using Kirschner wire, etc.) and drilling to fix bone fragments in fractures (Example) Upper limbs: Pinning for clavicle fractures, humerus fractures, and finger fractures, Trunk: Pinning for pelvic fractures Lower extremities: pinning for patella, tibia, fibula and toe fractures (2) To insert a guide for fixing an intramedullary nail in a fracture, etc. (Example) Upper limbs: Humerus fracture Lower limbs: Fractures of the femur and tibia (3) Creating bone tunnels for ligament reconstruction (repair) in various areas (Example) Upper limbs: acromioclavicular ligament, Lower limbs: anterior cruciate ligament of the knee, anterior talofibular ligament of the foot, etc.

[0046] [Embodiment 5] The program according to the fifth embodiment of the present disclosure is a program that can execute the control method or bone hole preparation method of the present disclosure on a computer. Alternatively, the program of this embodiment may be recorded on, for example, a computer-readable recording medium. The recording medium is not particularly limited, and examples thereof include the storage media described above.

[0047] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and detailed description of the present disclosure within the scope of the present disclosure. [Industrial Applicability]

[0048] As described above, the present disclosure enables accurate bone tunnel creation, which allows even inexperienced physicians to create bone tunnels in knee joints. Furthermore, the present disclosure also enables, for example, automatic control of bone tunnel creation devices and automation of drilling for creating bone tunnels. [Explanation of symbols]

[0049] 10. Bone hole creation control device 11 Location information acquisition section 12 Bone hole trajectory information calculation unit 13 Control Unit 20 Bone Tunnel Creation Device System, Bone Tunnel Creation Device 21 Arm section 22 Joints 22a, 22b, 22c, 22d, 22e, 22f indirect 23 Drill drive unit 24 Drill pin 41 Femur 42 Tibia 101 Central Processing Unit 102 memory 103 Bus 104 Storage device 105 Input Device 106 Display device 107 Communication Devices 331 Drill Bit 331a main body 331b Reamer H1, H2 bone hole M1 1st drilling position M2 2nd drilling position

Claims

1. a position information acquiring unit, a bone hole trajectory information calculating unit, and a control unit; the position information acquisition unit acquires position information of two reference points for defining a bone hole trajectory in a bone of a surgical target; the bone hole trajectory information calculation unit calculates bone hole trajectory information of a straight line connecting the two reference points in the bone based on the position information, the control unit controls the movement of a robot arm of a bone hole creating device based on the bone hole trajectory information, and drills the bone using a drilling device attached to the robot arm. Bone hole creation control device.

2. The position information of the two reference points is acquired by the surgeon performing the surgical operation by bringing a probe attached to the robot arm into contact with the two reference points of the bone, and the position information of the two reference points is position information defined in three-dimensional coordinates for defining the position of the robot arm in the bone hole creation device. The bone hole preparation control device according to claim 1 .

3. In the bone hole trajectory information calculation unit, a straight line trajectory connecting the positions of the two reference points is calculated in the three-dimensional coordinate system to calculate the bone hole trajectory information. The bone hole preparation control device according to claim 2.

4. A method of producing a bone hole comprising the bone hole production control device and the bone hole production device according to claim 1, the bone hole preparation device includes a robot arm, and a bone drill and a probe are detachably attached to the robot arm; The movement of the robot arm of the bone hole preparation device is controlled by controlling the bone hole preparation control device. Bone tunnel creation device system.

5. The method includes a position information acquisition step, a bone hole trajectory information calculation step, and a control step, The position information acquiring step acquires position information of two reference points for defining a bone hole trajectory in a bone of a surgical target, The bone hole trajectory information calculation step calculates bone hole trajectory information of a straight line connecting the two reference points in the bone based on the position information, the control step controls the movement of a robot arm of a bone hole creating device based on the bone hole trajectory information, and drills the bone using a drilling device attached to the robot arm. Controlled bone tunnel creation method.

6. The position information of the two reference points is acquired by the surgeon performing the surgical operation by bringing a probe attached to the robot arm into contact with the two reference points of the bone, and the position information of the two reference points is position information defined in three-dimensional coordinates for defining the position of the robot arm in the bone hole creation device. The method for controlling bone hole preparation according to claim 5.

7. In the bone hole trajectory information calculation step, a straight line trajectory connecting the positions of the two reference points is calculated in the three-dimensional coordinate system to calculate the bone hole trajectory information. The method for controlling bone hole preparation according to claim 6.

8. The bone hole preparation control method and the bone hole preparation method according to claim 5, The bone hole preparation method is carried out using a bone hole preparation device, the bone hole preparation device includes a robot arm, and a bone drill and a probe are detachably attached to the robot arm; The bone hole preparation method is performed by controlling the movement of the robot arm of the bone hole preparation device. Bone tunnel preparation method.

9. A program that causes a computer to execute the steps of the control method according to any one of claims 5 to 7 as a procedure.

10. 10. A computer-readable recording medium on which the program according to claim 9 is recorded.

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