Knee joint osteotomy planning apparatus, automatic knee joint osteotomy apparatus, and related device

Abstract

The present disclosure provides a knee joint osteotomy planning apparatus, an automatic knee joint osteotomy apparatus, and a related device, and relates to the technical field of robot control. In the present disclosure, according to prosthesis dimension information of a knee joint prosthesis to be assembled and tool dimension parameters of an osteotomy tool, relative pose relationships between osteotomy cutting-in poses for each tibial / femoral assembly surface of the knee joint prosthesis to be assembled and corresponding tibial / femoral prosthesis reference regions are determined in a reference coordinate system; upon acquisition of desired assembly pose information of the tibial / femoral prosthesis reference regions relative to the actual tibia / femur to be osteotomized in a base coordinate system of a surgical robot, desired osteotomy cutting-in poses for each assembly surface in the base coordinate system are calculated according to the desired assembly pose information and the relative pose relationships; then, in view of surface dimension information of the corresponding assembly surfaces, planar osteotomy trajectories for the corresponding assembly surfaces in the base coordinate system are planned, so as to realize the automatic osteotomy function of the surgical robot, thereby improving osteotomy accuracy and ensuring that the TKA surgery achieves expected outcomes.

Description

Knee osteotomy planning device, knee osteotomy automatic device and related equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 202410134407.7 filed with the Chinese Patent Office on January 31, 2024, entitled “Knee osteotomy planning device, knee osteotomy automatic device and related equipment,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of robot control technology, and in particular to a knee osteotomy planning device, an automatic knee osteotomy device, and related equipment. Background Art

[0004] The knee joint is one of the largest and most important joints in the human body. Knee lesions can severely impact a patient's mobility and reduce their quality of life. For patients with severe knee lesions (e.g., severe knee osteoarthritis, advanced rheumatoid knee arthritis, severe post-traumatic knee dysfunction, osteochondral necrosis involving the articular surface, bone tumors, etc.), TKA (Total Knee Arthroplasty) surgery can typically be performed to replace the original knee joint with a knee prosthesis to restore knee function and improve the patient's quality of life.

[0005] Currently, TKA surgery usually requires the removal of a small amount of bone from the femur, tibia, and intercondylar notch at the knee joint to be operated on, in order to cut out a tibial plateau surface on the tibia, five intersecting femoral plateau surfaces on the femur, and remove the intercondylar notch bone structure in the intercondylar notch, so that the knee joint to be operated on can be cut into a shape that is compatible with the knee joint prosthesis to be assembled, so as to facilitate the installation of the prosthesis.

[0006] With the continuous development of science and technology, the application of robotics is becoming more and more widespread in various industries. The use of robot-assisted TKA surgery is a key application direction of robotics in the medical industry today. Currently, robots in assisted TKA surgery usually play the role of positioning and maintaining the osteotomy plane, allowing the attending surgeon to directly drag the osteotomy tool (such as an oscillating saw, milling cutter, bur, etc.) within the osteotomy plane defined by the robot to perform manual osteotomy, thus completing the entire TKA procedure.

[0007] However, it is worth noting that this TKA approach often results in excessive tibial and / or femoral osteotomy due to uneven or fluctuating force applied by the surgeon manually pushing the osteotomy tool. This affects osteotomy accuracy, preventing the knee prosthesis from being perfectly installed, and ultimately leading to suboptimal TKA results or even surgical failure. Therefore, improving osteotomy accuracy during robot-assisted TKA surgery is a key technical challenge in the current medical field involving robotic control technology.

[0008] Public content

[0009] In view of this, the purpose of the present disclosure is to provide a knee osteotomy planning method and device, a knee osteotomy automatic osteotomy method and device, a computer device, a surgical robot and a readable storage medium, which can deeply consider the influence of the knee prosthesis size and osteotomy tool size parameters on the osteotomy starting position of the solid tibia / femur in the same reference system, plan a planar osteotomy trajectory with good trajectory consistency and less planning time for the solid tibia / femur, and realize the tibial / femoral automatic osteotomy function of the surgical robot through the planned planar osteotomy trajectory, so as to improve the positioning accuracy, osteotomy accuracy, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, ensure that the final cut tibial / femoral plateau surface can fit closely with the knee prosthesis to be assembled, and at the same time, strive for precious treatment time for the patient as much as possible, significantly reduce the waiting time for TKA surgery, ensure that TKA surgery achieves the expected effect, and ensure that the robot automatic osteotomy solution for the solid tibia / femur provided by the present disclosure has significant effectiveness and safety.

[0010] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present disclosure are as follows:

[0011] In a first aspect, the present disclosure provides a knee osteotomy planning method, the method comprising:

[0012] Obtaining prosthesis size information of a to-be-assembled knee joint prosthesis and tool size parameters of an osteotomy tool, wherein the osteotomy tool is mounted on a distal end of a surgical robot, the to-be-assembled knee joint prosthesis comprising a plurality of femoral assembly surfaces located near a femoral prosthesis reference site and a tibial assembly surface where a tibial prosthesis reference site is located;

[0013] Calculating, based on the prosthesis size information and the tool size parameters, a first relative position relationship between the osteotomy tool's osteotomy feed posture for each of the multiple femoral assembly surfaces and a reference portion of the femoral prosthesis in a reference coordinate system, and a second relative position relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and a reference portion of the tibial prosthesis in the reference coordinate system;

[0014] Acquire first desired assembly pose information of the femoral prosthesis reference portion relative to the actual femur to be osteotomized in the base coordinate system of the surgical robot, and second desired assembly pose information of the tibial prosthesis reference portion relative to the actual tibia to be osteotomized in the base coordinate system;

[0015] Calculating, based on the first desired assembly posture information and the first relative posture relationship corresponding to each of the multiple femoral assembly surfaces, the desired osteotomy feed posture required when each of the multiple femoral assembly surfaces is assembled to the actual femur to be osteotomized in the base coordinate system; and calculating, based on the second desired assembly posture information and the second relative posture relationship, the desired osteotomy feed posture required when the tibial assembly surface is assembled to the actual tibia to be osteotomized in the base coordinate system;

[0016] For each of the multiple femoral assembly surfaces and the tibial assembly surfaces, osteotomy trajectory planning is performed based on the expected osteotomy feed posture corresponding to the assembly surface according to the surface size information of the assembly surface in the prosthesis size information, and the planar osteotomy trajectory corresponding to the assembly surface in the base coordinate system is obtained.

[0017] In an optional embodiment, the multiple femoral assembly surfaces include a posterior condyle assembly surface, a posterior oblique assembly surface, a distal assembly surface, an anterior oblique assembly surface, and an anterior condyle assembly surface, and the femoral prosthesis reference site is located on the distal assembly surface. Then, the step of calculating, based on the prosthesis size information and the tool size parameters, a first relative posture relationship between the osteotomy feed posture of the osteotomy tool for each of the multiple femoral assembly surfaces and the femoral prosthesis reference site in a reference coordinate system includes:

[0018] For each femoral assembly surface among the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface, according to the relative position status of the femoral assembly surface and the femoral prosthesis reference part, a coordinate system transformation is performed on the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system through a coordinate system translation operation and / or a coordinate system rotation operation to obtain a preliminary feed point coordinate system of the femoral assembly surface in the extension direction of the target plane, wherein the distance from the plane intersection line between the femoral assembly surface and the distal assembly surface to the origin of the corresponding preliminary feed point coordinate system is greater than or equal to a preset retraction distance, and the extension direction of the target plane is the plane extension direction of the femoral prosthesis structure of the corresponding femoral assembly surface pointing to the knee joint prosthesis to be assembled;

[0019] determining at least one target assembly surface among the plurality of femoral assembly surfaces according to a tool type of the osteotomy tool;

[0020] For each target assembly surface, coordinate system translation compensation is performed on the preliminary feed point coordinate system corresponding to the target assembly surface according to the tool size parameters in a vertical plane of the target assembly surface to obtain an actual feed point coordinate system corresponding to the target assembly surface;

[0021] For each target assembly surface, a coordinate system transformation relationship between an actual tool feed point coordinate system corresponding to the target assembly surface and a reference coordinate system of the femoral prosthesis reference portion is used as a first relative posture relationship corresponding to the target assembly surface;

[0022] For each femoral assembly surface among the multiple femoral assembly surfaces except all target assembly surfaces, the coordinate system transformation relationship between the preliminary entry point coordinate system corresponding to the femoral assembly surface and the reference coordinate system of the femoral prosthesis reference part is used as the first relative posture relationship corresponding to the femoral assembly surface.

[0023] In an optional embodiment, the step of calculating, based on the prosthesis size information and the tool size parameters, a second relative position relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and the tibial prosthesis reference portion in the reference coordinate system includes:

[0024] Performing a coordinate system translation on the reference coordinate system of the tibial prosthesis reference part in the reference coordinate system within the plane where the tibial assembly surface is located to obtain a preliminary entry point coordinate system of the tibial assembly surface, wherein a distance from the origin of the preliminary entry point coordinate system of the tibial assembly surface to the origin of the reference coordinate system of the tibial prosthesis reference part is greater than or equal to a preset retraction distance;

[0025] Performing coordinate system translation compensation on the preliminary feed point coordinate system of the tibial assembly surface according to the tool size parameters in a vertical plane of the tibial assembly surface to obtain an actual feed point coordinate system of the tibial assembly surface;

[0026] The coordinate system transformation relationship between the actual tool entry point coordinate system corresponding to the tibial assembly surface and the reference coordinate system of the tibial prosthesis reference part is used as the second relative posture relationship corresponding to the tibial assembly surface.

[0027] In an optional embodiment, the step of obtaining first desired assembly pose information of the femoral prosthesis reference portion relative to the solid femur to be osteotomized in the base coordinate system of the surgical robot includes:

[0028] Acquire a first assembly posture relationship between a femoral reference portion on the femoral model of the physical femur to be osteotomized and a femoral prosthesis reference portion in the reference coordinate system;

[0029] Performing point cloud registration on the femoral tracer corresponding to the physical femur to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femoral tracer;

[0030] Performing relative posture registration on the femoral tracer and the surgical robot to obtain a first pose matrix of the femoral tracer relative to a base coordinate system of the surgical robot;

[0031] A coordinate system transformation is performed on the first assembly pose relationship according to the first registration matrix and the first pose matrix to obtain the first expected assembly pose information.

[0032] In an optional embodiment, the step of obtaining the second desired assembly pose information of the tibial prosthesis reference portion relative to the physical tibia to be osteotomized in the base coordinate system includes:

[0033] Acquire a second assembly posture relationship between a tibial reference portion on the tibial model of the physical tibia to be osteotomized and a tibial prosthesis reference portion in the reference coordinate system;

[0034] Performing point cloud registration on the tibial tracer corresponding to the physical tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibial tracer;

[0035] Performing relative posture registration on the tibial tracer and the surgical robot to obtain a second posture matrix of the tibial tracer relative to a base coordinate system of the surgical robot;

[0036] According to the second registration matrix and the second pose matrix, a coordinate system transformation is performed on the second assembly pose relationship to obtain the second expected assembly pose information.

[0037] In an optional embodiment, for each skeletal tracer in the femoral tracer and the tibial tracer, performing relative pose registration on the skeletal tracer and the surgical robot to obtain a target pose matrix of the skeletal tracer relative to the base coordinate system of the surgical robot includes:

[0038] Performing posture calibration on the osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the osteotomy tool relative to the base coordinate system;

[0039] Performing pose registration on the bone tracer and the tool tracer to obtain a first pose registration matrix of the bone tracer relative to the tool tracer;

[0040] Performing posture registration on the tool tracer and the osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the osteotomy tool;

[0041] Perform matrix multiplication on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is ​​the target pose matrix when the corresponding bone tracer is the femoral tracer, and the second pose matrix is ​​the target pose matrix when the corresponding bone tracer is the tibial tracer.

[0042] In an optional embodiment, for each skeletal tracer in the femoral tracer and the tibial tracer, performing relative pose registration on the skeletal tracer and the surgical robot to obtain a target pose matrix of the skeletal tracer relative to the base coordinate system of the surgical robot includes:

[0043] Performing posture registration on the base tracer and the surgical robot to obtain a third posture registration matrix of the base tracer relative to the base coordinate system;

[0044] Performing posture registration on the skeletal tracer and the end base tracer to obtain a fourth posture registration matrix of the skeletal tracer relative to the base tracer;

[0045] Perform matrix multiplication on the third pose registration matrix and the fourth pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is ​​the target pose matrix when the corresponding bone tracer is the femoral tracer, and the second pose matrix is ​​the target pose matrix when the corresponding bone tracer is the tibial tracer.

[0046] In a second aspect, the present disclosure provides a method for automatic knee osteotomy, which is applied to a surgical robot, wherein an osteotomy tool is installed at the end of the surgical robot, and the method comprises:

[0047] Obtaining, in the base coordinate system of the surgical robot, planar osteotomy trajectories of the osteotomy tool corresponding to the multiple femoral assembly surfaces of the solid femur to be osteotomized included in the knee joint to be operated on and the knee joint prosthesis to be assembled, and a planar osteotomy trajectory of the osteotomy tool corresponding to the tibial assembly surface of the solid tibia to be osteotomized included in the knee joint to be operated on and the knee joint prosthesis to be assembled in the base coordinate system;

[0048] Determining the order of executing osteotomy operations at the knee joint to be operated on, based on the respective planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surfaces;

[0049] According to the execution order of the osteotomy operations corresponding to all the planar osteotomy trajectories, the surgical robot is controlled in sequence to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectory, so as to cut out a femoral plateau surface on the solid femur to be osteotomized that matches the multiple femoral assembly surfaces respectively, and cut out a tibial plateau surface on the solid tibia to be osteotomized that matches the tibial assembly surface.

[0050] In an optional embodiment, the planar osteotomy trajectories of each of the multiple femoral assembly surfaces and the tibial assembly surface are planned using the knee joint osteotomy planning method described in any one of the aforementioned embodiments.

[0051] In a third aspect, the present disclosure provides a knee osteotomy planning device, comprising:

[0052] a tool information acquisition module configured to acquire prosthesis size information of a to-be-assembled knee joint prosthesis and tool size parameters of an osteotomy tool, wherein the osteotomy tool is mounted on a robot end of a surgical robot, and the to-be-assembled knee joint prosthesis includes a plurality of femoral assembly surfaces located near a femoral prosthesis reference site and a tibial assembly surface where a tibial prosthesis reference site is located;

[0053] a posture relationship calculation module configured to calculate, based on the prosthesis size information and the tool size parameters, a first relative posture relationship between the osteotomy tool's osteotomy feed posture for each of the plurality of femoral assembly surfaces and a reference portion of the femoral prosthesis in a reference coordinate system, and a second relative posture relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and a reference portion of the tibial prosthesis in the reference coordinate system;

[0054] a prosthesis posture acquisition module configured to acquire first desired assembly posture information of the femoral prosthesis reference portion relative to the actual femur to be osteotomized in the base coordinate system of the surgical robot, and second desired assembly posture information of the tibial prosthesis reference portion relative to the actual tibia to be osteotomized in the base coordinate system;

[0055] a feed posture calculation module configured to calculate, based on the first expected assembly posture information and the first relative posture relationship corresponding to each of the plurality of femoral assembly surfaces, the expected osteotomy feed posture required when each of the plurality of femoral assembly surfaces is assembled to the solid femur to be osteotomized in the base coordinate system; and to calculate, based on the second expected assembly posture information and the second relative posture relationship, the expected osteotomy feed posture required when the tibial assembly surface is assembled to the solid tibia to be osteotomized in the base coordinate system;

[0056] The feed trajectory planning module is configured to plan the osteotomy trajectory for each of the multiple femoral assembly surfaces and the tibial assembly surfaces based on the surface size information of the assembly surface in the prosthesis size information and based on the expected osteotomy feed posture corresponding to the assembly surface, so as to obtain the planar osteotomy trajectory of the assembly surface in the base coordinate system.

[0057] In a fourth aspect, the present disclosure provides an automatic knee osteotomy device, which is applied to a surgical robot, wherein an osteotomy tool is installed at the end of the surgical robot, and the device comprises:

[0058] an osteotomy trajectory acquisition module configured to acquire, in the base coordinate system of the surgical robot, a planar osteotomy trajectory of the osteotomy tool corresponding to each of a plurality of femoral assembly surfaces of a solid femur to be osteotomized included in the knee joint to be operated on and a knee joint prosthesis to be assembled, and a planar osteotomy trajectory of the osteotomy tool corresponding to a tibial assembly surface of a solid tibia to be osteotomized included in the knee joint to be operated on and a knee joint prosthesis to be assembled in the base coordinate system;

[0059] an osteotomy sequence determination module configured to determine an execution order of osteotomy operations at the knee joint to be operated on, using respective planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surfaces;

[0060] The planar osteotomy control module is configured to control the surgical robot to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectory according to the execution order of the osteotomy operations corresponding to all the planar osteotomy trajectories, so as to cut out femoral plateau surfaces that match the multiple femoral assembly surfaces on the solid femur to be osteotomized, and cut out tibial plateau surfaces that match the tibial assembly surface on the solid tibia to be osteotomized.

[0061] In a fifth aspect, the present disclosure provides a computer device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the knee osteotomy planning method described in any one of the aforementioned embodiments, or drive the knee osteotomy planning device in the aforementioned embodiment to operate.

[0062] In a sixth aspect, the present disclosure provides a surgical robot, wherein an osteotomy tool is installed at the robot end of the surgical robot, the surgical robot includes a processor and a memory, the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the automatic knee osteotomy method described in any one of the aforementioned embodiments, or drive the automatic knee osteotomy device in the aforementioned embodiment to operate.

[0063] In a seventh aspect, the present disclosure provides a readable storage medium having a computer program stored thereon. When the computer program is executed, it implements the knee osteotomy planning method described in any one of the aforementioned embodiments, or drives the computer device to load and run the knee osteotomy planning device in the aforementioned embodiment, or drives the surgical robot to implement the knee automatic osteotomy method described in any one of the aforementioned embodiments, or drives the surgical robot to load and run the knee automatic osteotomy device in the aforementioned embodiment, wherein the robot end of the surgical robot is equipped with an osteotomy tool.

[0064] In this case, the beneficial effects of the embodiments of the present disclosure may include the following:

[0065] 1. The present disclosure can deeply consider the influence of the size parameters of the knee prosthesis and the size parameters of the osteotomy tool on the osteotomy starting position of the solid tibia / femur in the same reference system, and plan a planar osteotomy trajectory with good trajectory consistency and less planning time for the solid tibia / femur, and realize the automatic tibia / femur osteotomy function of the surgical robot through the planned planar osteotomy trajectory, so as to improve the positioning accuracy, osteotomy accuracy, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, ensure that the final cut tibial / femoral plateau surface can fit tightly with the knee prosthesis to be assembled, and ensure that the robotic automatic osteotomy solution for the solid tibia / femur provided by the present disclosure has significant effectiveness and safety.

[0066] 2. The present invention can directly plan the corresponding planar osteotomy trajectories of multiple prosthetic assembly surfaces (including the tibial assembly surface and multiple femoral assembly surfaces) in a short time under the same reference system, thereby greatly improving the efficiency of planar osteotomy trajectory planning of the solid tibia / femur, and cooperating with the robot's automatic osteotomy operation to maximize the precious treatment time for patients and significantly reduce the waiting time for TKA surgery.

[0067] 3. The tibial / femoral osteotomy trajectory planning scheme and tibial / femoral automatic osteotomy scheme provided by the present invention are both highly versatile and can be applied to a variety of knee prostheses with tibial / femoral prosthetic structures and different styles. They can also drive a surgical robot equipped with an osteotomy tool to perform automatic osteotomy on the physical tibia / femur, so as to cut out a bone platform surface on the corresponding physical tibia / femur that matches the structural size of the tibial / femoral prosthesis of the knee prosthesis, thereby facilitating the normal installation of the knee prosthesis, improving the success rate of TKA surgery, and ensuring that the TKA surgery achieves the expected results.

[0068] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0070] FIG1 is a schematic diagram of the composition of a computer device provided in an embodiment of the present disclosure;

[0071] FIG2 is a schematic diagram of the components of a knee joint prosthesis to be assembled according to an embodiment of the present disclosure;

[0072] FIG3 is a schematic diagram of a process of a knee osteotomy planning method provided by an embodiment of the present disclosure;

[0073] FIG4 is a flowchart of one of the sub-steps included in step S220 in FIG3 ;

[0074] FIG5 is a sagittal view of a femoral prosthesis structure included in a knee joint prosthesis to be assembled provided by an embodiment of the present disclosure;

[0075] FIG6 is a second flow chart of the sub-steps included in step S220 in FIG3 ;

[0076] 7 is a coronal view of a tibial prosthesis structure included in a knee joint prosthesis to be assembled provided by an embodiment of the present disclosure;

[0077] FIG8 is a flowchart of one of the sub-steps included in step S230 in FIG3 ;

[0078] FIG9 is a second flowchart of the sub-steps included in step S230 in FIG3 ;

[0079] FIG10 is a schematic diagram of the composition of a surgical robot provided in an embodiment of the present disclosure;

[0080] FIG11 is a schematic flow chart of an automatic knee osteotomy method according to an embodiment of the present disclosure;

[0081] FIG12 is a schematic diagram of the components of a knee osteotomy planning device provided in an embodiment of the present disclosure;

[0082] FIG13 is a schematic diagram showing the composition of the automatic knee osteotomy device provided in an embodiment of the present disclosure.

[0083] Icons: 10-computer equipment; 11-first memory; 12-first processor; 13-first communication unit; 100-knee osteotomy planning device; 110-tool information acquisition module; 120-posture relationship calculation module; 130-prosthesis posture acquisition module; 140-feed posture calculation module; 150-feed trajectory planning module; 20-surgical robot; 21-second memory; 22-second processor; 23-second communication unit; 300-knee joint automatic osteotomy device; 310-osteotomy trajectory acquisition module; 320-osteotomy sequence determination module; 330-plane osteotomy control module. DETAILED DESCRIPTION

[0084] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of them. Generally, the components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0085] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure as claimed, but merely represents selected embodiments of the present disclosure. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort shall fall within the scope of protection of the present disclosure.

[0086] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0087] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the disclosed product is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0088] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on the specific circumstances.

[0089] In addition, in the description of the present disclosure, it is understood that relational terms such as the terms "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0090] The applicant has found through painstaking research that the current robot, during the assisted TKA surgery, independently calculates the expected entry point position within each osteotomy plane. This results in a large amount of computation and poor data consistency for the expected entry point position corresponding to each of the multiple osteotomy planes, which can easily lead to osteotomy plane positioning errors. In addition, existing robots need to set tool position points for the osteotomy tool, so as to describe the expected entry point position of different osteotomy planes by combining the corresponding tool position points with the tool size parameters of the osteotomy tool (for example, the tool end radius of the milling cutter, the tool end radius of the drill, or the thickness of the oscillating saw). However, it is usually impossible to compensate for the influence of the tool size parameters on the osteotomy plane positioning operation in a timely manner, which can easily lead to osteotomy plane positioning errors.

[0091] To this end, the applicant solves the above-mentioned problems through a knee osteotomy planning method and device, an automatic knee osteotomy method and device, a computer device, a surgical robot and a readable storage medium provided by the embodiments of the present disclosure. The present disclosure can deeply consider the influence of the knee prosthesis size and the osteotomy tool size parameters on the osteotomy starting position of the solid tibia / femur in the same reference system, and plan a planar osteotomy trajectory with good trajectory consistency and less planning time for the solid tibia / femur, and realize the automatic tibia / femur osteotomy function of the surgical robot through the planned planar osteotomy trajectory, so as to improve the positioning accuracy, osteotomy precision, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, ensure that the final cut tibial / femoral plateau surface can fit closely with the knee prosthesis to be assembled, and at the same time, strive for precious treatment time for the patient as much as possible, significantly reduce the waiting time for TKA surgery, ensure that TKA surgery achieves the expected effect, and ensure that the robotic automatic osteotomy solution for the solid tibia / femur provided by the present disclosure has significant effectiveness and safety.

[0092] The following describes some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0093] Please refer to Figure 1, which is a schematic diagram of the composition of the computer device 10 provided in the embodiment of the present disclosure. In the embodiment of the present disclosure, the computer device 10 can be connected to a surgical robot equipped with osteotomy tools (including oscillating saws, milling cutters, grinding drills, etc.), and according to the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameters of the osteotomy tools, in a short time, an osteotomy trajectory that is adapted to each prosthesis assembly surface of the knee joint prosthesis to be assembled and has good trajectory consistency is planned for the knee joint to be operated on in the same reference system, so as to drive the surgical robot to perform an automatic osteotomy function on the knee joint to be operated, ensuring that the knee joint prosthesis to be assembled can be perfectly installed on the knee joint to be operated after osteotomy, thereby effectively ensuring that the TKA surgery achieves the expected effect. At the same time, through the osteotomy trajectory planning operation with good trajectory consistency and short planning time, precious treatment time is gained for the patient as much as possible, and the waiting time for TKA surgery is greatly reduced.

[0094] Among them, the computer device 10 can be an electronic device independent of the surgical robot, and the computer device 10 can be, but not limited to, a personal computer, a server, etc.; the computer device 10 can also be a physical hardware device integrated with the surgical robot; the surgical robot can be, but not limited to, a position-controlled robotic arm, a force-controlled robotic arm, a force-position mixed control robotic arm, etc.; the knee joint prosthesis to be assembled includes at least a tibial prosthesis structure and a femoral prosthesis structure.

[0095] In the disclosed embodiment, the computer device 10 may include a first memory 11, a first processor 12, a first communication unit 13, and a knee osteotomy planning apparatus 100. The first memory 11, the first processor 12, and the first communication unit 13 are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, the first memory 11, the first processor 12, and the first communication unit 13 may be electrically connected to each other via one or more communication buses or signal lines.

[0096] In this embodiment, the first memory 11 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The first memory 11 is configured to store a computer program, and the first processor 12 may execute the computer program accordingly after receiving an execution instruction.

[0097] In this embodiment, the first processor 12 can be an integrated circuit chip with signal processing capabilities. The first processor 12 can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present disclosure.

[0098] In this embodiment, the first communication unit 13 is configured to establish a communication connection between the computer device 10 and other electronic devices via a network, and to send and receive data via the network, wherein the network includes a wired communication network and a wireless communication network. For example, the computer device 10 can obtain digital models of the knee joint prosthesis to be assembled and the knee joint to be operated on through the first communication unit 13, and obtain size information of the knee joint prosthesis to be assembled and the knee joint to be operated on by performing information recognition on the digital models. The computer device 10 can also send the osteotomy trajectory planned for the knee joint to be operated on to the surgical robot through the first communication unit 13, so as to drive the surgical robot to perform an automated osteotomy operation on the knee joint to be operated on according to the osteotomy trajectory.

[0099] In this embodiment, the knee osteotomy planning device 100 includes at least one software functional module that can be stored in the first memory 11 in the form of software or firmware or embedded in the operating system of the computer device 10. The first processor 12 can be configured to execute the executable module stored in the first memory 11, such as the software functional module and computer program included in the knee osteotomy planning device 100. The computer device 10 can deeply consider the influence of the knee prosthesis size and the osteotomy tool size parameters on the osteotomy starting position of the solid tibia / femur included in the surgical knee joint in the same reference system through the knee osteotomy planning device 100, and plan a planar osteotomy trajectory with good trajectory consistency and short planning time for the solid tibia / femur, so as to realize the automatic osteotomy function of the tibia / femur of the surgical robot through the planned planar osteotomy trajectory, improve the positioning accuracy, osteotomy accuracy, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoid the tibial / femoral osteotomy error caused by manual osteotomy operation, ensure that the final cut tibial / femoral plateau surface can fit closely with the knee prosthesis to be assembled, and at the same time, strive for precious treatment time for the patient as much as possible, significantly reduce the waiting time of TKA surgery, ensure that TKA surgery achieves the expected effect, and ensure that the robot automatic osteotomy solution for solid tibia / femur provided by the present disclosure has significant effectiveness and safety.

[0100] It is understood that the block diagram shown in FIG1 is merely a schematic diagram of one configuration of the computer device 10. The computer device 10 may include more or fewer components than shown in FIG1 , or may have a configuration different from that shown in FIG1 . Each component shown in FIG1 may be implemented using hardware, software, or a combination thereof.

[0101] As for the knee joint prosthesis to be assembled, it can be described with reference to the composition diagram shown in Figure 2. In the embodiment of the present disclosure, the knee joint prosthesis to be assembled may include a femoral prosthesis structure, an intercondylar notch prosthesis structure and a tibial prosthesis structure. Among them, the femoral prosthesis structure may include five femoral assembly surfaces (i.e., the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface in Figure 2), and the femoral prosthesis structure is installed on the solid femur of the osteotomized knee joint through these five femoral assembly surfaces; the tibial prosthesis structure may include a tibial assembly surface (i.e., the tibial assembly surface in Figure 2), and a cone structure is provided on the tibial assembly surface, so that the tibial prosthesis structure can be installed on the solid tibia of the osteotomized knee joint through the tibial assembly surface and the cone structure; the intercondylar notch prosthesis structure is installed on the femoral prosthesis structure and is in contact with the posterior condyle assembly surface, the posterior oblique assembly surface and the distal assembly surface on the femoral prosthesis structure. The oblique assembly surface, the distal assembly surface, and the anterior oblique assembly surface are simultaneously fixedly connected. The intercondylar fossa prosthesis structure includes an intercondylar fossa prosthesis bottom surface, which is the outer surface of the intercondylar fossa prosthesis structure away from the femoral prosthesis structure. When the femoral prosthesis structure is installed on the solid femur of the osteotomized knee joint, it is necessary to ensure that the bony structure within the solid intercondylar fossa on the solid femur is removed, and the corresponding solid intercondylar fossa bone surface structure is matched with the size of the intercondylar fossa prosthesis structure so that the intercondylar fossa prosthesis structure can be smoothly embedded in the solid intercondylar fossa of the solid femur, thereby improving the installation security of the femoral prosthesis structure on the osteotomized knee joint. In one embodiment of this embodiment, the knee prosthesis to be assembled can be a posterior stabilized (PS) type knee prosthesis or a posterior cruciate ligament (CR) retained knee prosthesis with an intercondylar fossa prosthesis structure.

[0102] Therefore, with regard to the knee joint prosthesis to be assembled shown in Figure 2, the prosthesis assembly surface on the knee joint prosthesis to be assembled is composed of the above-mentioned posterior condyle assembly surface, the above-mentioned posterior oblique assembly surface, the above-mentioned distal assembly surface, the above-mentioned anterior oblique assembly surface, the above-mentioned anterior condyle assembly surface and the above-mentioned tibial assembly surface. The computer device 10 needs to plan multiple osteotomy trajectories for the solid femur of the knee joint to be operated on, so that each osteotomy trajectory can correspondingly cut the local bone of the solid femur into a bone platform surface that is compatible with a certain femoral assembly surface, so as to ensure that the above-mentioned femoral prosthesis structure can be exactly installed on the solid femur after osteotomy. At the same time, the computer device 10 also needs to plan an osteotomy trajectory for the solid tibia of the knee joint to be operated on, so that the osteotomy trajectory can correspondingly cut the local bone of the solid tibia into a bone platform surface that is compatible with the above-mentioned tibial assembly surface, so as to ensure that the above-mentioned tibial prosthesis structure can be exactly installed on the solid tibia after osteotomy.

[0103] It is understandable that the figure shown in FIG2 is only a schematic diagram of the composition of the knee joint prosthesis to be assembled, and the knee joint prosthesis to be assembled may also include more or fewer components than shown in FIG2 , or have a configuration different from that shown in FIG2 .

[0104] In the present disclosure, in order to ensure that the computer device 10 can deeply consider the influence of the knee prosthesis size and osteotomy tool size parameters on the osteotomy starting position of the solid tibia / femur included in the knee joint to be operated on in the same reference system, a planar osteotomy trajectory with good trajectory consistency and less planning time is planned for the solid tibia / femur, so as to realize the automatic osteotomy function of the tibia / femur of the surgical robot through the planned planar osteotomy trajectory, improve the positioning accuracy, osteotomy accuracy, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoid the tibial / femoral osteotomy error caused by manual osteotomy operation, ensure that the final cut tibial / femoral plateau surface can fit closely with the knee prosthesis to be assembled, and at the same time strive for precious treatment time for the patient as much as possible, significantly reduce the waiting time for TKA surgery, and ensure that TKA surgery achieves the expected effect. The embodiment of the present disclosure provides a knee osteotomy planning method to achieve the above-mentioned purpose. The knee osteotomy planning method provided by the present disclosure is described in detail below.

[0105] Please refer to Figure 3, which is a flowchart of a knee osteotomy planning method provided by an embodiment of the present disclosure. In the embodiment of the present disclosure, the knee osteotomy planning method may include steps S210 to S250.

[0106] Step S210, obtaining the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameters of the osteotomy tool, wherein the osteotomy tool is installed on the robot end of the surgical robot, and the knee joint prosthesis to be assembled includes multiple femoral assembly surfaces located near the femoral prosthesis reference position and a tibial assembly surface where the tibial prosthesis reference position is located.

[0107] The prosthesis size information may include surface size information of each femoral assembly surface in the femoral prosthesis structure, the plane angle between two adjacent femoral assembly surfaces, and surface size information of the tibial assembly surface of the tibial prosthesis structure. The femoral prosthesis reference portion may be set on the distal assembly surface, and the position of the femoral prosthesis reference portion may be used to represent the actual assembly position of the femoral prosthesis structure. The tibial prosthesis reference portion may be set on the tibial assembly surface, and the position of the tibial prosthesis reference portion may be used to represent the actual assembly position of the tibial prosthesis structure. The tool size parameters match the tool type of the osteotomy tool. For example, if the osteotomy tool is an oscillating saw, the tool size parameters include the thickness of the corresponding oscillating saw; if the osteotomy tool is a milling cutter, the tool size parameters include the end operating radius of the corresponding milling cutter; if the osteotomy tool is a burr, the tool size parameters include the end operating radius of the corresponding burr.

[0108] It can be understood that the femoral prosthesis reference part and the tibial prosthesis reference part can be physical parts on the knee joint prosthesis to be assembled, or can be virtual parts set for the knee joint prosthesis to be assembled; the femoral prosthesis reference part corresponds to a reference part (i.e., the femoral reference part) on the physical femur of the knee joint to be operated on, and the assembly posture of the femoral prosthesis structure relative to the physical femur of the knee joint to be operated on can be described by describing the posture of the femoral prosthesis reference part relative to the femoral reference part in the same coordinate system; the tibial prosthesis reference part corresponds to a reference part (i.e., the tibial reference part) on the physical tibia of the knee joint to be operated on, and the assembly posture of the tibial prosthesis structure relative to the physical tibia of the knee joint to be operated on can be described by describing the posture of the tibial prosthesis reference part relative to the tibial reference part in the same coordinate system.

[0109] Step S220, based on the prosthesis size information and tool size parameters, calculate the first relative position relationship between the osteotomy tool's osteotomy feed posture for each of the multiple femoral assembly surfaces and the femoral prosthesis reference position in the reference coordinate system, and the second relative position relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and the tibial prosthesis reference position in the reference coordinate system.

[0110] In this embodiment, after the computer device 10 obtains the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameters of the osteotomy tool, it can construct a three-dimensional prosthesis model of the knee joint prosthesis to be assembled in a reference coordinate system corresponding to the CT (Computed Tomography) image, and determine in the three-dimensional prosthesis model which femoral assembly surfaces need to use the tool size parameters of the osteotomy tool to perform posture compensation for the osteotomy starting posture acting on the real femur, so as to ensure that the corresponding real femur can be cut out of a bone platform surface that is compatible with the aforementioned femoral assembly surface, and determine which femoral assembly surfaces do not need to use the tool size parameters of the osteotomy tool to perform posture compensation for the osteotomy starting posture acting on the real femur, so as to ensure that the corresponding real femur can be cut out of a bone platform surface that is compatible with the aforementioned femoral assembly surface, and at the same time determine which tibial assembly surfaces need to use the tool size parameters of the osteotomy tool to perform posture compensation for the osteotomy starting posture acting on the real tibia, so as to ensure that the corresponding real tibia can be cut out of a bone platform surface that is compatible with the aforementioned tibial assembly surface. At this time, the first relative posture relationship of each femoral assembly surface can be configured to represent the relative posture condition of the corresponding actual bone platform surface when it is cut out under the action of the osteotomy tool and the reference position of the femoral prosthesis; the second relative posture relationship of the tibial assembly surface can be configured to represent the relative posture condition of the corresponding actual bone platform surface when it is cut out under the action of the osteotomy tool and the reference position of the tibial prosthesis.

[0111] Optionally, please refer to Figure 4, which is one of the flow charts of the sub-steps included in step S220 in Figure 3. In the embodiment of the present disclosure, the step of "calculating the first relative posture relationship between the osteotomy tool and the reference part of the femoral prosthesis in the reference coordinate system for the osteotomy feed posture of each of the multiple femoral assembly surfaces based on the prosthesis size information and the tool size parameters" in step S220 may include sub-steps S221 to S224, so as to deeply consider the influence of the knee prosthesis size and the tool size parameters of the osteotomy tool on the osteotomy starting posture of the solid femur in the same reference system, and ensure that the obtained first relative posture relationship can accurately describe the relative posture status of the bone platform surface of each of the multiple femoral assembly surfaces under the influence of the osteotomy tool and the reference part of the femoral prosthesis, thereby improving the positioning accuracy of the femoral plateau surface and simultaneously improving the positioning consistency of the femoral plateau surface.

[0112] In sub-step S221, for each of the femoral assembly surfaces including the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface, according to the relative position of the femoral assembly surface and the reference part of the femoral prosthesis, the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system is transformed through a coordinate system translation operation and / or a coordinate system rotation operation to obtain a preliminary entry point coordinate system of the femoral assembly surface in the extension direction of the target plane.

[0113] Taking the sagittal view of the femoral prosthesis structure shown in Figure 5 as an example, the line segment ab in Figure 5 is used to represent the posterior condyle assembly surface, the line segment bc in Figure 5 is used to represent the posterior oblique assembly surface, the line segment cd in Figure 5 is used to represent the distal assembly surface, the line segment de in Figure 5 is used to represent the anterior oblique assembly surface, the line segment ef in Figure 5 is used to represent the anterior condyle assembly surface, the letter g in Figure 5 is used to represent the plane intersection line between the posterior condyle assembly surface and the distal assembly surface, and the letter h in Figure 5 is used to represent the anterior condyle. The plane intersection line between the assembly surface and the distal assembly surface, the letter d in Figure 5 is used to represent the plane intersection line between the anterior oblique assembly surface and the distal assembly surface, the letter c in Figure 5 is used to represent the plane intersection line between the posterior oblique assembly surface and the distal assembly surface, the point o0 in Figure 5 is used to represent the femoral prosthesis reference part, at this time the coordinate system o0-x0-y0-z0 is the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system, and the plane x0o0y0 is the plane where the distal assembly surface is located.

[0114] Therefore, a preliminary entry point coordinate system taking into account the retraction distance of the osteotomy tool can be constructed for each femoral assembly surface in the target plane extension direction of the femoral assembly surface through coordinate system translation operation and / or coordinate system rotation operation in the reference coordinate system, so that the distance from the plane intersection line between each femoral assembly surface and the distal assembly surface to the origin of the corresponding preliminary entry point coordinate system is greater than or equal to the preset retraction distance, wherein the target plane extension direction is the plane extension direction of the femoral prosthesis structure of the corresponding femoral assembly surface pointing to the knee joint prosthesis to be assembled.

[0115] At this time, the preliminary entry point coordinate system corresponding to the posterior condyle assembly surface is the coordinate system o1-x1-y1-z1 in Figure 5, wherein the plane x1o1y1 is the plane where the posterior condyle assembly surface is located, and the distance go1 is greater than or equal to the preset retraction distance; the preliminary entry point coordinate system corresponding to the posterior oblique assembly surface is the coordinate system o2-x2-y2-z2 in Figure 5, wherein the plane x2o2y2 is the plane where the posterior oblique assembly surface is located, and the distance co2 is greater than or equal to the preset retraction distance; the preliminary entry point coordinate system corresponding to the distal assembly surface is the coordinate system o3-x3-y3-z3 in Figure 5, wherein the plane x3o3y3 is the plane where the distal assembly surface is located, and the distance do3 is greater than or equal to the preset retraction distance; the preliminary entry point coordinate system corresponding to the anterior oblique assembly surface is the coordinate system in Figure 5 The plane That is the plane where the front oblique assembly surface is located, the distance Greater than or equal to the preset retraction distance; the initial entry point coordinate system corresponding to the anterior condyle assembly surface is the coordinate system in Figure 5 The plane That is the plane where the anterior condyle assembly surface is located, the distance Greater than or equal to the preset retraction distance.

[0116] Sub-step S222: determining at least one target assembly surface from a plurality of femoral assembly surfaces according to the tool type of the osteotomy tool.

[0117] Among them, the target assembly surface is the femoral assembly surface that needs to be compensated for posture using the tool size parameters of the osteotomy tool; if the tool type of the osteotomy tool is an oscillating saw, then at least one femoral assembly surface can be randomly selected or fixedly selected from the multiple femoral assembly surfaces as the target assembly surface, for example, the anterior oblique assembly surface and the anterior condyle assembly surface in Figure 5 are both used as the target assembly surfaces when the tool type is an oscillating saw; if the tool type of the osteotomy tool is a milling cutter or a grinding drill, then each of the multiple femoral assembly surfaces is used as the target assembly surface.

[0118] Sub-step S223, for each target assembly surface, coordinate system translation compensation is performed on the preliminary feed point coordinate system corresponding to the target assembly surface according to the tool size parameters in the vertical plane of the target assembly surface to obtain the actual feed point coordinate system corresponding to the target assembly surface.

[0119] In this embodiment, for each target assembly surface, the preliminary feed point coordinate system corresponding to the target assembly surface can be translated along the positive direction of the Z axis so that the distance between the origin of the actual feed point coordinate system obtained after the translation and the origin of the corresponding preliminary feed point coordinate system is consistent with the tool size parameters.

[0120] Taking the front oblique assembly surface and the front condyle assembly surface as the target assembly surface when the tool type is an oscillating saw as shown in Figure 5 as an example, the planes of the front oblique assembly surface and the front condyle assembly surface in their respective initial entry point coordinate systems are and It cannot represent the corresponding actual femoral platform surface. It is necessary to translate the initial feed point coordinate systems of the anterior oblique assembly surface and the anterior condyle assembly surface along the positive direction of the Z axis, so that the distance between the origin of the actual feed point coordinate system obtained after the translation and the origin of the initial feed point coordinate system is the oscillating saw thickness. At this time, the actual feed point coordinate system corresponding to the anterior oblique assembly surface is the coordinate system o4-x4-y4-z4 in Figure 5, where the plane x4o4y4 can represent the femoral platform surface of the anterior oblique assembly surface under the influence of the oscillating saw, and the distance The actual feed point coordinate system corresponding to the anterior condyle assembly surface is the coordinate system o5-x5-y5-z5 in Figure 5, where the plane x5o5y5 can represent the femoral platform surface of the anterior condyle assembly surface under the influence of the oscillating saw, and the distance Keep consistent with the thickness of the oscillating saw.

[0121] Sub-step S224, for each target assembly surface, the coordinate system transformation relationship between the actual feed point coordinate system corresponding to the target assembly surface and the reference coordinate system of the femoral prosthesis reference part is used as the first relative posture relationship corresponding to the femoral assembly surface.

[0122] In this embodiment, since the femoral platform surface corresponding to each target assembly surface can be represented by the plane xoy of the corresponding actual feed point coordinate system, the coordinate system transformation relationship between the actual feed point coordinate system of the corresponding target assembly surface and the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system can be used as the first relative posture relationship of the corresponding target assembly surface to accurately describe the relative posture status of the bone platform surface of the corresponding target assembly surface under the influence of the osteotomy tool and the femoral prosthesis reference part.

[0123] At this time, the first relative posture relationship corresponding to the front oblique assembly surface shown in FIG5 can be expressed by the following formula:

[0124] The first relative posture relationship corresponding to the anterior condyle assembly surface shown in FIG5 can be expressed by the following formula:

[0125] Among them, T_o4 is used to represent the actual entry point coordinate system of the anterior oblique assembly surface, T_o5 is used to represent the actual entry point coordinate system of the anterior condyle assembly surface, T_o0 is used to represent the reference coordinate system of the reference part of the femoral prosthesis, o0d is used to represent the distance from the plane intersection line between the anterior oblique assembly surface and the distal assembly surface to the origin of the reference coordinate system, and o0h is used to represent the distance from the plane intersection line between the anterior condyle assembly surface and the distal assembly surface to the origin of the reference coordinate system. It is used to indicate the plane angle between the front oblique assembly surface and the distal assembly surface. It is used to indicate the plane angle between the anterior condyle assembly surface and the distal assembly surface, and The values ​​of are all greater than or equal to the preset retraction distance, and dz is used to represent the tool size parameter (i.e., the thickness of the oscillating saw) when the tool type of the osteotomy tool is an oscillating saw. In addition, Transl(*) is used to represent the translation operator, and Rot(*) is used to represent the rotation operator, where the translation operator is usually represented by the following formula:

[0126] The rotation operator is usually expressed as follows:

[0127] Sub-step S225, for each femoral assembly surface among multiple femoral assembly surfaces except all target assembly surfaces, the coordinate system transformation relationship between the preliminary entry point coordinate system corresponding to the femoral assembly surface and the reference coordinate system of the femoral prosthesis reference part is used as the first relative posture relationship corresponding to the femoral assembly surface.

[0128] Among them, since the osteotomy feed posture of each femoral assembly surface except all the target assembly surfaces in the multiple femoral assembly surfaces does not need to be compensated for by the tool size parameters of the osteotomy tool, that is, the plane xoy of each femoral assembly surface except all the target assembly surfaces in the multiple femoral assembly surfaces in the corresponding preliminary feed point coordinate system (for example, the plane x1o1y1, plane x2o2y2 and plane x3o3y3 in the preliminary feed point coordinate systems corresponding to the posterior condyle assembly surface, posterior oblique assembly surface and distal assembly surface in Figure 5) can represent the corresponding femoral platform surface, then the coordinate system transformation relationship between the preliminary feed point coordinate system of each femoral assembly surface except all the target assembly surfaces in the multiple femoral assembly surfaces and the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system can be used as the first relative posture relationship of the corresponding femoral assembly surface to accurately describe the relative posture status of the bone platform surface of the corresponding femoral assembly surface under the influence of the osteotomy tool and the femoral prosthesis reference part.

[0129] At this time, the first relative posture relationship corresponding to the posterior condyle assembly surface shown in FIG5 can be expressed by the following formula: T_o1 = T_o0*Transl([(o0g,0,0)])*Rot([0,-∠cgo1,0])*Transl([-dx,0,0]);

[0130] The first relative position relationship corresponding to the rear oblique assembly surface shown in FIG5 can be expressed by the following formula: T_o2 = T_o0*Transl([(o0c,0,0)])*Rot([0,-∠o0co2,0])*Transl([-dx,0,0]);

[0131] The first relative position relationship corresponding to the distal assembly surface shown in FIG5 can be expressed by the following formula: T_o3 = T_o0*Transl([(-o0o3,0,0)]);

[0132] Among them, T_o1 is used to represent the preliminary entry point coordinate system of the posterior condyle assembly surface, T_o2 is used to represent the preliminary entry point coordinate system of the posterior oblique assembly surface, T_o3 is used to represent the preliminary entry point coordinate system of the distal assembly surface, o0g is used to represent the distance from the plane intersection line between the posterior condyle assembly surface and the distal assembly surface to the origin of the reference coordinate system, o0c is used to represent the distance from the plane intersection line between the posterior oblique assembly surface and the distal assembly surface to the origin of the reference coordinate system, o0o3=o0d+do3, ∠cgo1 is used to represent the plane angle between the posterior condyle assembly surface and the distal assembly surface, ∠o0co2 is used to represent the plane angle between the posterior oblique assembly surface and the distal assembly surface, and the values ​​of do3 and dx are both greater than or equal to the preset retraction distance.

[0133] Therefore, the present disclosure can deeply consider the influence of the knee prosthesis size and the tool size parameters of the osteotomy tool on the osteotomy starting posture of the solid femur in the same reference system by executing the above sub-steps S221 to S224, ensuring that the obtained first relative posture relationship can accurately describe the relative posture conditions of the bone platform surface of multiple femoral assembly surfaces under the influence of the osteotomy tool and the reference part of the femoral prosthesis, thereby improving the positioning accuracy of the femoral platform surface and simultaneously improving the positioning consistency of the femoral platform surface.

[0134] Optionally, please refer to Figure 6, which is a second flow chart of the sub-steps included in step S220 in Figure 3. In the disclosed embodiment, the step of "calculating the second relative posture relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and the tibial prosthesis reference position in the reference coordinate system based on the prosthesis size information and the tool size parameters" in step S220 may include sub-steps S225 to S227, so as to deeply consider the influence of the knee prosthesis size and the tool size parameters of the osteotomy tool on the osteotomy starting posture of the physical tibia in the same reference system, ensure that the obtained second relative posture relationship can accurately describe the relative posture condition of the bone plateau surface of the tibial assembly surface under the influence of the osteotomy tool and the tibial prosthesis reference position, improve the positioning accuracy of the tibial plateau surface, and simultaneously improve the positioning consistency of the tibial plateau surface.

[0135] Sub-step S225 , performing coordinate translation on the reference coordinate system of the tibial prosthesis reference part in the reference coordinate system within the plane where the tibial assembly surface is located, to obtain a preliminary entry point coordinate system of the tibial assembly surface.

[0136] Taking the coronal view of the tibial prosthesis structure shown in Figure 7 as an example, the point o0′ in Figure 6 is used to represent the reference part of the tibial prosthesis. At this time, the coordinate system o0′-x0′-y0′-z0′ is the reference coordinate system of the reference part of the tibial prosthesis in the reference coordinate system, and the plane x0′o0′y0′ is the plane where the tibial assembly surface is located.

[0137] Therefore, a preliminary entry point coordinate system taking into account the retraction distance of the osteotomy tool can be constructed in the planar extension direction of the tibial assembly surface through coordinate system translation operation in the reference coordinate system, so that the distance from the origin of the preliminary entry point coordinate system of the tibial assembly surface to the origin of the reference coordinate system of the tibial prosthesis reference part is greater than or equal to the preset retraction distance.

[0138] At this time, the initial entry point coordinate system corresponding to the tibial assembly surface is the coordinate system in Figure 7 The plane That is the plane where the tibial assembly surface is located, the distance Greater than or equal to the preset retraction distance.

[0139] Sub-step S226 , performing coordinate system translation compensation on the preliminary entry point coordinate system of the tibial assembly surface according to the tool size parameters in the vertical plane of the tibial assembly surface to obtain the actual entry point coordinate system of the tibial assembly surface.

[0140] Among them, the osteotomy feed posture of the tibial assembly surface needs to be compensated by the tool size parameters of the osteotomy tool, that is, the plane of the tibial assembly surface in the corresponding initial feed point coordinate system It cannot represent the corresponding tibial plateau surface. It is necessary to translate the preliminary feed point coordinate system of the tibial assembly surface along the positive direction of the Z axis so that the distance between the origin of the actual feed point coordinate system obtained after the translation and the origin of the preliminary feed point coordinate system is consistent with the tool size parameter. At this time, the actual feed point coordinate system corresponding to the tibial assembly surface is the coordinate system o1′-x1′-y1′-z1′ in Figure 7, where the plane x1′o1′y1′ can represent the tibial plateau surface of the tibial assembly surface under the influence of the osteotomy tool, and the distance Keep consistent with the tool size parameters.

[0141] Sub-step S227 , taking the coordinate system transformation relationship between the actual entry point coordinate system corresponding to the tibial assembly surface and the reference coordinate system of the tibial prosthesis reference position as the second relative posture relationship corresponding to the tibial assembly surface.

[0142] In this embodiment, since the tibial plateau surface corresponding to the tibial assembly surface can be directly represented by the plane xoy (i.e., plane x1′o1′y1′) corresponding to the actual feed point coordinate system, the coordinate system transformation relationship between the actual feed point coordinate system corresponding to the tibial assembly surface and the reference coordinate system of the tibial prosthesis reference part in the reference coordinate system can be used as the second relative posture relationship of the tibial assembly surface to accurately describe the relative posture of the tibial plateau surface of the tibial assembly surface under the influence of the osteotomy tool and the tibial prosthesis reference part.

[0143] At this time, the second relative posture relationship corresponding to the tibial assembly surface shown in FIG7 can be expressed by the following formula:

[0144] Among them, T_o1′ is used to represent the actual entry point coordinate system of the tibial assembly surface, and T_o0′ is used to represent the reference coordinate system of the reference part of the tibial prosthesis. The value of is equal to the preset retraction distance, and dz is used to represent the tool size parameter of the osteotomy tool (for example, the thickness of the oscillating saw).

[0145] Therefore, the present disclosure can deeply consider the influence of the knee prosthesis size and the tool size parameters of the osteotomy tool on the osteotomy starting posture of the solid tibia in the same reference system by executing the above sub-steps S225 to S227, ensuring that the second relative posture relationship obtained can accurately describe the relative posture of the tibial plateau surface of the tibial assembly surface under the influence of the osteotomy tool and the tibial prosthesis reference position, thereby improving the positioning accuracy of the tibial plateau surface and simultaneously improving the positioning consistency of the tibial plateau surface.

[0146] Step S230, obtaining the first desired assembly pose information of the femoral prosthesis reference part in the base coordinate system of the surgical robot for the actual femur to be osteotomized, and the second desired assembly pose information of the tibial prosthesis reference part in the base coordinate system for the actual tibia to be osteotomized.

[0147] In this embodiment, the first expected assembly posture information is configured to represent the expected assembly posture of the femoral prosthesis reference part in the base coordinate system after the femur to be osteotomized is successfully osteotomized, and the second expected assembly posture information is configured to represent the expected assembly posture of the tibial prosthesis reference part in the base coordinate system after the tibia to be osteotomized is successfully osteotomized, wherein the femur to be osteotomized and the tibia to be osteotomized belong to the same knee joint to be operated on.

[0148] It can be understood that the computer device 10 can obtain the first expected assembly posture information and the second expected assembly posture information from other electronic devices through the first communication unit 13; the computer device 10 can also respond to the configuration operation of the attending physician and generate corresponding first expected assembly posture information and second expected assembly posture information for the knee joint prosthesis to be assembled and the knee joint to be operated on.

[0149] Optionally, please refer to FIG8 , which is a flowchart of one of the sub-steps included in step S230 in FIG3 . In the disclosed embodiment, the step of "obtaining first desired assembly posture information of the femoral prosthesis reference portion with respect to the actual femur to be osteotomized in the base coordinate system of the surgical robot" in step S230 may include sub-steps S231 to S234 to accurately determine the desired assembly posture of the femoral prosthesis reference portion on the knee joint prosthesis to be assembled after osteotomy of the actual femur to be osteotomized.

[0150] Sub-step S231: obtaining a first assembly posture relationship between a femoral reference portion on the femoral model of the physical femur to be osteotomized and a femoral prosthesis reference portion in a reference coordinate system.

[0151] Among them, the femoral model corresponding to the solid femur to be osteotomized included in the knee joint to be operated is established in the reference coordinate system, and the attending physician of the knee joint to be operated adjusts the assembly posture of the three-dimensional prosthesis model of the knee joint prosthesis to be assembled in the reference coordinate system according to the expected TKA surgical effect, so as to determine the expected assembly posture of the femoral prosthesis reference part of the knee joint prosthesis to be assembled relative to the femoral reference part after the osteotomy of the corresponding solid femur to be osteotomized is completed, and the first assembly posture relationship is obtained. At this time, the first assembly posture relationship can characterize the expected assembly posture of the femoral prosthesis reference part relative to the femoral reference part in the reference coordinate system, which can be represented by T_ct_o0.

[0152] In sub-step S232, point cloud registration is performed on the femoral tracer corresponding to the solid femur to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femoral tracer.

[0153] Among them, the femoral tracer is configured to mark the actual posture of the physical femur to be osteotomized in the real surgical environment. At this time, the first registration matrix can be configured to represent the mapping relationship between the femoral model of the physical femur to be osteotomized and the physical femur to be osteotomized in the real surgical environment, which can be represented by T_femurtracer_ct.

[0154] Sub-step S233 , performing relative posture registration on the femoral tracer and the surgical robot to obtain the first pose matrix of the femoral tracer relative to the base coordinate system of the surgical robot.

[0155] In this embodiment, the first posture matrix is ​​configured to describe the actual posture of the physical femur to be osteotomized in the real surgical environment in the base coordinate system of the surgical robot, which can be represented by T_b_femurtracer.

[0156] Optionally, in one implementation of this embodiment, a tool tracer may be installed on the surgical robot for the osteotomy tool, so as to calibrate the installation position of the osteotomy tool by the tool tracer, wherein the tool tracer and the osteotomy tool are relatively stationary. In this case, sub-step S233 may include:

[0157] Performing posture calibration on the osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the tool tracer relative to the base coordinate system;

[0158] Performing posture registration on the femoral tracer and the tool tracer to obtain a first posture registration matrix of the femoral tracer relative to the tool tracer;

[0159] Performing posture registration on the tool tracer and the osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the osteotomy tool;

[0160] A matrix multiplication operation is performed on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain a first pose matrix corresponding to the femoral tracer.

[0161] Among them, the first pose calibration matrix can be represented by T_b_tcp, the first pose registration matrix corresponding to the femoral tracer can be represented by T_calib_femurtracer, and the second pose registration matrix can be represented by T_tcp_calib.

[0162] Optionally, in another implementation of this embodiment, a base tracer that is relatively stationary with respect to the robot base of the surgical robot may be installed in the actual surgical environment of the knee joint to be operated on, so as to use the base tracer as a reference to determine the relative posture relationship between the femoral tracer and the surgical robot. In this case, sub-step S233 may include:

[0163] Performing posture registration on the base tracer and the surgical robot to obtain a third posture registration matrix of the base tracer relative to the base coordinate system;

[0164] Performing posture registration on the femoral tracer and the base tracer to obtain a fourth posture registration matrix of the femoral tracer relative to the base tracer;

[0165] A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain a first pose matrix corresponding to the femoral tracer.

[0166] The third posture registration matrix can be represented by T_b_basearray, and the fourth posture registration matrix corresponding to the femoral tracer can be represented by T_basearray_femurtracer.

[0167] Therefore, the present disclosure can effectively measure the actual posture of the physical femur to be osteotomized in a real surgical environment in the base coordinate system of the surgical robot through the above two implementation methods.

[0168] Sub-step S234 , performing a coordinate system transformation on the first assembly pose relationship according to the first registration matrix and the first pose matrix to obtain first expected assembly pose information.

[0169] The first expected assembly pose information can be obtained by performing a matrix multiplication operation on the first registration matrix, the first pose matrix and the first assembly pose relationship.

[0170] Therefore, the present disclosure can accurately solve the expected assembly posture of the femoral prosthesis reference part on the knee joint prosthesis to be assembled after the osteotomy of the femur to be osteotomized is completed by executing the above sub-steps S231 to S234.

[0171] Alternatively, please refer to FIG9 , which is a second flow diagram of the sub-steps included in step S230 in FIG3 . In the disclosed embodiment, the step of "obtaining second desired assembly posture information of the tibial prosthesis reference portion relative to the actual tibia to be osteotomized in the base coordinate system" in step S230 may include sub-steps S235 to S238 to accurately determine the desired assembly posture of the tibial prosthesis reference portion on the knee joint prosthesis to be assembled after osteotomy of the actual tibia to be osteotomized.

[0172] Sub-step S235 , obtaining a second assembly posture relationship between the tibial reference portion on the tibial model of the physical tibia to be osteotomized and the tibial prosthesis reference portion in the reference coordinate system.

[0173] Among them, the tibial model corresponding to the physical tibia to be osteotomized included in the knee joint to be operated is established in the reference coordinate system, and the attending physician of the knee joint to be operated adjusts the assembly posture of the three-dimensional prosthesis model of the knee joint prosthesis to be assembled in the reference coordinate system according to the expected TKA surgical effect, so as to determine the expected assembly posture of the tibial prosthesis reference part of the knee joint prosthesis to be assembled relative to the tibial reference part after the osteotomy of the corresponding physical tibia to be osteotomized is completed, and obtain the second assembly posture relationship. At this time, the second assembly posture relationship can characterize the expected assembly posture of the tibial prosthesis reference part relative to the tibial reference part in the reference coordinate system, which can be represented by T_ct_o0′.

[0174] In sub-step S236 , point cloud registration is performed on the tibial tracer corresponding to the physical tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibial tracer.

[0175] Among them, the tibial tracer is configured to mark the actual position of the physical tibia to be osteotomized in the real surgical environment. At this time, the second registration matrix can be configured to represent the mapping relationship between the tibial model of the physical tibia to be osteotomized and the physical tibia to be osteotomized in the real surgical environment, which can be represented by T_tibiatracer_ct.

[0176] Sub-step S237 , performing relative posture registration on the tibial tracer and the surgical robot to obtain a second posture matrix of the tibial tracer relative to the base coordinate system of the surgical robot.

[0177] In this embodiment, the second posture matrix is ​​configured to describe the actual posture of the physical tibia to be osteotomized in the real surgical environment in the base coordinate system of the surgical robot, which can be represented by T_b_tibiatracer.

[0178] Optionally, in one implementation of this embodiment, when a tool tracer is installed on the surgical robot for the osteotomy tool, the sub-step S237 may include:

[0179] Performing posture calibration on the osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the osteotomy tool relative to the base coordinate system;

[0180] Performing posture registration on the tibial tracer and the tool tracer to obtain a first posture registration matrix of the tibial tracer relative to the tool tracer;

[0181] Performing posture registration on the tool tracer and the osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the osteotomy tool;

[0182] A matrix multiplication operation is performed on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain a second pose matrix corresponding to the tibial tracer.

[0183] Among them, the first pose calibration matrix can be represented by T_b_tcp, the first pose registration matrix corresponding to the tibial tracer can be represented by T_calib_tibiatracer, and the second pose registration matrix can be represented by T_tcp_calib.

[0184] Optionally, in another implementation of this embodiment, when a base tracer is installed in the actual surgical environment of the knee joint to be operated on, the sub-step S237 may include:

[0185] Performing posture registration on the base tracer and the surgical robot to obtain a third posture registration matrix of the base tracer relative to the base coordinate system;

[0186] Performing posture registration on the tibial tracer and the base tracer to obtain a fourth posture registration matrix of the tibial tracer relative to the base tracer;

[0187] A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain a second pose matrix corresponding to the tibial tracer.

[0188] The third pose registration matrix may be represented by T_b_basearray, and the fourth pose registration matrix corresponding to the tibial tracer may be represented by T_basearray_tibiatracer.

[0189] Therefore, the present disclosure can effectively measure the actual posture of the physical tibia to be osteotomized in a real surgical environment in the base coordinate system of the surgical robot through the above two implementations.

[0190] Sub-step S238 , performing coordinate system transformation on the second assembly pose relationship according to the second registration matrix and the second pose matrix to obtain second expected assembly pose information.

[0191] The second expected assembly pose information can be obtained by performing a matrix multiplication operation on the second registration matrix, the second pose matrix and the second assembly pose relationship.

[0192] Therefore, the present disclosure can accurately solve the expected assembly posture of the tibial prosthesis reference part on the knee joint prosthesis to be assembled after the osteotomy of the tibia to be osteotomized is completed by executing the above sub-steps S235 to S238.

[0193] Step S240, based on the first expected assembly posture information and the first relative posture relationship corresponding to each of the multiple femoral assembly surfaces, calculate the expected osteotomy feed posture required when each of the multiple femoral assembly surfaces is assembled on the actual femur to be osteotomed in the base coordinate system, and based on the second expected assembly posture information and the second relative posture relationship, calculate the expected osteotomy feed posture required when the tibial assembly surface is assembled on the actual tibia to be osteotomed in the base coordinate system.

[0194] Among them, for each femoral assembly surface, the first relative posture relationship corresponding to the femoral assembly surface can be subjected to matrix multiplication operation with the first expected assembly posture information to obtain the expected osteotomy feed posture of the osteotomy tool acting on the physical femur to be osteotomized in the base coordinate system for cutting out the femoral platform surface that is adapted to the corresponding femoral assembly surface. At this time, if the facing direction of the expected osteotomy feed posture is regarded as the positive direction of the X-axis, and the left lateral direction of the expected osteotomy feed posture is regarded as the positive direction of the Y-axis, the plane formed by the corresponding X-axis and Y-axis can be regarded as the plane where the expected femoral platform surface that is adapted to the corresponding femoral assembly surface of the physical femur to be operated on is located in the base coordinate system.

[0195] For the tibial assembly surface, the second relative posture relationship corresponding to the tibial assembly surface can be subjected to matrix multiplication operation with the second expected assembly posture information to obtain the expected osteotomy feed posture of the osteotomy tool acting on the physical tibia to be osteotomized in the base coordinate system for cutting out the femoral plateau surface that matches the tibial assembly surface. At this time, if the opposite direction of the expected osteotomy feed posture is regarded as the positive direction of the X-axis, and the left lateral direction of the expected osteotomy feed posture is regarded as the positive direction of the Y-axis, the plane formed by the corresponding X-axis and Y-axis can be regarded as the plane where the expected tibial plateau surface that matches the tibial assembly surface of the physical tibia to be operated on is located in the base coordinate system.

[0196] Step S250, for each of the multiple femoral assembly surfaces and tibial assembly surfaces, osteotomy trajectory planning is performed based on the surface size information of the assembly surface in the prosthesis size information and the expected osteotomy feed posture corresponding to the assembly surface, to obtain the planar osteotomy trajectory corresponding to the assembly surface in the base coordinate system.

[0197] In this embodiment, after determining the expected osteotomy feed position of each prosthesis assembly surface among the multiple femoral assembly surfaces and the tibial assembly surfaces in the base coordinate system, the plane where the expected bone platform surface of the prosthesis assembly surface is located in the base coordinate system can be accurately located based on the expected osteotomy feed position of the corresponding prosthesis assembly surface. Then, in the plane where the expected bone platform surface is located, according to the surface size information of the prosthesis assembly surface, the full coverage osteotomy path planning is performed for the prosthesis assembly surface with reference to the corresponding expected osteotomy feed position to obtain the planar osteotomy trajectory of the prosthesis assembly surface in the base coordinate system.

[0198] After the computer device 10 plans all matching planar osteotomy trajectories for the knee joint to be operated on (including the planar osteotomy trajectory corresponding to the solid femur to be osteotomized, and the planar osteotomy trajectory corresponding to the solid tibia to be osteotomized), it can send each planar osteotomy trajectory to the surgical robot in sequence according to the surgical process of the TKA operation, so that the surgical robot drives the osteotomy tool to perform osteotomy according to the obtained planar osteotomy trajectory, thereby cutting the knee joint to be operated on into a shape that is compatible with the knee joint prosthesis to be assembled, so that the tibial plateau surface and the femoral plateau surface finally cut out can fit tightly with the knee joint prosthesis to be assembled, ensuring that the knee joint prosthesis to be assembled can be normally installed on the osteotomized knee joint, and synchronously realize the automatic osteotomy function of the surgical robot, thereby improving the osteotomy precision, osteotomy accuracy and osteotomy stability, and ensuring that the TKA operation achieves the expected effect.

[0199] Therefore, the present disclosure can, by executing the above steps S210 to S250, deeply consider the influence of the knee prosthesis size and osteotomy tool size parameters on the osteotomy starting position of the physical tibia / femur included in the knee joint to be operated on in the same reference frame, and plan a planar osteotomy trajectory with good trajectory consistency and short planning time for the physical tibia / femur, so that the planned planar osteotomy trajectory can realize the automatic osteotomy function of the tibia / femur of the surgical robot, improve the positioning accuracy, osteotomy precision, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoid tibial / femoral osteotomy errors caused by manual osteotomy operations, ensure that the final cut tibial / femoral plateau surface can be closely fitted with the knee prosthesis to be assembled, so that knee prostheses of different styles and including femoral / tibial prosthesis structures can be normally installed on the physical knee joint, while at the same time, precious treatment time is maximized for patients, the waiting time for TKA surgery is significantly reduced, the TKA surgery is ensured to achieve the expected results, and the robotic automatic osteotomy solution for the physical tibia / femur provided by the present disclosure is ensured to have significant effectiveness and safety.

[0200] In addition, please refer to Figure 10, which is a schematic diagram of the composition of the surgical robot 20 provided in an embodiment of the present disclosure. In the embodiment of the present disclosure, an osteotomy tool is installed at the robot end of the surgical robot 20; the surgical robot 20 can be connected to the computer device 10 in communication to obtain a planar osteotomy trajectory planned by the computer device 10 for the knee joint to be operated based on the prosthesis size information of the knee joint prosthesis to be assembled, and drive the osteotomy tool to perform an automatic osteotomy function on the knee joint to be operated according to the acquired planar osteotomy trajectory, thereby improving the osteotomy efficiency, osteotomy precision, osteotomy accuracy and osteotomy stability of the knee joint, so as to gain as much valuable treatment time as possible for the patient, significantly reduce the waiting time for TKA surgery, improve the efficiency and success rate of TKA surgery, avoid osteotomy errors caused by manual osteotomy operations, ensure that the knee joint prosthesis to be assembled can be normally installed on the physical knee joint after osteotomy, and ensure that the TKA surgery achieves the expected effect. Among them, the computer device 10 can use the knee joint osteotomy planning method involved in Figures 3 to 9 to plan the aforementioned planar osteotomy trajectory, or can use other planar osteotomy trajectory planning means (for example, in the same model space, the three-dimensional model of the knee joint prosthesis to be assembled is assembled onto the three-dimensional model of the knee joint to be operated on according to the prosthesis assembly requirements, and the planar osteotomy trajectory is planned based on the model overlapping area corresponding to the tibia between the two three-dimensional models in the robot base coordinates, so that the planned planar osteotomy trajectory can remove the tibial bone structure corresponding to the aforementioned model overlapping area on the knee joint to be operated on, so as to cut out the desired tibial plateau surface on the knee joint to be operated on, and at the same time, the planar osteotomy trajectory is planned based on the model overlapping area corresponding to the femur between the two three-dimensional models in the robot base coordinates, so that the planned planar osteotomy trajectory can remove the femoral bone structure corresponding to the aforementioned model overlapping area on the knee joint to be operated on, so as to cut out the desired femoral plateau surface on the knee joint to be operated on) to plan the corresponding planar osteotomy trajectory.

[0201] In the disclosed embodiment, the surgical robot 20 may include a second memory 21, a second processor 22, a second communication unit 23, and an automatic knee osteotomy device 300. The second memory 21, the second processor 22, and the second communication unit 23 are electrically connected to each other, directly or indirectly, to enable data transmission or exchange. For example, the second memory 21, the second processor 22, and the second communication unit 23 may be electrically connected to each other via one or more communication buses or signal lines.

[0202] In this embodiment, the second memory 21 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The second memory 21 is configured to store a computer program, and the second processor 22 can execute the computer program accordingly after receiving an execution instruction.

[0203] In this embodiment, the second processor 22 can be an integrated circuit chip with signal processing capabilities. The second processor 22 can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present disclosure.

[0204] In this embodiment, the second communication unit 23 is configured to establish a communication connection between the surgical robot 20 and other electronic devices through a network, and to send and receive data through the network, wherein the network includes a wired communication network and a wireless communication network.

[0205] In this embodiment, the automatic knee osteotomy device 300 includes at least one software functional module that can be stored in the second memory 21 in the form of software or firmware or embedded in the operating system of the surgical robot 20. The second processor 22 can be configured to execute the executable module stored in the second memory 21, such as the software functional module and computer program included in the automatic knee osteotomy device 300. The surgical robot 20 can realize the automatic tibial / femoral osteotomy function for the knee joint to be operated according to the pre-planned planar osteotomy trajectory through the automatic knee osteotomy device 300, thereby improving the osteotomy precision, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoiding the tibial / femoral osteotomy error caused by manual osteotomy operation, and ensuring that the final cut tibial / femoral plateau surface can fit closely with the knee joint prosthesis to be assembled, so as to ensure that the robotic automatic osteotomy solution provided by the present disclosure for the solid tibia / femur has significant effectiveness and safety, while at the same time gaining as much valuable treatment time as possible for the patient, greatly reducing the waiting time for TKA surgery, so that knee joint prostheses including femoral / tibial prosthesis structures and different styles can be normally installed on the solid knee joint, thereby improving the success rate of TKA surgery and ensuring that TKA surgery achieves the expected effect.

[0206] It is understood that the block diagram shown in FIG10 is only a schematic diagram of one composition of the surgical robot 20. The surgical robot 20 may include more or fewer components than shown in FIG10, or have a configuration different from that shown in FIG10. Each component shown in FIG10 may be implemented using hardware, software, or a combination thereof.

[0207] In the present disclosure, in order to ensure that the surgical robot 20 can realize the automatic osteotomy function of the tibia / femur for the knee joint to be operated according to the pre-planned planar osteotomy trajectory, improve the osteotomy precision, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoid the tibial / femoral osteotomy error caused by manual osteotomy operation, ensure that the tibial / femoral plateau surface finally cut out can fit tightly with the knee joint prosthesis to be assembled, to ensure that the robotic automatic osteotomy solution provided by the present disclosure for the solid tibia / femur has significant effectiveness and safety, and at the same time, to gain precious treatment time for patients as much as possible, greatly reduce the waiting time for TKA surgery, so that knee joint prostheses including femoral / tibial prosthesis structures and different styles can be normally installed on the solid knee joint, improve the success rate of TKA surgery, and ensure that TKA surgery achieves the expected effect, the present disclosure provides a knee joint automatic osteotomy method to achieve the above-mentioned purpose. The following is a detailed description of the knee joint automatic osteotomy method provided by the present disclosure.

[0208] Please refer to Figure 11, which is a flowchart of the automatic knee osteotomy method provided by the embodiment of the present disclosure. In the embodiment of the present disclosure, the automatic knee osteotomy method is applied to the surgical robot 20, and the automatic knee osteotomy method may include steps S410 to S430.

[0209] Step S410, obtaining the planar osteotomy trajectory of the osteotomy tool corresponding to the multiple femoral assembly surfaces of the solid femur to be osteotomized included in the knee joint to be operated on and the knee prosthesis to be assembled in the base coordinate system of the surgical robot, and the planar osteotomy trajectory of the osteotomy tool corresponding to the tibial assembly surface of the solid tibia to be osteotomized included in the knee joint to be operated on and the knee prosthesis to be assembled in the base coordinate system.

[0210] Among them, each planar osteotomy trajectory corresponding to the knee joint to be operated can be planned using any one of the knee joint osteotomy planning methods involved in Figures 3 to 9, or other planar osteotomy trajectory planning means can be used (for example, in the same model space, the three-dimensional model of the knee joint prosthesis to be assembled is assembled onto the three-dimensional model of the knee joint to be operated according to the prosthesis assembly requirements, and the planar osteotomy trajectory is planned based on the model overlap area corresponding to the tibia between the two three-dimensional models in the robot base coordinates, so that the planned planar osteotomy trajectory can remove the tibial bone structure corresponding to the aforementioned model overlap area on the knee joint to be operated, so as to cut out the desired tibial plateau surface on the knee joint to be operated, and at the same time, the planar osteotomy trajectory is planned based on the model overlap area corresponding to the femur between the two three-dimensional models in the robot base coordinates, so that the planned planar osteotomy trajectory can remove the femoral bone structure corresponding to the aforementioned model overlap area on the knee joint to be operated, so as to cut out the desired femoral plateau surface on the knee joint to be operated). The present disclosure does not specifically limit the specific trajectory planning means for each planar osteotomy trajectory corresponding to the knee joint to be operated obtained by the surgical robot 20.

[0211] In one implementation of this embodiment, the planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surface are respectively planned using any one of the knee joint osteotomy planning methods described in FIG. 3 to FIG. 9 .

[0212] Step S420: determining the execution order of osteotomy operations on the planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surfaces at the knee joint to be operated on.

[0213] Step S430, according to the execution order of the osteotomy operations corresponding to all the planar osteotomy trajectories, the surgical robot is controlled in sequence to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectory, so as to cut out a femoral plateau surface on the solid femur to be osteotomized that matches the multiple femoral assembly surfaces respectively, and cut out a tibial plateau surface on the solid tibia to be osteotomized that matches the tibial assembly surface.

[0214] Therefore, the present invention can realize the automatic tibial / femoral osteotomy function for the knee joint to be operated according to the pre-planned planar osteotomy trajectory by executing the above steps S410 to S430, thereby improving the osteotomy precision, osteotomy accuracy and osteotomy stability of the tibial / femoral plateau surface, avoiding the tibial / femoral osteotomy error caused by manual osteotomy operation, and ensuring that the final cut tibial / femoral plateau surface can fit closely with the knee joint prosthesis to be assembled, so as to ensure that the robotic automatic osteotomy solution provided by the present invention for the solid tibia / femur has significant effectiveness and safety, and at the same time, strive to gain precious treatment time for patients as much as possible, greatly reduce the waiting time for TKA surgery, so that knee joint prostheses including femoral / tibial prosthesis structures and different styles can be normally installed on the solid knee joint, improve the success rate of TKA surgery, and ensure that TKA surgery achieves the expected effect.

[0215] In the present disclosure, to ensure that the computer device 10 can execute the aforementioned knee osteotomy planning method through the knee osteotomy planning apparatus 100, the present disclosure implements the aforementioned functions by dividing the knee osteotomy planning apparatus 100 into functional modules. The specific components of the knee osteotomy planning apparatus 100 provided in the present disclosure are described below.

[0216] Please refer to Figure 12, which is a schematic diagram of the components of a knee osteotomy planning device 100 provided in an embodiment of the present disclosure. In this embodiment of the present disclosure, the knee osteotomy planning device 100 may include a tool information acquisition module 110, a posture relationship calculation module 120, a prosthesis posture acquisition module 130, a tool feed posture calculation module 140, and a tool feed trajectory planning module 150.

[0217] The tool information acquisition module 110 is configured to obtain the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameters of the osteotomy tool, wherein the osteotomy tool is installed at the robot end of the surgical robot, and the knee joint prosthesis to be assembled includes multiple femoral assembly surfaces located near the femoral prosthesis reference position and a tibial assembly surface where the tibial prosthesis reference position is located.

[0218] The posture relationship calculation module 120 is configured to calculate the first relative posture relationship between the osteotomy tool's osteotomy feed posture for each of the multiple femoral assembly surfaces and the femoral prosthesis reference position in the reference coordinate system, and the second relative posture relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and the tibial prosthesis reference position in the reference coordinate system, based on the prosthesis size information and tool size parameters.

[0219] The prosthesis posture acquisition module 130 is configured to obtain the first expected assembly posture information of the femoral prosthesis reference part for the solid femur to be osteotomized in the base coordinate system of the surgical robot, and the second expected assembly posture information of the tibial prosthesis reference part for the solid tibia to be osteotomized in the base coordinate system.

[0220] The feed posture calculation module 140 is configured to calculate the expected osteotomy feed posture required when each of the multiple femoral assembly surfaces is assembled on the actual femur to be osteotomed in the base coordinate system based on the first expected assembly posture information and the first relative posture relationship corresponding to each of the multiple femoral assembly surfaces, and to calculate the expected osteotomy feed posture required when the tibial assembly surface is assembled on the actual tibia to be osteotomed in the base coordinate system based on the second expected assembly posture information and the second relative posture relationship.

[0221] The feed trajectory planning module 150 is configured to plan the osteotomy trajectory for each of the multiple femoral assembly surfaces and tibial assembly surfaces based on the surface size information of the assembly surface in the prosthesis size information and the expected osteotomy feed posture corresponding to the assembly surface, so as to obtain the planar osteotomy trajectory of the assembly surface in the base coordinate system.

[0222] Optionally, in one implementation of this embodiment, the multiple femoral assembly surfaces include a posterior condyle assembly surface, a posterior oblique assembly surface, a distal assembly surface, an anterior oblique assembly surface and an anterior condyle assembly surface, and the femoral prosthesis reference position is located on the distal assembly surface, then the posture relationship calculation module includes a first relative posture relationship calculation submodule, wherein the first relative posture relationship calculation submodule includes: a femoral feed coordinate system output unit, configured to output a femoral feed coordinate system for each of the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface. The femoral assembly surface is a surface of the femur, and according to the relative position of the femoral assembly surface and the femoral prosthesis reference part, the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system is transformed by a coordinate system translation operation and / or a coordinate system rotation operation to obtain a preliminary feed point coordinate system of the femoral assembly surface in the extension direction of the target plane, wherein the distance from the plane intersection line between the femoral assembly surface and the distal assembly surface to the origin of the corresponding preliminary feed point coordinate system is greater than or equal to the preset retraction distance, and the extension direction of the target plane is the direction of the corresponding femoral assembly surface to the target plane. The planar extension direction of the femoral prosthesis structure for assembling a knee joint prosthesis; a unit for determining an assembly surface to be compensated is configured to determine at least one target assembly surface from the multiple femoral assembly surfaces according to the tool type of the osteotomy tool; a first coordinate system compensation unit is configured to, for each target assembly surface, perform coordinate system translation compensation on the preliminary feed point coordinate system corresponding to the target assembly surface according to the tool size parameters in a vertical plane of the target assembly surface to obtain an actual feed point coordinate system corresponding to the target assembly surface; a first pose relationship output unit is configured to, for each target assembly surface, use the coordinate system transformation relationship between the actual feed point coordinate system corresponding to the target assembly surface and the reference coordinate system of the femoral prosthesis reference part as the first relative pose relationship corresponding to the target assembly surface; the first pose relationship output unit is further configured to, for each femoral assembly surface other than all target assembly surfaces among the multiple femoral assembly surfaces, use the coordinate system transformation relationship between the preliminary feed point coordinate system corresponding to the femoral assembly surface and the reference coordinate system of the femoral prosthesis reference part as the first relative pose relationship corresponding to the femoral assembly surface.

[0223] In addition, the posture relationship calculation module can also include a second relative posture relationship calculation submodule, wherein the second relative posture relationship calculation submodule includes: a tibial feed coordinate system output unit, configured to perform coordinate system translation on the reference coordinate system of the tibial prosthesis reference part in the reference coordinate system within the plane where the tibial assembly surface is located, to obtain a preliminary feed point coordinate system of the tibial assembly surface, wherein the distance from the origin of the preliminary feed point coordinate system of the tibial assembly surface to the origin of the reference coordinate system of the tibial prosthesis reference part is greater than or equal to a preset retraction distance; a second coordinate system compensation unit, configured to perform coordinate system translation compensation on the preliminary feed point coordinate system of the tibial assembly surface according to the tool size parameters within the vertical plane of the tibial assembly surface, to obtain an actual feed point coordinate system of the tibial assembly surface; a second posture relationship output unit, configured to use the coordinate system transformation relationship between the actual feed point coordinate system corresponding to the tibial assembly surface and the reference coordinate system of the tibial prosthesis reference part as the second relative posture relationship corresponding to the tibial assembly surface.

[0224] Optionally, in one implementation of this embodiment, the prosthesis posture acquisition module may include a first assembly posture acquisition submodule, wherein the first assembly posture acquisition submodule includes: a first assembly posture acquisition unit, configured to obtain the first assembly posture relationship between the femoral reference part on the femoral model of the solid femur to be osteotomized and the femoral prosthesis reference part in the reference coordinate system; a first point cloud alignment unit, configured to perform point cloud alignment on the femoral tracer corresponding to the solid femur to be osteotomized and the reference coordinate system to obtain a first alignment matrix of the reference coordinate system relative to the femoral tracer; a first relative posture alignment unit, configured to perform relative posture alignment on the femoral tracer and the surgical robot to obtain a first pose matrix of the femoral tracer relative to the base coordinate system of the surgical robot; a first expected posture output unit, configured to perform coordinate system transformation on the first assembly posture relationship according to the first alignment matrix and the first posture matrix to obtain the first expected assembly posture information.

[0225] In addition, the prosthesis posture acquisition module can also include a second assembly posture acquisition submodule, wherein the second assembly posture acquisition submodule includes: a second assembly posture acquisition unit, configured to obtain the second assembly posture relationship between the tibial reference part on the tibial model of the physical tibia to be osteotomized and the tibial prosthesis reference part in the reference coordinate system; a second point cloud alignment unit, configured to perform point cloud alignment on the tibial tracer corresponding to the physical tibia to be osteotomized and the reference coordinate system, and obtain a second alignment matrix of the reference coordinate system relative to the tibial tracer; a second relative posture alignment unit, configured to perform relative posture alignment on the tibial tracer and the surgical robot, and obtain a second posture matrix of the tibial tracer relative to the base coordinate system of the surgical robot; a second expected posture output unit, configured to perform coordinate system transformation on the second assembly posture relationship according to the second alignment matrix and the second posture matrix, and obtain the second expected assembly posture information.

[0226] In this process, it can be understood that, for each relative posture registration unit in the first relative posture registration unit and the second relative posture registration unit, relative posture registration is performed on the bone tracer corresponding to the relative posture registration unit and the surgical robot, and a target posture matrix of the corresponding bone tracer relative to the base coordinate system of the surgical robot is obtained, which may include:

[0227] Performing posture calibration on the osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the osteotomy tool relative to the base coordinate system;

[0228] Performing pose registration on the bone tracer and the tool tracer to obtain a first pose registration matrix of the bone tracer relative to the tool tracer;

[0229] Performing posture registration on the tool tracer and the osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the osteotomy tool;

[0230] Perform matrix multiplication on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is ​​the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the femoral tracer, and the second pose matrix is ​​the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibial tracer.

[0231] It can also be understood that, for each relative pose registration unit in the first relative pose registration unit and the second relative pose registration unit, relative pose registration is performed on the bone tracer corresponding to the relative pose registration unit and the surgical robot, and a method for obtaining a target pose matrix of the corresponding bone tracer relative to the base coordinate system of the surgical robot may include:

[0232] Performing posture registration on the base tracer and the surgical robot to obtain a third posture registration matrix of the base tracer relative to the base coordinate system;

[0233] Performing posture registration on the skeletal tracer and the base tracer to obtain a fourth posture registration matrix of the skeletal tracer relative to the base tracer;

[0234] Perform matrix multiplication on the third pose registration matrix and the fourth pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is ​​the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the femoral tracer, and the second pose matrix is ​​the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibial tracer.

[0235] It should be noted that the basic principles and technical effects of the knee osteotomy planning device 100 provided in the present embodiment are the same as those of the aforementioned knee osteotomy planning method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned knee osteotomy planning method.

[0236] In the present disclosure, to ensure that the surgical robot 20 can perform the aforementioned automated knee osteotomy method using the automated knee osteotomy device 300, the present disclosure implements the aforementioned functions by dividing the automated knee osteotomy device 300 into functional modules. The specific components of the automated knee osteotomy device 300 provided in the present disclosure are described below.

[0237] Please refer to Figure 13, which is a schematic diagram of the components of an automatic knee osteotomy device 300 provided in an embodiment of the present disclosure. In the embodiment of the present disclosure, the automatic knee osteotomy device 300 is applied to the surgical robot 20 described above. The automatic knee osteotomy device 300 may include an osteotomy trajectory acquisition module 310, an osteotomy sequence determination module 320, and a plane osteotomy control module 330.

[0238] The osteotomy trajectory acquisition module 310 is configured to acquire the planar osteotomy trajectories of the osteotomy tool corresponding to the multiple femoral assembly surfaces of the solid femur to be osteotomized included in the knee joint to be operated on and the knee prosthesis to be assembled in the base coordinate system of the surgical robot, and the planar osteotomy trajectory of the osteotomy tool corresponding to the tibial assembly surface of the solid tibia to be osteotomized included in the knee joint to be operated on and the knee prosthesis to be assembled in the base coordinate system, wherein the planar osteotomy trajectories of the multiple femoral assembly surfaces and the tibial assembly surface can be planned by any one of the above-mentioned knee osteotomy planning devices 100.

[0239] The osteotomy sequence determination module 320 is configured to determine the sequence of executing osteotomy operations on the knee joint to be operated on, based on the respective planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surfaces.

[0240] The planar osteotomy control module 330 is configured to control the surgical robot to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectory according to the execution order of the osteotomy operations corresponding to all the planar osteotomy trajectories, so as to cut out a femoral plateau surface on the solid femur to be osteotomized that matches the multiple femoral assembly surfaces respectively, and cut out a tibial plateau surface on the solid tibia to be osteotomized that matches the tibial assembly surface.

[0241] It should be noted that the basic principles and technical effects of the automatic knee osteotomy device 300 provided in the present embodiment are the same as those of the aforementioned automatic knee osteotomy method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned automatic knee osteotomy method.

[0242] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0243] In addition, the functional modules in each embodiment of the present disclosure can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions for enabling an electronic device (which can be a computer device, or a surgical robot equipped with an osteotomy tool, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure, or to load and run all or part of the modules of the device described in each embodiment of the present disclosure. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0244] The above descriptions are merely examples of various embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein should be included within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims. Industrial Applicability

[0245] By adopting the above solution, the automatic osteotomy function of the surgical robot can be realized, the osteotomy accuracy can be improved, and the expected effect of TKA surgery can be ensured.

Claims

1. A knee osteotomy planning device, characterized in that: The device comprises: a tool information acquisition module configured to acquire prosthesis size information of a to-be-assembled knee joint prosthesis and tool size parameters of an osteotomy tool, wherein the osteotomy tool is mounted on a robot end of a surgical robot, and the to-be-assembled knee joint prosthesis includes a plurality of femoral assembly surfaces located near a femoral prosthesis reference site and a tibial assembly surface where a tibial prosthesis reference site is located; a posture relationship calculation module configured to calculate, based on the prosthesis size information and the tool size parameters, a first relative posture relationship between the osteotomy tool's osteotomy feed posture for each of the plurality of femoral assembly surfaces and a reference portion of the femoral prosthesis in a reference coordinate system, and a second relative posture relationship between the osteotomy tool's osteotomy feed posture for the tibial assembly surface and a reference portion of the tibial prosthesis in the reference coordinate system; a prosthesis posture acquisition module configured to acquire first desired assembly posture information of the femoral prosthesis reference portion relative to the actual femur to be osteotomized in the base coordinate system of the surgical robot, and second desired assembly posture information of the tibial prosthesis reference portion relative to the actual tibia to be osteotomized in the base coordinate system; a feed posture calculation module configured to calculate, based on the first expected assembly posture information and the first relative posture relationship corresponding to each of the plurality of femoral assembly surfaces, the expected osteotomy feed posture required when each of the plurality of femoral assembly surfaces is assembled to the solid femur to be osteotomized in the base coordinate system; and to calculate, based on the second expected assembly posture information and the second relative posture relationship, the expected osteotomy feed posture required when the tibial assembly surface is assembled to the solid tibia to be osteotomized in the base coordinate system; The feed trajectory planning module is configured to plan the osteotomy trajectory for each of the multiple femoral assembly surfaces and the tibial assembly surfaces based on the surface size information of the assembly surface in the prosthesis size information and the expected osteotomy feed posture corresponding to the assembly surface, so as to obtain the planar osteotomy trajectory corresponding to the assembly surface in the base coordinate system.

2. The device according to claim 1, characterized in that The multiple femoral assembly surfaces include a posterior condyle assembly surface, a posterior oblique assembly surface, a distal assembly surface, an anterior oblique assembly surface, and an anterior condyle assembly surface, and the femoral prosthesis reference position is located on the distal assembly surface. The posture relationship calculation module includes a first relative posture relationship calculation submodule, wherein the first relative posture relationship calculation submodule includes: A femoral feed coordinate system output unit is configured to perform a coordinate system transformation on the reference coordinate system of the femoral prosthesis reference part in the reference coordinate system through a coordinate system translation operation and / or a coordinate system rotation operation for each femoral assembly surface among the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface according to the relative position of the femoral assembly surface and the femoral prosthesis reference part, so as to obtain a preliminary feed point coordinate system of the femoral assembly surface in the extension direction of the target plane, wherein the distance from the plane intersection line between the femoral assembly surface and the distal assembly surface to the origin of the corresponding preliminary feed point coordinate system is greater than or equal to a preset retraction distance, and the extension direction of the target plane is the plane extension direction of the femoral prosthesis structure of the corresponding femoral assembly surface pointing to the knee joint prosthesis to be assembled; a to-be-compensated assembly surface determining unit, configured to determine at least one target assembly surface among the plurality of femoral assembly surfaces according to a tool type of the osteotomy tool; a first coordinate system compensation unit configured to, for each target assembly surface, perform coordinate system translation compensation on a preliminary feed point coordinate system corresponding to the target assembly surface according to the tool size parameters in a vertical plane of the target assembly surface, to obtain an actual feed point coordinate system corresponding to the target assembly surface; a first relative posture relationship output unit configured to, for each target assembly surface, use a coordinate system transformation relationship between an actual tool feed point coordinate system corresponding to the target assembly surface and a reference coordinate system of the femoral prosthesis reference portion as a first relative posture relationship corresponding to the target assembly surface; The first posture relationship output unit is further configured to output the initial feed point coordinates corresponding to each femoral assembly surface except all target assembly surfaces among the multiple femoral assembly surfaces. The coordinate system transformation relationship between the reference coordinate system and the reference coordinate system of the femoral prosthesis reference part is used as the first relative posture relationship corresponding to the femoral assembly surface.

3. The device according to claim 1 or 2, characterized in that The posture relationship calculation module further includes a second relative posture relationship calculation submodule, wherein the second relative posture relationship calculation submodule includes: a tibial feed coordinate system output unit configured to perform a coordinate system translation on the reference coordinate system of the tibial prosthesis reference part in the reference coordinate system within the plane where the tibial assembly surface is located, to obtain a preliminary feed point coordinate system of the tibial assembly surface, wherein a distance from an origin of the preliminary feed point coordinate system of the tibial assembly surface to an origin of the reference coordinate system of the tibial prosthesis reference part is greater than or equal to a preset retraction distance; a second coordinate system compensation unit configured to perform coordinate system translation compensation on the preliminary feed point coordinate system of the tibial assembly surface according to the tool size parameters in a vertical plane of the tibial assembly surface to obtain an actual feed point coordinate system of the tibial assembly surface; The second posture relationship output unit is configured to use the coordinate system transformation relationship between the actual feed point coordinate system corresponding to the tibial assembly surface and the reference coordinate system of the tibial prosthesis reference part as the second relative posture relationship corresponding to the tibial assembly surface.

4. The device according to any one of claims 1 to 3, characterized in that The prosthesis posture acquisition module includes a first assembly posture acquisition submodule, wherein the first assembly posture acquisition submodule includes: A first assembly posture acquisition unit is configured to acquire a first assembly posture relationship between a femoral reference portion on the femoral model of the physical femur to be osteotomized and a femoral prosthesis reference portion in the reference coordinate system; a first point cloud registration unit configured to perform point cloud registration on the femoral tracer corresponding to the physical femur to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femoral tracer; a first relative posture registration unit, configured to perform relative posture registration on the femoral tracer and the surgical robot to obtain a first pose matrix of the femoral tracer relative to a base coordinate system of the surgical robot; The first expected posture output unit is configured to perform a coordinate system transformation on the first assembly posture relationship according to the first registration matrix and the first posture matrix to obtain the first expected assembly posture information.

5. The device according to any one of claims 1 to 4, characterized in that The prosthesis posture acquisition module further includes a second assembly posture acquisition submodule, wherein the second assembly posture acquisition submodule includes: A second assembly posture acquisition unit is configured to acquire a second assembly posture relationship between a tibial reference portion on the tibial model of the physical tibia to be osteotomized and a tibial prosthesis reference portion in the reference coordinate system; a second point cloud registration unit configured to perform point cloud registration on the tibial tracer corresponding to the physical tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibial tracer; a second relative pose registration unit, configured to perform relative pose registration on the tibial tracer and the surgical robot to obtain a second pose matrix of the tibial tracer relative to the base coordinate system of the surgical robot; The second desired posture output unit is configured to perform a coordinate system transformation on the second assembly posture relationship according to the second registration matrix and the second posture matrix to obtain the second desired assembly posture information. interest.

6. The device according to any one of claims 1 to 5, characterized in that For each relative pose registration unit in the first relative pose registration unit and the second relative pose registration unit, relative pose registration is performed on the bone tracer corresponding to the relative pose registration unit and the surgical robot to obtain a target pose matrix corresponding to the bone tracer relative to the base coordinate system of the surgical robot, including: Performing posture calibration on the osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the osteotomy tool relative to the base coordinate system; Performing pose registration on the bone tracer and the tool tracer to obtain a first pose registration matrix of the bone tracer relative to the tool tracer; Performing posture registration on the tool tracer and the osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the osteotomy tool; Perform matrix multiplication on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the femoral tracer, and the second pose matrix is the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibial tracer.

7. The device according to any one of claims 1 to 6, characterized in that For each relative pose registration unit in the first relative pose registration unit and the second relative pose registration unit, relative pose registration is performed on the bone tracer corresponding to the relative pose registration unit and the surgical robot to obtain a target pose matrix corresponding to the bone tracer relative to the base coordinate system of the surgical robot, including: Performing posture registration on the base tracer and the surgical robot to obtain a third posture registration matrix of the base tracer relative to the base coordinate system; Performing posture registration on the bone tracer and the base tracer to obtain a fourth posture registration matrix of the bone tracer relative to the base tracer; Perform matrix multiplication on the third pose registration matrix and the fourth pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the femoral tracer, and the second pose matrix is the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibial tracer.

8. An automatic knee osteotomy device, characterized in that: Applied to a surgical robot, wherein an osteotomy tool is installed at the end of the surgical robot, the device comprises: an osteotomy trajectory acquisition module configured to acquire, in the base coordinate system of the surgical robot, a planar osteotomy trajectory of the osteotomy tool corresponding to each of a plurality of femoral assembly surfaces of a solid femur to be osteotomized included in the knee joint to be operated on and a knee joint prosthesis to be assembled, and a planar osteotomy trajectory of the osteotomy tool corresponding to a tibial assembly surface of a solid tibia to be osteotomized included in the knee joint to be operated on and a knee joint prosthesis to be assembled in the base coordinate system; an osteotomy sequence determination module configured to determine an execution order of osteotomy operations at the knee joint to be operated on, using respective planar osteotomy trajectories of the plurality of femoral assembly surfaces and the tibial assembly surfaces; The planar osteotomy control module is configured to control the surgical robot to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectory according to the execution order of the osteotomy operations corresponding to all the planar osteotomy trajectories, so as to cut out femoral plateau surfaces that match the multiple femoral assembly surfaces on the solid femur to be osteotomized, and cut out tibial plateau surfaces that match the tibial assembly surface on the solid tibia to be osteotomized.

9. The device according to claim 8, characterized in that The planar osteotomy trajectories of each of the multiple femoral assembly surfaces and the tibial assembly surface are planned by the knee joint osteotomy planning device according to any one of claims 1 to 7.

10. A computer device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to drive the operation of the knee osteotomy planning device according to any one of claims 1 to 7.

11. A surgical robot, characterized in that: An osteotomy tool is installed at the robot end of the surgical robot. The surgical robot includes a processor and a memory. The memory stores a computer program that can be executed by the processor. The processor can execute the computer program to drive the automatic knee osteotomy device described in any one of claims 8-9 to operate.

12. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, it drives the computer device to load and run the knee osteotomy planning device described in any one of claims 1 to 7, or drives the surgical robot to load and run the knee osteotomy automatic device described in any one of claims 8 to 9, wherein the robot end of the surgical robot is equipped with an osteotomy tool.

Images