Intercondylar fossa osteotomy planning apparatus, automatic intercondylar fossa automatic osteotomy apparatus, and related device

Abstract

The present application relates to the field of robot control technology, and to an osteotomy planning apparatus for intercondylar fossa, an automatic osteotomy apparatus for intercondylar fossa, and a related device. According to the prosthesis size information of the knee joint prosthesis to be assembled, the present application performs coordinate system transformation on the marked prosthesis coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system to give the osteotomy entry point coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system. Subsequently, end effector trajectory planning is performed in the osteotomy entry point coordinate system according to the osteotomy radius of a rotary osteotomy tool and the intercondylar fossa prosthesis size information. Coordinate system transformation is performed according to the expected assembly pose information of the knee joint prosthesis to be assembled relative to the target intercondylar fossa entity in the base coordinate system of the surgical robot to give at least one layer of expected osteotomy trajectory of the rotary osteotomy tool on the target intercondylar fossa entity in the base coordinate system, so as to achieve the automatic intercondylar fossa osteotomy functionality of the surgery robot with high precision and ensure the expected effects of TKA surgeries.

Description

Intercondylar notch osteotomy planning device, intercondylar notch automatic osteotomy device and related equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application with application number 202410134406.2 filed with the China Patent Office on January 31, 2024, entitled “Intercondylar Notch Osteotomy Planning Device, Intercondylar Notch Automatic Osteotomy Device and Related Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robot control technology, and in particular to an intercondylar notch osteotomy planning device, an intercondylar notch automatic 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 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] During this procedure, it is worth noting that the intercondylar notch is a narrow but deep U-shaped notch. The attending surgeon needs to use a guide to fix the target intercondylar notch and, under the guidance of the guide, use osteotomy tools such as a reciprocating saw or chisel to remove the bony structure of the intercondylar notch. This method of removing the bony structure of the intercondylar notch often prevents the osteotomy tools from accurately aligning with the guide edge due to the mechanical thickness of the guide. Furthermore, manual osteotomy can easily lead to hand tremors, surgeon fatigue, and / or skewed or unstable installation of the guide, resulting in poor intercondylar notch osteotomy accuracy. The corresponding intercondylar notch bone surface structure does not fit well with the knee prosthesis, and the knee prosthesis cannot be properly installed on the osteotomized knee joint, resulting in the TKA surgery not achieving the desired results or even surgical failure.

[0008] Summary of the Invention

[0009] In view of this, the purpose of the present application is to provide a method and device for planning intercondylar fossa osteotomy, a method and device for automatic intercondylar fossa osteotomy, a computer device, a surgical robot and a readable storage medium, which can plan an expected osteotomy trajectory with a size fit for the intercondylar fossa to be osteotomized based on the intercondylar fossa prosthesis size information of the knee joint prosthesis to be assembled, and realize the automatic intercondylar fossa osteotomy function of the surgical robot through the planned expected osteotomy trajectory, so as to improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, improve the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, and simultaneously simplify the TKA surgical process, improve the TKA surgical efficiency, ensure that the TKA surgery achieves the expected effect, and ensure that the robotic automatic osteotomy solution for the intercondylar fossa provided in this application has significant effectiveness and safety.

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

[0011] In a first aspect, the present application provides a method for planning intercondylar notch osteotomy, the method comprising:

[0012] Acquiring prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is mounted on a robot end of a surgical robot;

[0013] Performing coordinate transformation on the marked prosthesis coordinate system of the to-be-assembled knee joint prosthesis in the reference coordinate system according to the prosthesis size information to obtain the osteotomy entry point coordinate system of the to-be-assembled knee joint prosthesis in the reference coordinate system;

[0014] performing tool end trajectory planning for the rotary osteotomy tool in the osteotomy entry point coordinate system based on the osteotomy radius and intercondylar notch prosthesis size information included in the prosthesis size information, to obtain at least one layer of tool end movement trajectory in the osteotomy entry point coordinate system, wherein a projection position of each layer of tool end movement trajectory on a plane where a bottom surface of the intercondylar notch prosthesis of the knee joint prosthesis to be assembled is located within the bottom surface of the intercondylar notch prosthesis;

[0015] Obtaining expected assembly posture information of the knee joint prosthesis to be assembled relative to the intercondylar fossa of the entity to be osteotomized in the base coordinate system of the surgical robot;

[0016] According to the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marked prosthesis coordinate system and the expected assembly posture information, all tool end movement trajectories in the osteotomy entry point coordinate system are respectively subjected to coordinate system transformation to obtain at least one layer of expected osteotomy trajectory of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomed in the base coordinate system, wherein each layer of expected osteotomy trajectory corresponds to a layer of tool end movement trajectory.

[0017] In an optional embodiment, the knee joint prosthesis to be assembled includes a femoral prosthesis structure and an intercondylar notch prosthesis structure, the femoral prosthesis structure includes 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, the marked prosthesis portion corresponding to the marked prosthesis coordinate system at the femoral prosthesis structure is located on the distal assembly surface, and the intercondylar notch prosthesis structure is fixedly connected to the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface and the anterior oblique assembly surface at the same time, then the step of performing a coordinate system transformation on the marked prosthesis coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system according to the prosthesis size information to obtain the osteotomy entry point coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system includes:

[0018] Determining a target vertical plane of the intercondylar fossa prosthesis bottom surface according to the prosthesis size information, wherein the target vertical plane is perpendicular to the intercondylar fossa prosthesis bottom surface, and the target vertical plane intersects the intercondylar fossa prosthesis bottom surface and the anterior oblique assembly surface at the same plane intersection line;

[0019] In the reference coordinate system, the marked prosthesis coordinate system is deflected toward the target position on the target vertical plane away from the bottom surface of the intercondylar notch prosthesis to obtain the osteotomy entry point coordinate system, wherein the coordinate system origin of the osteotomy entry point coordinate system overlaps with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar notch prosthesis structure.

[0020] In an optional embodiment, the step of performing tool end trajectory planning for the rotary osteotomy tool in the osteotomy feed point coordinate system based on the tool radius and the intercondylar notch prosthesis size information included in the prosthesis size information, and obtaining at least one layer of tool end movement trajectory in the osteotomy feed point coordinate system, comprises:

[0021] Determine the vertex coordinates of each of the four bottom vertices of the intercondylar notch prosthesis bottom surface in the osteotomy entry point coordinate system according to the intercondylar notch prosthesis size information including the structural depth of the intercondylar notch prosthesis structure and the length and width information of the intercondylar notch prosthesis bottom surface;

[0022] Determining, based on the vertex coordinates of each of the four bottom surface vertices and the osteotomy radius, the vertex coordinates of each of the four moving boundary vertices of the tool end center portion of the rotary osteotomy tool on the bottom surface of the intercondylar fossa prosthesis, wherein each moving boundary vertex is individually close to a bottom surface vertex, and the actual distance from each moving boundary vertex to the bottom surface edge of the intercondylar fossa prosthesis bottom surface is consistent with the osteotomy radius;

[0023] According to the vertex coordinates of each of the four moving boundary vertices, full coverage path planning is performed within the center movement area matching the four moving boundary vertices to obtain a target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis in the osteotomy entry point coordinate system;

[0024] According to the preset number of trajectory planning layers, the target tool end movement trajectory is translated along the direction of the structural depth toward the coordinate system origin of the osteotomy entry point coordinate system to obtain at least one layer of tool end movement trajectory including the target tool end movement trajectory, wherein the total number of trajectory translations is obtained by subtracting one from the preset number of trajectory planning layers.

[0025] In an optional embodiment, the step of performing full coverage path planning within a circle center moving area matching the four moving boundary vertices based on the vertex coordinates of each of the four moving boundary vertices to obtain a target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar notch prosthesis in the osteotomy entry point coordinate system includes:

[0026] performing grouping processing on the four moving boundary vertices to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar notch prosthesis, wherein a line connecting two moving boundary vertices included in each of the two vertex combinations is parallel to the length direction or the width direction;

[0027] For each vertex combination, based on the vertex coordinates of the two moving boundary vertices included in the vertex combination, path point interpolation planning is performed between the two moving boundary vertices using the osteotomy diameter of the rotary osteotomy tool as the interpolation interval to obtain the path point coordinates of all interpolated path points between the two moving boundary vertices, where the osteotomy diameter is twice the osteotomy radius;

[0028] Randomly select a moving boundary vertex from the two moving boundary vertices included in any vertex combination as the starting point of the tool end movement, and determine the corresponding tool end movement end point from the two moving boundary vertices included in the remaining vertex combinations based on the total number of interpolation path points corresponding to the single vertex combination;

[0029] Bow-shaped path planning is performed based on the actual coordinates corresponding to the tool end movement starting point, the tool end movement end, and all interpolation path points in the osteotomy feed point coordinate system to obtain the target tool end movement trajectory.

[0030] In an optional embodiment, the step of obtaining the desired assembly posture information of the to-be-assembled knee joint prosthesis relative to the intercondylar notch of the to-be-osteotomy entity in the base coordinate system of the surgical robot comprises:

[0031] Obtaining a relative assembly posture relationship between a marked reference portion on the intercondylar fossa model of the intercondylar fossa to be osteotomized and a marked prosthetic portion of the knee joint prosthesis to be assembled in the reference coordinate system, wherein the marked prosthetic portion corresponds to the marked prosthetic coordinate system;

[0032] Performing point cloud registration on the bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer;

[0033] Performing relative posture registration on the skeletal tracer and the surgical robot to obtain an actual posture matrix of the skeletal tracer relative to the base coordinate system;

[0034] According to the target registration matrix and the actual pose matrix, the relative assembly pose relationship is transformed into a coordinate system to obtain the expected assembly pose information.

[0035] In an optional embodiment, the step of performing relative pose registration on the skeletal tracer and the surgical robot to obtain an actual pose matrix of the skeletal tracer relative to the base coordinate system includes:

[0036] Performing posture calibration on the rotary osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the rotary osteotomy tool relative to the base coordinate system;

[0037] Performing posture registration on the bone tracer and the tool tracer to obtain a first posture registration matrix of the bone tracer relative to the tool tracer;

[0038] Performing posture registration on the tool tracer and the rotary osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the rotary osteotomy tool;

[0039] Perform a matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0040] In an optional embodiment, the step of performing relative pose registration on the skeletal tracer and the surgical robot to obtain an actual pose matrix of the skeletal tracer relative to the base coordinate system includes:

[0041] 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;

[0042] 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;

[0043] A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0044] In a second aspect, the present application provides an automatic osteotomy method for the intercondylar fossa, which is applied to a surgical robot, wherein a rotary osteotomy tool is installed at the end of the surgical robot, and the method comprises:

[0045] Obtaining at least one layer of desired osteotomy trajectory of the rotary osteotomy tool for the intercondylar fossa to be osteotomized in the base coordinate system of the surgical robot, wherein the at least one layer of desired osteotomy trajectory matches the intercondylar fossa prosthesis structure of the knee joint prosthesis to be assembled;

[0046] Determining an execution order of osteotomy operations of each of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity according to a relative depth relationship of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity;

[0047] According to the execution order of the osteotomy operations of each of the at least one layer of desired osteotomy trajectories, the surgical robot is controlled in turn to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding desired osteotomy trajectory, so as to cut out a bone surface structure in the intercondylar fossa of the entity to be osteotomized that matches the size of the intercondylar fossa prosthesis structure.

[0048] In an optional embodiment, the at least one layer of desired osteotomy trajectory is planned using the intercondylar notch osteotomy planning method described in any one of the aforementioned embodiments.

[0049] In a third aspect, the present application provides an intercondylar notch osteotomy planning device, the device comprising:

[0050] a tool information acquisition module configured to acquire prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is mounted on a robot end of a surgical robot;

[0051] a feed coordinate transformation module configured to perform a coordinate system transformation on the marked prosthesis coordinate system of the to-be-assembled knee joint prosthesis in the reference coordinate system according to the prosthesis size information, so as to obtain the osteotomy feed point coordinate system of the intercondylar notch prosthesis bottom surface of the to-be-assembled knee joint prosthesis in the reference coordinate system;

[0052] a movement trajectory planning module configured to perform tool end trajectory planning for the rotary osteotomy tool in the osteotomy entry point coordinate system based on the osteotomy radius and the intercondylar notch prosthesis size information included in the prosthesis size information, to obtain at least one layer of tool end movement trajectory in the osteotomy entry point coordinate system, wherein a projection position of each layer of tool end movement trajectory on the plane where the intercondylar notch prosthesis bottom surface is located is within the intercondylar notch prosthesis bottom surface;

[0053] a prosthesis posture acquisition module configured to acquire desired assembly posture information of the knee joint prosthesis to be assembled relative to the intercondylar fossa to be osteotomized in the base coordinate system of the surgical robot;

[0054] The osteotomy trajectory planning module is configured to perform coordinate system transformation on all tool end movement trajectories in the osteotomy entry point coordinate system according to the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marked prosthesis coordinate system and the expected assembly posture information, so as to obtain at least one layer of expected osteotomy trajectory of the rotary osteotomy tool acting on the intercondylar fossa of the to-be-osteotomy entity in the base coordinate system, wherein each layer of expected osteotomy trajectory corresponds to a layer of tool end movement trajectory separately.

[0055] In a fourth aspect, the present application provides an automatic intercondylar fossa osteotomy device, which is applied to a surgical robot, wherein a rotary osteotomy tool is installed at the end of the surgical robot, and the device comprises:

[0056] an osteotomy trajectory acquisition module configured to acquire at least one layer of desired osteotomy trajectory of the rotary osteotomy tool for the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot, wherein the at least one layer of desired osteotomy trajectory matches the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled;

[0057] an osteotomy sequence determination module configured to determine an osteotomy execution order of each of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity based on a relative depth relationship of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity;

[0058] The rotary osteotomy control module is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy trajectory according to the order of executing the osteotomy operations of each layer of the expected osteotomy trajectory, so as to cut out a bone surface structure in the intercondylar fossa of the entity to be osteotomized that matches the size of the intercondylar fossa prosthesis structure.

[0059] In an optional embodiment, the at least one layer of desired osteotomy trajectory is planned using the intercondylar notch osteotomy planning method described in any one of the aforementioned embodiments.

[0060] In a fifth aspect, the present application 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 intercondylar notch osteotomy planning method described in any one of the aforementioned embodiments, or drive the intercondylar notch osteotomy planning device in the aforementioned embodiment to operate.

[0061] In a sixth aspect, the present application provides a surgical robot, wherein a rotary 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, and the processor can execute the computer program to implement the automatic intercondylar fossa osteotomy method described in any one of the aforementioned embodiments, or drive the intercondylar fossa osteotomy planning device in the aforementioned embodiment to operate.

[0062] In the seventh aspect, the present application provides a readable storage medium having a computer program stored thereon. When the computer program is executed, it implements the intercondylar fossa osteotomy planning method described in any one of the aforementioned embodiments, or drives the computer device to load and run the intercondylar fossa osteotomy planning device in the aforementioned embodiment, or drives the surgical robot to implement the intercondylar fossa automatic osteotomy method described in any one of the aforementioned embodiments, or drives the surgical robot to load and run the intercondylar fossa automatic osteotomy device in the aforementioned embodiment, wherein the robot end of the surgical robot is equipped with an osteotomy tool of a rotary osteotomy tool.

[0063] In this case, the beneficial effects of the embodiments of the present application may include the following:

[0064] 1. This application can plan a desired osteotomy trajectory with a suitable size for the intercondylar fossa of a knee prosthesis to be assembled based on the prosthetic dimensions of the intercondylar fossa to be assembled. The planned desired osteotomy trajectory can be used to realize the automatic osteotomy function of the surgical robot in the intercondylar fossa, thereby improving the accuracy, precision, and stability of the intercondylar fossa osteotomy. This ensures that the intercondylar fossa bone surface structure obtained has a good fit with the knee prosthesis to be assembled, thereby ensuring that the robotic automatic osteotomy solution for the intercondylar fossa provided by this application has significant effectiveness and safety.

[0065] 2. This application can coordinate the intercondylar notch osteotomy trajectory planning operation with the robot's automatic osteotomy operation, eliminating the need for the attending physician to perform manual osteotomy in the intercondylar notch with the aid of a guide plate and osteotomy tools, thereby significantly simplifying the surgical process involving the intercondylar notch during TKA surgery, avoiding the cumbersome preoperative guide plate installation process and intraoperative osteotomy tool replacement process, improving TKA surgical efficiency, and avoiding patient pain caused by guide plate installation and / or manual osteotomy during TKA surgery, thereby significantly reducing the pain caused to patients by TKA surgery;

[0066] 3. The intercondylar notch osteotomy trajectory planning scheme and the intercondylar notch automatic osteotomy scheme provided in this application both have strong scheme versatility and can be applied to a variety of knee joint prostheses with intercondylar notch prosthesis structures and different styles. They can also drive a surgical robot equipped with a rotary osteotomy tool to perform automatic osteotomy operations on the physical intercondylar notch, so as to cut out a bone surface structure in the corresponding physical intercondylar notch that matches the intercondylar notch prosthesis structure size of the knee joint prosthesis, thereby facilitating the normal installation of the knee joint prosthesis, improving the success rate of TKA surgery, and ensuring that the TKA surgery achieves the expected effect.

[0067] In order to make the above-mentioned objects, features and advantages of the present application 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

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application 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.

[0069] FIG1 is a schematic diagram of the composition of a computer device provided in an embodiment of the present application;

[0070] FIG2 is a schematic diagram of the components of a knee joint prosthesis to be assembled provided in an embodiment of the present application;

[0071] FIG3 is a schematic flow chart of a method for planning intercondylar notch osteotomy according to an embodiment of the present application;

[0072] FIG4 is a flow chart of the sub-steps included in step S220 in FIG3 ;

[0073] FIG5 is a sagittal view of a femoral prosthesis structure and an intercondylar notch prosthesis structure included in a knee joint prosthesis to be assembled provided in an embodiment of the present application;

[0074] FIG6 is a flow chart of the sub-steps included in step S230 in FIG3 ;

[0075] FIG7 is a schematic diagram of a planning trajectory of a tool end moving corresponding to the bottom surface of an intercondylar notch prosthesis provided in an embodiment of the present application;

[0076] FIG8 is a flow chart of the sub-steps included in step S240 in FIG3 ;

[0077] FIG9 is a schematic diagram of the composition of a surgical robot provided in an embodiment of the present application;

[0078] FIG10 is a schematic flow chart of an automatic osteotomy method for the intercondylar notch provided in an embodiment of the present application;

[0079] FIG11 is a schematic diagram of the composition of the intercondylar notch osteotomy planning device provided in an embodiment of the present application;

[0080] FIG12 is a schematic diagram showing the composition of the automatic intercondylar notch osteotomy device provided in an embodiment of the present application.

[0081] Icons: 10-computer equipment; 11-first memory; 12-first processor; 13-first communication unit; 100-intercondylar fossa osteotomy planning device; 110-tool information acquisition module; 120-feed coordinate transformation module; 130-movement trajectory planning module; 140-prosthesis posture acquisition module; 150-osteotomy trajectory planning module; 20-surgical robot; 21-second memory; 22-second processor; 23-second communication unit; 300-intercondylar fossa automatic osteotomy device; 310-osteotomy trajectory acquisition module; 320-osteotomy sequence determination module; 330-rotational osteotomy control module. DETAILED DESCRIPTION

[0082] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0083] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0084] 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.

[0085] In the description of this application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the application is usually placed when in use, or are the orientation or position relationship commonly understood by those skilled in the art. They are only for the convenience of describing this application 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 cannot be understood as a limitation on this application.

[0086] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0087] In addition, in the description of the present application, 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 include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "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 application can be understood according to the specific circumstances.

[0088] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0089] Please refer to FIG. 1 , which is a schematic diagram of the composition of a computer device 10 provided in an embodiment of the present application. In an embodiment of the present application, the computer device 10 can be communicatively connected to a surgical robot equipped with osteotomy tools (including oscillating saws, milling cutters, grinding drills, etc.), and based on the prosthesis size information of the knee prosthesis to be assembled and the tool size information of the osteotomy tool, an osteotomy trajectory that is adapted to each prosthesis assembly surface of the knee prosthesis to be assembled is planned for the knee joint to be operated, so as to drive the surgical robot to perform automatic osteotomy function on the knee joint to be operated, thereby improving the knee osteotomy accuracy, knee osteotomy accuracy and knee osteotomy stability, avoiding osteotomy errors caused by manual osteotomy operations, ensuring that the knee prosthesis to be assembled can be normally installed on the physical knee joint after osteotomy, and effectively ensuring that the TKA surgery achieves the expected effect. At the same time, the robot's automatic osteotomy operation greatly simplifies the TKA surgical process, avoids the cumbersome preoperative guide plate installation process and the intraoperative osteotomy tool replacement process, thereby improving the efficiency of the TKA surgery, and avoiding the patient's pain caused by guide plate installation and / or manual osteotomy during the TKA surgery, thereby greatly reducing the pain caused to the patient by the TKA surgery.

[0090] 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-controlled robotic arm, etc.; the knee joint prosthesis to be assembled includes at least an intercondylar fossa prosthesis structure.

[0091] In this embodiment of the present application, the computer device 10 may include a first memory 11, a first processor 12, a first communication unit 13, and an intercondylar notch 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.

[0092] 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.

[0093] 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., which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0094] 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 three-dimensional 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 three-dimensional 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.

[0095] In this embodiment, the intercondylar notch osteotomy planning device 100 includes at least one software function 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 function module and computer program included in the intercondylar notch osteotomy planning device 100. The computer device 10 can plan an expected osteotomy trajectory that is adapted to the intercondylar fossa prosthesis structure size of the knee joint prosthesis to be assembled for the solid intercondylar fossa to be osteotomized through the intercondylar fossa osteotomy planning device 100, so as to realize the automatic intercondylar fossa osteotomy function of the surgical robot through the planned expected osteotomy trajectory, improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy error caused by manual osteotomy operation, improve the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, and simultaneously simplify the TKA surgical process, improve the TKA surgical efficiency, so as to facilitate the normal installation of the knee joint prosthesis including the intercondylar fossa prosthesis structure on the solid intercondylar fossa, improve the success rate of the TKA surgery, ensure that the TKA surgery achieves the expected effect, and ensure that the robot automatic osteotomy solution provided for the intercondylar fossa in this application has significant effectiveness and safety.

[0096] 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.

[0097] As for the above-mentioned knee joint prosthesis to be assembled, it can be described with reference to the composition diagram shown in Figure 2. In an embodiment of the present application, 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.

[0098] Therefore, with regard to the knee joint prosthesis to be assembled shown in Figure 2, the prosthesis assembly surface involved in 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, the above-mentioned tibial assembly surface and the above-mentioned intercondylar notch prosthesis bottom surface; the computer device 10 needs to plan the osteotomy trajectory for the physical intercondylar notch of the knee joint to be operated on, to drive the surgical robot to cut the corresponding physical intercondylar notch into an intercondylar notch bone surface structure that matches the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled, so as to ensure that the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled can be normally installed on the physical intercondylar notch after osteotomy.

[0099] 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 .

[0100] In the present application, in order to ensure that the computer device 10 can plan an expected osteotomy trajectory with a size adaptation for the intercondylar fossa to be osteotomized based on the intercondylar fossa prosthesis size information of the knee joint prosthesis to be assembled, so as to realize the automatic osteotomy function of the intercondylar fossa of the surgical robot through the planned expected osteotomy trajectory, improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy error caused by manual osteotomy operation, improve the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, and simultaneously simplify the TKA surgical process, improve the TKA surgical efficiency, so as to facilitate the normal installation of the knee joint prosthesis including the intercondylar fossa prosthesis structure on the physical intercondylar fossa, and improve the success rate of the TKA surgery, the embodiment of the present application provides an intercondylar fossa osteotomy planning method to achieve the above-mentioned purpose. The intercondylar fossa osteotomy planning method provided by the present application is described in detail below.

[0101] Please refer to Figure 3, which is a flowchart of the intercondylar notch osteotomy planning method provided in an embodiment of the present application. In the embodiment of the present application, the intercondylar notch osteotomy planning method may include steps S210 to S250.

[0102] Step S210 , obtaining prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is installed at a robot end of a surgical robot.

[0103] Among them, the prosthesis size information may include the surface size information of each femoral assembly surface in the femoral prosthesis structure, the plane angle between two adjacent femoral assembly surfaces, the surface size information of the tibial assembly surface of the tibial prosthesis structure, and the intercondylar notch prosthesis size information, wherein the intercondylar notch prosthesis size information includes the structural depth of the intercondylar notch prosthesis structure, the length information and width information of the bottom surface of the intercondylar notch prosthesis, the plane angle between the bottom surface of the intercondylar notch prosthesis and the anterior oblique assembly surface, the plane angle between the bottom surface of the intercondylar notch prosthesis and the posterior condylar assembly surface, etc.

[0104] The rotary osteotomy tool is an osteotomy tool that removes bony structures through a rotational motion. The osteotomy modes of the rotary osteotomy tool may include a milling mode and a grinding mode, among others. The osteotomy radius is the radius at which the tool tip of the rotary osteotomy tool removes bony structures. In one embodiment of this embodiment, the rotary osteotomy tool may be a milling cutter corresponding to the milling mode or a grinding drill corresponding to the grinding mode.

[0105] Step S220 , performing coordinate transformation on the marked prosthesis coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system according to the prosthesis size information, to obtain the osteotomy entry point coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system.

[0106] In this embodiment, after the computer device 10 obtains the prosthesis size information of the knee joint prosthesis to be assembled and the osteotomy radius of the rotary osteotomy tool, it can be used in conjunction with the CT (Computed Tomography) A three-dimensional prosthetic model of the knee joint prosthesis to be assembled is constructed in a reference coordinate system corresponding to a 3D Tomography (computer tomography) image, and a marked prosthetic coordinate system of the marked prosthetic part of the knee joint prosthesis to be assembled on the three-dimensional prosthetic model is constructed in the reference coordinate system, so as to characterize the actual assembly posture of the intercondylar notch prosthesis structure through the posture of the marked prosthetic part. Then, the computer device 10 can perform coordinate translation and coordinate rotation operations on the marked prosthetic coordinate system to obtain an osteotomy entry point coordinate system configured to circle the starting osteotomy plane of the intercondylar notch in the reference coordinate system, wherein the distance from the origin of the osteotomy entry point coordinate system to the bottom surface of the intercondylar notch prosthesis of the intercondylar notch prosthesis structure is greater than or equal to the structural depth of the intercondylar notch prosthesis structure, and the plane passing through the origin of the osteotomy entry point coordinate system and parallel to the bottom surface of the intercondylar notch prosthesis is the starting osteotomy plane of the intercondylar notch.

[0107] It can be understood that the marked prosthetic part can be a physical part on the knee joint prosthesis to be assembled, or it can be a virtual part set for the knee joint prosthesis to be assembled; the marked prosthetic part corresponds to a reference part (i.e., a marked reference part) at the physical intercondylar fossa of the knee joint to be operated on, and the assembly posture of the intercondylar fossa prosthesis structure relative to the physical intercondylar fossa of the knee joint to be operated on can be described by describing the posture of the marked prosthetic part relative to the marked reference part in the same coordinate system.

[0108] In one implementation of this embodiment, the marked prosthesis portion corresponding to the marked prosthesis coordinate system is arranged on the plane where the distal assembly surface of the femoral prosthesis structure is located, wherein the marked prosthesis portion can be arranged at the projection position of the central axis of the femoral prosthesis structure on the plane where the distal assembly surface is located.

[0109] Alternatively, please refer to Figure 4, which is a flowchart illustrating the sub-steps included in step S220 in Figure 3. In an embodiment of the present application, step S220 may include sub-steps S221 and S222 to accurately determine a matching osteotomy entry point coordinate system for the intercondylar notch prosthesis structure in the imaging coordinate system corresponding to the CT image.

[0110] Sub-step S221, determining a target vertical plane of the intercondylar notch prosthesis bottom surface according to the prosthesis size information, wherein the target vertical plane is perpendicular to the intercondylar notch prosthesis bottom surface, and the target vertical plane intersects the intercondylar notch prosthesis bottom surface and the anterior oblique assembly surface at the same plane intersection line.

[0111] Taking the prosthesis sagittal view of the femoral prosthesis structure and the intercondylar notch prosthesis structure shown in Figure 5 as an example, the line segment ab in Figure 5 is configured to represent the posterior condyle assembly surface, the line segment bc in Figure 5 is configured to represent the posterior oblique assembly surface, the line segment cd in Figure 5 is configured to represent the distal assembly surface, the line segment de in Figure 5 is configured to represent the anterior oblique assembly surface, the line segment ef in Figure 5 is configured to represent the anterior condyle assembly surface, the line segment gh in Figure 5 is configured to represent the bottom surface of the intercondylar notch prosthesis, and the specific value of the line segment gh is consistent with the length information L of the bottom surface of the intercondylar notch prosthesis. The letter j in Figure 5 is configured to represent the distance between the bottom surface of the intercondylar notch prosthesis and The plane intersection line between the planes where the distal assembly surface is located, the point o0 in Figure 5 is configured to represent the marked prosthesis part, at this time the coordinate system o0-x0-y0-z0 is the marked prosthesis coordinate system of the marked prosthesis part in the reference coordinate system, the plane x0o0y0 is the plane where the distal assembly surface is located, the line segment go1 in Figure 5 is configured to represent the target vertical plane, the letter g in Figure 5 is configured to represent the plane intersection line where the target vertical plane, the bottom surface of the intercondylar notch prosthesis and the anterior oblique assembly surface intersect, and the letter i in Figure 5 is configured to represent the plane intersection line between the target vertical plane and the distal assembly surface.

[0112] In sub-step S222, the marked prosthesis coordinate system is deflected toward the target position on the target vertical plane away from the bottom surface of the intercondylar notch prosthesis in the reference coordinate system to obtain the osteotomy entry point coordinate system, wherein the coordinate system origin of the osteotomy entry point coordinate system overlaps with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar notch prosthesis structure.

[0113] The target position can be represented by point o1 in FIG5 , and the osteotomy entry point coordinate system is the coordinate system o1-x1-y1-z in FIG5 1， Plane x1o1y1 is the intercondylar notch osteotomy starting plane corresponding to the intercondylar notch prosthesis bottom surface, and distance o1g is greater than or equal to the structural depth H of the intercondylar notch prosthesis structure. In one implementation of this embodiment, the distance o1g is consistent with the structural depth H of the intercondylar notch prosthesis structure.

[0114] At this time, the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marker prosthesis coordinate system can be expressed by the following formula:

[0115] T_o1=T_o0*Transl([-(o0d+di),0,0])*Rot([0,-∠gid,0])*Transl([-(io1),0,0]);

[0116] Among them, T_o1 is configured to represent the osteotomy entry point coordinate system, T_o0 is configured to represent the marker prosthesis coordinate system, o0d is configured 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 marker prosthesis coordinate system, di is configured to represent the distance between the target vertical plane and the plane intersection line between the anterior oblique assembly surface and the distal assembly surface, ∠gid is configured to represent the plane angle between the target vertical plane and the distal assembly surface, and io1 is configured to represent the distance from the plane intersection line between the target vertical plane and the distal assembly surface to the origin of the osteotomy entry point coordinate system. In addition, Transl(*) is configured to represent a translation operator, and Rot(*) is configured to represent a rotation operator, where the translation operator is generally represented by the following formula:

[0117] The rotation operator is usually expressed as follows:

[0118] Therefore, the present application can accurately determine the matching osteotomy entry point coordinate system for the intercondylar notch prosthesis structure in the imaging coordinate system corresponding to the CT image by executing the above sub-steps S221 to S222.

[0119] Step S230 , based on the osteotomy radius and the intercondylar notch prosthesis size information included in the prosthesis size information, the tool end trajectory of the rotary osteotomy tool is planned in the osteotomy entry point coordinate system to obtain at least one layer of tool end movement trajectory in the osteotomy entry point coordinate system.

[0120] In this embodiment, the projection position of the movement trajectory of the tool end of each layer on the plane where the bottom surface of the intercondylar notch prosthesis of the knee joint prosthesis to be assembled is located within the bottom surface of the intercondylar notch prosthesis, and the rotary osteotomy tool can remove the bone structure whose volume and shape match the structure of the intercondylar notch prosthesis in the coordinate system of the osteotomy entry point through all the planned movement trajectories of the tool end.

[0121] Alternatively, please refer to Figure 6, which is a flowchart illustrating the sub-steps included in step S230 in Figure 3. In an embodiment of the present application, step S230 may include sub-steps S231 to S234 to plan, for the rotary osteotomy tool, a tool tip movement trajectory configured to remove at least one layer of bone structure that matches the dimensions of the intercondylar notch prosthesis structure within the osteotomy entry point coordinate system.

[0122] Sub-step S231, based on the intercondylar notch prosthesis size information including the structural depth of the intercondylar notch prosthesis structure, the length information and the width information of the intercondylar notch prosthesis bottom surface, determine the vertex coordinates corresponding to the four bottom surface vertices of the intercondylar notch prosthesis bottom surface in the osteotomy entry point coordinate system.

[0123] Taking the two tool end movement trajectories shown in (a) and (b) in FIG7 as an example, if the projection position of the coordinate system origin of the osteotomy entry point coordinate system on the bottom surface of the intercondylar notch prosthesis is at the center position of the upper edge of the bottom surface of the intercondylar notch prosthesis, then the vertex coordinates of the top left bottom vertex of the bottom surface of the intercondylar notch prosthesis in FIG7 (a) or (b) can be expressed as T_o1*Transl([H,W / 2,0]), and the vertex coordinates of the top right bottom vertex of the bottom surface of the intercondylar notch prosthesis in FIG7 (a) or (b) can be expressed as T_o1*Transl([H,- W / 2,0]), the vertex coordinates of the vertex of the bottom surface of the intercondylar fossa prosthesis at the lower left corner in Figure 7 (a) or (b) can be expressed as T_o1*Transl([H,W / 2,-L]), the vertex coordinates of the vertex of the bottom surface of the intercondylar fossa prosthesis at the lower right corner in Figure 7 (a) or (b) can be expressed as T_o1*Transl([H,-W / 2,-L]), wherein H is configured to represent the structural depth of the intercondylar fossa prosthesis structure, W is configured to represent the width information of the bottom surface of the intercondylar fossa prosthesis, and L is configured to represent the length information of the bottom surface of the intercondylar fossa prosthesis.

[0124] Sub-step S232, determining the vertex coordinates of the four moving boundary vertices of the center portion of the tool end of the rotary osteotomy tool on the bottom surface of the intercondylar notch prosthesis based on the vertex coordinates of the four bottom surface vertices and the osteotomy radius.

[0125] Each moving boundary vertex is individually close to a bottom surface vertex, and the actual distance between each moving boundary vertex and the bottom surface edge of the intercondylar notch prosthesis bottom surface is consistent with the osteotomy radius.

[0126] Taking the two osteotomy end movement trajectories shown in (a) and (b) of Figure 7 as an example, the vertex coordinates of the upper left corner moving boundary vertex Pl1 located in the bottom surface of the intercondylar fossa prosthesis can be expressed as T_o1*Transl([H, W / 2-r, -r]), the vertex coordinates of the upper right corner moving boundary vertex Pr1 located in the bottom surface of the intercondylar fossa prosthesis can be expressed as T_o1*Transl([H, -W / 2+r, -r]), the vertex coordinates of the lower left corner moving boundary vertex Pl2 located in the bottom surface of the intercondylar fossa prosthesis can be expressed as T_o1*Transl([H, W / 2-r, -L+r]), and the vertex coordinates of the lower right corner moving boundary vertex Pr2 located in the bottom surface of the intercondylar fossa prosthesis can be expressed as T_o1*Transl([H, -W / 2+r, -L+r]), where r is configured to represent the osteotomy radius of the rotary osteotomy tool.

[0127] Sub-step S233, based on the vertex coordinates of each of the four moving boundary vertices, full coverage path planning is performed within the center moving area matching the four moving boundary vertices to obtain the target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar notch prosthesis in the osteotomy entry point coordinate system.

[0128] In this embodiment, after determining the four moving boundary vertices of the tool end center of the rotary osteotomy tool within the bottom surface of the intercondylar fossa prosthesis, the computer device 10 will circle out a rectangular area within the bottom surface of the intercondylar fossa prosthesis based on the four moving boundary vertices, so as to characterize the movable range of the tool end center within the bottom surface of the intercondylar fossa prosthesis through the rectangular area. At this time, the rectangular area is the center movement area. The computer device 10 can perform full coverage path planning for the tool end center within the center movement area to ensure that the final target tool end movement trajectory can effectively ensure that the rotary osteotomy tool removes bone structure that matches the structural size of the intercondylar fossa prosthesis.

[0129] Optionally, in an implementation of this embodiment, the sub-step S233 may include sub-steps A to D:

[0130] Sub-step A: group the four moving boundary vertices to obtain two vertex combinations corresponding to the length direction or width direction of the bottom surface of the intercondylar notch prosthesis, wherein the line between the two moving boundary vertices included in each of the two vertex combinations is parallel to the length direction or width direction.

[0131] Taking the tool end movement trajectory shown in Figure 7 (a) as an example, the four moving boundary vertices can be divided into two vertex combinations, so that the upper left corner moving boundary vertex Pl1 and the lower left corner moving boundary vertex Pl2 form a vertex combination, and the upper right corner moving boundary vertex Pr1 and the lower right corner moving boundary vertex Pr2 form a vertex combination to ensure that the connecting line between the two moving boundary vertices included in each of the two vertex combinations is parallel to the length direction of the bottom surface of the intercondylar notch prosthesis.

[0132] Taking the tool end movement trajectory shown in Figure 7 (b) as an example, the four moving boundary vertices can be divided into two vertex combinations, so that the upper left corner moving boundary vertex Pl1 and the upper right corner moving boundary vertex Pr1 form a vertex combination, and the lower left corner moving boundary vertex Pl2 and the lower right corner moving boundary vertex Pr2 form a vertex combination to ensure that the connecting line between the two moving boundary vertices included in each of the two vertex combinations is parallel to the width direction of the bottom surface of the intercondylar notch prosthesis.

[0133] Sub-step B, for each vertex combination, according to the vertex coordinates of the two moving boundary vertices included in the vertex combination, use the osteotomy diameter of the rotary osteotomy tool as the interpolation interval to perform path point interpolation planning between the two moving boundary vertices, and obtain the path point coordinates of all interpolation path points between the two moving boundary vertices, where the osteotomy diameter is twice the osteotomy radius.

[0134] If the line between the two moving boundary vertices included in a single vertex combination is parallel to the length direction of the bottom surface of the intercondylar notch prosthesis, the number of interpolation path points between the two moving boundary vertices corresponding to the vertex combination can be calculated using the formula Calculated, where D is configured to represent the osteotomy diameter, Configured to represent a floor function.

[0135] Taking the tool end moving trajectory shown in Figure 7 (a) as an example, when the number of interpolation path points corresponding to a single vertex combination is 5, the path point coordinates of the five interpolation path points (i.e., path points P1, P2, P3, P4, and P5) corresponding to the vertex combination including the upper left corner moving boundary vertex Pl1 and the lower left corner moving boundary vertex Pl2 are T_o1*Transl([H,W / 2-r,-(2*1+1)r]), T_o1*Transl([H,W / 2-r,-(2*2+1)r]), T_o1*Transl([H,W / 2-r,-(2*3+1)r]), T_o1*Transl([H,W / 2-r,-(2*4+1)r]), T_o1*Transl([H,W / 2-r,-(2*5+1)r]), and the path point coordinates of the five interpolated path points (i.e., path points P1', P2', P3', P4', and P5') corresponding to the vertex combination including the upper right corner moving boundary vertex Pr1 and the lower right corner moving boundary vertex Pr2 are T_o1*Transl([H,-W / 2+r,-(2*1+1)r]), T_o1*Transl([H,-W / 2+r,-(2*2+1)r]), T_o1*Transl([H,-W / 2+r,-(2*3+1)r]), T_o1*Transl([H,-W / 2+r,-(2*4+1)r]), and T_o1*Transl([H,-W / 2+r,-(2*5+1)r]) respectively. 。

[0136] If the line between the two moving boundary vertices included in a single vertex combination is parallel to the width direction of the bottom surface of the intercondylar notch prosthesis, the number of interpolation path points between the two moving boundary vertices corresponding to the vertex combination can be calculated using the formula: Calculated, where D is configured to represent the osteotomy diameter, Configured to represent a floor function.

[0137] Taking the tool end movement trajectory shown in Figure 7 (b) as an example, when the number of interpolation path points corresponding to a single vertex combination is 2, the path point coordinates of the two interpolation path points (i.e., path points P1 and P2) corresponding to the vertex combination including the upper left corner moving boundary vertex Pl1 and the upper right corner moving boundary vertex Pr1 are T_o1*Transl([H,W / 2-(2*1+1)r,-r]) and T_o1*Transl([H,W / 2-(2*2+1)r,-r]), respectively, and the path point coordinates of the two interpolation path points (i.e., path points P1' and P2') corresponding to the vertex combination including the lower left corner moving boundary vertex Pl2 and the lower right corner moving boundary vertex Pr2 are T_o1*Transl([H,W / 2-(2*1+1)r,-L+r]) and T_o1*Transl([H,W / 2-(2*2+1)r,-L+r]), respectively.

[0138] Sub-step C: randomly select a moving boundary vertex from the two moving boundary vertices included in any vertex combination as the starting point of the tool end movement, and determine the corresponding tool end movement end point from the two moving boundary vertices included in the remaining vertex combinations based on the total number of interpolation path points corresponding to the single vertex combination.

[0139] The computer device 10 may determine whether the corresponding tool end point movement endpoint and the current tool end point movement starting point are on a diagonal line or near the same bottom edge of the intercondylar notch prosthesis bottom surface based on whether the total number of interpolation path points corresponding to a single vertex combination is an odd number or an even number. If the total number of interpolation path points corresponding to a single vertex combination is an odd number, the corresponding tool end point movement endpoint and the current tool end point movement starting point are on a diagonal line; if the total number of interpolation path points corresponding to a single vertex combination is an even number, the corresponding tool end point movement endpoint and the current tool end point movement starting point are near the same bottom edge of the intercondylar notch prosthesis bottom surface.

[0140] Taking the tool end movement trajectory shown in Figure 7 (a) as an example, when the upper left moving boundary vertex Pl1 is selected as the starting point of the tool end movement from the vertex combination including the upper left moving boundary vertex Pl1 and the upper right moving boundary vertex Pr1, since the total number of interpolation path points corresponding to this vertex combination is 5, the corresponding end point of the tool end movement is the lower right moving boundary vertex Pr2 in the other vertex combination.

[0141] Taking the tool end movement trajectory shown in Figure 7 (b) as an example, when the upper left corner moving boundary vertex Pl1 is selected as the starting point of the tool end movement from the vertex combination including the upper left corner moving boundary vertex Pl1 and the lower left corner moving boundary vertex Pl2, since the total number of interpolation path points corresponding to this vertex combination is 2, the corresponding end point of the tool end movement is the upper right corner moving boundary vertex Pr1 in the other vertex combination.

[0142] Sub-step D, performing bow-shaped path planning based on the actual coordinates corresponding to the tool end movement starting point, tool end movement end, and all interpolation path points in the osteotomy entry point coordinate system to obtain the target tool end movement trajectory.

[0143] Taking the tool end movement trajectory shown in Figure 7 (a) as an example, the corresponding target tool end movement trajectory is Pl1->Pr1->P1'->P1->P2->P2'->P3'->P3->P4->P4'->P5'->P5->Pl2->Pr2.

[0144] Taking the tool end movement trajectory shown in FIG7( b ) as an example, the corresponding target tool end movement trajectory is Pl1->Pl2->P1'->P1->P2->P2'->Pr2->Pr1.

[0145] Therefore, the present application can plan the target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar notch prosthesis in the osteotomy entry point coordinate system by executing the above sub-steps A to D.

[0146] In sub-step S234, according to the preset number of trajectory planning layers, the target tool end movement trajectory is translated along the direction of the structural depth toward the coordinate system origin of the osteotomy entry point coordinate system to obtain at least one layer of tool end movement trajectory including the target tool end movement trajectory, where the total number of trajectory translations is obtained by subtracting one from the preset number of trajectory planning layers.

[0147] Wherein, if the preset trajectory planning layer number is 1, then all tool end movement trajectories planned for the rotary osteotomy tool in the osteotomy entry point coordinate system only include the target tool end movement trajectory;

[0148] If the preset number of trajectory planning layers is greater than or equal to 2, then the actual number of trajectory layers of all tool end movement trajectories planned for the rotary osteotomy tool in the osteotomy entry point coordinate system is consistent with the preset number of trajectory planning layers, and the distances between two adjacent layers of tool end movement trajectories may be the same or different. In one implementation of this embodiment, if the distances between two adjacent layers of tool end movement trajectories are the same, the distance between two adjacent layers of tool end movement trajectories may be determined by dividing the structural depth of the intercondylar fossa prosthesis structure by the preset number of trajectory planning layers.

[0149] Therefore, the present application can plan a tool end movement trajectory for the rotary osteotomy tool in the osteotomy entry point coordinate system by executing the above sub-steps S231 to S234, which is configured to remove at least one layer of bone structure that matches the structural size of the intercondylar notch prosthesis.

[0150] Step S240: obtaining the desired assembly posture information of the knee joint prosthesis to be assembled relative to the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot.

[0151] In this embodiment, the expected assembly posture information is configured to represent the expected assembly posture of the intercondylar notch prosthesis structure in the to-be-assembled knee joint prosthesis in the base coordinate system after successful osteotomy of the intercondylar notch of the to-be-osteotomy entity.

[0152] It can be understood that the computer device 10 can obtain the 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 expected assembly posture information for the knee joint prosthesis to be assembled and the knee joint to be operated on.

[0153] Alternatively, please refer to Figure 8, which is a flowchart of the sub-steps included in step S240 in Figure 3. In an embodiment of the present application, step S240 may include sub-steps S241 to S244 to accurately determine the desired assembly posture of the intercondylar notch prosthesis structure on the to-be-assembled knee joint prosthesis after osteotomy of the intercondylar notch of the to-be-osteotomy entity.

[0154] Sub-step S241, obtaining the relative assembly posture relationship between the marked reference part on the intercondylar fossa model of the intercondylar fossa to be osteotomized and the marked prosthesis part of the knee joint prosthesis to be assembled in the reference coordinate system, wherein the marked prosthesis part corresponds to the marked prosthesis coordinate system.

[0155] Among them, the bone model corresponding to the intercondylar fossa to be osteotomized included in the knee joint to be operated is established in the reference coordinate system. 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 marked prosthetic part of the knee joint prosthesis to be assembled relative to the marked reference part after osteotomy is completed in the corresponding intercondylar fossa to be osteotomized, and obtain the relative assembly posture relationship. At this time, the relative assembly posture relationship can characterize the expected assembly posture of the marked prosthetic part relative to the marked reference part in the reference coordinate system, which can be represented by T_ct_o0.

[0156] Sub-step S242, performing point cloud registration on the bone tracer corresponding to the intercondylar notch of the osteotomy entity and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer.

[0157] Among them, the bone tracer is configured to mark the actual position of the intercondylar fossa of the entity to be osteotomized in the real surgical environment. At this time, the target alignment matrix can be configured to represent the mapping relationship between the bone model of the intercondylar fossa of the entity to be osteotomized and the intercondylar fossa of the entity to be osteotomized in the real surgical environment, which can be represented by T_femurtracer_ct.

[0158] Sub-step S243, performing relative posture registration on the bone tracer and the surgical robot to obtain the actual posture matrix of the bone tracer relative to the base coordinate system.

[0159] The actual posture matrix is ​​configured to describe the actual posture of the intercondylar fossa 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.

[0160] Optionally, in one implementation of this embodiment, a tool tracer may be installed on the surgical robot for the rotary osteotomy tool, so as to calibrate the installation position of the rotary osteotomy tool by the tool tracer, wherein the tool tracer and the rotary osteotomy tool are relatively stationary. In this case, sub-step S243 may include:

[0161] Performing posture calibration on the rotary osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the rotary osteotomy tool relative to the base coordinate system;

[0162] Performing posture registration on the bone tracer and the tool tracer to obtain a first posture registration matrix of the bone tracer relative to the tool tracer;

[0163] Performing posture registration on the tool tracer and the rotary osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the rotary osteotomy tool;

[0164] Perform a matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0165] Among them, the first pose calibration matrix can be represented by T_b_tcp, the first pose registration matrix corresponding to the bone tracer can be represented by T_calib_femurtracer, the second pose registration matrix can be represented by T_tcp_calib, and the bone tracer can be a femoral tracer.

[0166] 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 bone tracer and the surgical robot. In this case, sub-step S243 may include:

[0167] 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;

[0168] 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;

[0169] A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0170] The third pose registration matrix may be represented by T_b_basearray, the fourth pose registration matrix corresponding to the bone tracer may be represented by T_basearray_femurtracer, and the bone tracer may be a femur tracer.

[0171] Therefore, the present application can effectively measure the actual position of the intercondylar fossa to be osteotomized in a real surgical environment in the base coordinate system of the surgical robot through the above two implementation methods.

[0172] Sub-step S244 , performing coordinate system transformation on the relative assembly pose relationship according to the target registration matrix and the actual pose matrix to obtain expected assembly pose information.

[0173] The expected assembly pose information can be obtained by performing a matrix multiplication operation on the target registration matrix, the actual pose matrix and the relative assembly pose relationship.

[0174] Therefore, the present application can accurately solve the expected assembly posture of the intercondylar notch prosthesis structure on the knee joint prosthesis to be assembled after osteotomy is completed in the intercondylar notch of the entity to be osteotomized by executing the above sub-steps S241 to S244.

[0175] Step S250, based on the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marked prosthesis coordinate system and the expected assembly posture information, all tool end movement trajectories in the osteotomy entry point coordinate system are coordinate transformed respectively to obtain at least one layer of expected osteotomy trajectory of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomed in the base coordinate system.

[0176] Among them, each layer of expected osteotomy trajectory corresponds to a layer of tool end movement trajectory separately; for each layer of tool end movement trajectory, the expected osteotomy trajectory matching the layer of tool end movement trajectory can be obtained by performing matrix multiplication operation on the layer of tool end movement trajectory, the expected assembly posture information and the coordinate system transformation relationship.

[0177] After the computer device 10 plans the desired osteotomy trajectory that is compatible with the intercondylar fossa prosthesis structure size of the knee joint prosthesis to be assembled for the intercondylar fossa of the knee joint to be operated on, the desired osteotomy trajectory of each layer can be sent to the surgical robot in sequence according to the surgical process of the TKA surgery, so that the surgical robot drives the rotary osteotomy tool to perform the osteotomy operation according to the obtained desired osteotomy trajectory, thereby cutting the intercondylar fossa of the knee joint to be operated on into a bone surface structure that is compatible with the intercondylar fossa prosthesis structure of the knee joint prosthesis to be assembled, so as to realize the automatic osteotomy function of the intercondylar fossa of the surgical robot, improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, and avoid The intercondylar notch osteotomy error caused by manual osteotomy operation is eliminated, the fit between the intercondylar notch bone surface structure and the knee joint prosthesis to be assembled is improved, and at the same time, the surgical process involving the intercondylar notch during the TKA surgery is greatly simplified, the efficiency of the TKA surgery is improved, and the patient pain caused by guide plate installation and / or manual osteotomy during the TKA surgery is avoided, thereby greatly reducing the pain caused to the patient by the TKA surgery, so that knee joint prostheses including intercondylar notch prosthesis structures and different styles can be normally installed on the solid intercondylar notch, thereby improving the success rate of the TKA surgery, ensuring that the TKA surgery achieves the expected effect, and ensuring that the robotic automatic osteotomy solution for the intercondylar notch provided in this application has significant effectiveness and safety.

[0178] Therefore, the present application can ensure that the computer device 10 can plan an expected osteotomy trajectory with a size adaptation for the intercondylar fossa to be osteotomized based on the intercondylar fossa prosthesis size information of the knee joint prosthesis to be assembled by executing the above steps S210 to S250, so as to realize the automatic osteotomy function of the intercondylar fossa of the surgical robot through the planned expected osteotomy trajectory, improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy error caused by manual osteotomy operation, and improve the fit between the intercondylar fossa bone surface structure cut and the knee joint prosthesis to be assembled The invention can greatly simplify the surgical process involving the intercondylar notch during TKA surgery, improve the efficiency of TKA surgery, avoid the patient pain caused by guide installation and / or manual osteotomy during TKA surgery, thereby greatly reducing the pain caused by TKA surgery to patients, so that knee joint prostheses including intercondylar notch prosthesis structures and different styles can be normally installed on the solid intercondylar notch, improve the success rate of TKA surgery, ensure that TKA surgery achieves the expected effect, and ensure that the robotic automatic osteotomy solution for the intercondylar notch provided by this application has significant effectiveness and safety.

[0179] In addition, please refer to Figure 9, which is a schematic diagram of the composition of the surgical robot 20 provided in an embodiment of the present application. In this embodiment of the present application, a rotary osteotomy tool is installed at the end of the surgical robot 20; the surgical robot 20 can be connected to the computer device 10 in communication to obtain the 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 rotary osteotomy tool to perform automatic osteotomy on the knee joint to be operated according to the acquired osteotomy trajectory, thereby improving the accuracy of knee joint osteotomy, simplifying the TKA surgical process, improving the efficiency of TKA surgery, avoiding osteotomy errors caused by manual osteotomy operations, ensuring that the knee joint prosthesis to be assembled can be normally installed on the actual knee joint after osteotomy, and ensuring that the TKA surgery achieves the expected effect.

[0180] Among them, the computer device 10 can use the intercondylar notch osteotomy planning method involved in Figures 3 to 8 to plan the aforementioned osteotomy trajectory, or can use other 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 to the three-dimensional model of the knee joint to be operated on according to the prosthesis assembly requirements, and based on the model overlapping area corresponding to the intercondylar notch between the two three-dimensional models, the osteotomy trajectory is planned in the robot base coordinates, so that the planned osteotomy trajectory can remove the intercondylar notch bone structure corresponding to the aforementioned model overlapping area on the knee joint to be operated) to plan the corresponding osteotomy trajectory.

[0181] In an embodiment of the present application, the surgical robot 20 may include a second memory 21, a second processor 22, a second communication unit 23, and an automatic intercondylar notch 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 interaction. 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.

[0182] 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.

[0183] 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., which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0184] 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.

[0185] In this embodiment, the intercondylar notch automatic osteotomy device 300 includes at least one software function 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 function module and computer program included in the intercondylar notch automatic osteotomy device 300. The surgical robot 20 can realize the automatic osteotomy function of the intercondylar fossa according to the pre-planned expected osteotomy trajectory for the physical intercondylar fossa to be operated on through the intercondylar fossa automatic osteotomy device 300, thereby improving the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoiding the intercondylar fossa osteotomy error caused by manual osteotomy operation, and improving the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, so as to ensure that the robotic automatic osteotomy solution provided by this application for the intercondylar fossa has significant effectiveness and safety, and at the same time greatly simplifies the surgical process involving the intercondylar fossa during the TKA surgery, improves the efficiency of the TKA surgery, avoids the patient pain caused by guide plate installation and / or manual osteotomy during the TKA surgery, thereby greatly reducing the pain caused to the patient by the TKA surgery, and facilitates the normal installation of knee joint prostheses including intercondylar fossa prosthesis structures and different styles on the physical intercondylar fossa, thereby improving the success rate of the TKA surgery and ensuring that the TKA surgery achieves the expected effect.

[0186] It is understood that the block diagram shown in FIG9 is only a schematic diagram of one configuration of the surgical robot 20. The surgical robot 20 may include more or fewer components than shown in FIG9 , or have a configuration different from that shown in FIG9 . Each component shown in FIG9 may be implemented using hardware, software, or a combination thereof.

[0187] In the present application, in order to ensure that the surgical robot 20 can realize the automatic osteotomy function of the intercondylar fossa according to the pre-planned expected osteotomy trajectory for the intercondylar fossa to be operated on, improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy error caused by manual osteotomy operation, improve the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, to ensure that the robot automatic osteotomy solution provided by the present application for the intercondylar fossa has significant effectiveness and safety, and at the same time greatly improves the accuracy of the intercondylar fossa osteotomy. The present invention simplifies the surgical process involving the intercondylar notch during TKA surgery, improves the efficiency of TKA surgery, avoids the patient pain caused by guide plate installation and / or manual osteotomy during TKA surgery, and significantly reduces the pain caused by TKA surgery to patients. It also facilitates the normal installation of knee joint prostheses including intercondylar notch prosthesis structures and different styles on the physical intercondylar notch, improves the success rate of TKA surgery, and ensures that TKA surgery achieves the expected effect. The embodiment of the present application provides an automatic intercondylar notch osteotomy method to achieve the above-mentioned purpose. The automatic intercondylar notch osteotomy method provided by the present application is described in detail below.

[0188] Please refer to Figure 10, which is a flowchart of the intercondylar notch automatic osteotomy method provided in an embodiment of the present application. In the embodiment of the present application, the intercondylar notch automatic osteotomy method is applied to the surgical robot 20, and the intercondylar notch automatic osteotomy method may include steps S410 to S430.

[0189] Step S410: obtaining at least one layer of expected osteotomy trajectory of the rotary osteotomy tool for the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot, wherein the at least one layer of expected osteotomy trajectory matches the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled.

[0190] The rotary osteotomy tool is an osteotomy tool installed on the surgical robot 20 and configured to perform osteotomy on a physical intercondylar fossa. The at least one layer of expected osteotomy trajectory can be planned using any of the intercondylar notch osteotomy planning methods involved in Figures 3 to 8, or other osteotomy trajectory planning means (for example, in the same model space, the three-dimensional model of the knee 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 target overlapping area corresponding to the intercondylar notch is determined from the model overlapping area between the two three-dimensional models, and then the actual position information of the intercondylar notch bone structure corresponding to the target overlapping area on the intercondylar notch of the entity to be osteotomized is determined in the robot base coordinates through the coordinate system transformation operation, and then the intercondylar notch bone structure is structurally layered in the robot base coordinates, and for each layered bone structure area, the osteotomy trajectory is performed based on the osteotomy radius of the rotary osteotomy tool in the robot base coordinates to obtain at least one layer of expected osteotomy trajectory of the entity intercondylar notch to be osteotomized that matches the intercondylar notch prosthesis structure of the knee prosthesis to be assembled). The present application does not impose any specific limitation on the specific trajectory planning means for the at least one layer of desired osteotomy trajectory obtained by the surgical robot 20 .

[0191] In one implementation of this embodiment, the at least one desired osteotomy trajectory is planned using any one of the intercondylar notch osteotomy planning methods described in FIG. 3 to FIG. 8 .

[0192] Step S420 , determining the osteotomy execution order of at least one layer of the desired osteotomy trajectory at the intercondylar notch of the entity to be osteotomized based on the relative depth relationship of at least one layer of the desired osteotomy trajectory at the intercondylar notch of the entity to be osteotomized.

[0193] Among them, when the total number of trajectories of the at least one layer of desired osteotomy trajectory is 1, the execution order of the osteotomy operation corresponding to the desired osteotomy trajectory is a one-time operation order, and the surgical robot 20 can directly drive the rotary osteotomy tool to move according to the desired osteotomy trajectory, so that the rotary osteotomy tool can perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the desired osteotomy trajectory, so as to cut out a bone surface structure that matches the size of the intercondylar fossa prosthesis structure in the intercondylar fossa of the entity to be osteotomized.

[0194] When the total number of trajectories of the at least one layer of desired osteotomy trajectory is multiple, the deeper the depth of the corresponding desired osteotomy trajectory in the intercondylar fossa of the entity to be osteotomized, the later the execution order of the osteotomy operation corresponding to the desired osteotomy trajectory will be. In this way, the execution order of the osteotomy operations performed by the surgical robot 20 for all desired osteotomy trajectories can be obtained.

[0195] Step S430, according to the execution order of the osteotomy operations of each layer of the desired osteotomy trajectory, the surgical robot is controlled in sequence to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa to be osteotomized according to the corresponding desired osteotomy trajectory, so as to cut out a bone surface structure in the intercondylar fossa to be osteotomized that matches the size of the intercondylar fossa prosthesis structure.

[0196] Therefore, the present application can realize the automatic osteotomy function of the intercondylar fossa for the physical intercondylar fossa to be operated on according to the pre-planned expected osteotomy trajectory by executing the above steps S410 to S430, thereby improving the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, avoiding the intercondylar fossa osteotomy error caused by manual osteotomy operation, and improving the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, so as to ensure that the robotic automatic osteotomy solution provided by the present application for the intercondylar fossa has significant effectiveness and safety, and at the same time greatly simplifies the surgical process involving the intercondylar fossa during the TKA surgery, improves the efficiency of the TKA surgery, avoids the patient pain caused by guide plate installation and / or manual osteotomy during the TKA surgery, thereby greatly reducing the pain caused to the patient by the TKA surgery, and facilitates the normal installation of knee joint prostheses including intercondylar fossa prosthesis structures and different styles on the physical intercondylar fossa, thereby improving the success rate of the TKA surgery and ensuring that the TKA surgery achieves the expected effect.

[0197] In the present application, to ensure that the computer device 10 can execute the above-mentioned intercondylar notch osteotomy planning method through the intercondylar notch osteotomy planning device 100, the present application implements the aforementioned functions by dividing the intercondylar notch osteotomy planning device 100 into functional modules. The specific components of the intercondylar notch osteotomy planning device 100 provided in the present application are described below.

[0198] Please refer to Figure 11, which is a schematic diagram of the components of an intercondylar notch osteotomy planning device 100 provided in an embodiment of the present application. In this embodiment of the present application, the intercondylar notch osteotomy planning device 100 may include a tool information acquisition module 110, a tool feed coordinate transformation module 120, a movement trajectory planning module 130, a prosthesis posture acquisition module 140, and an osteotomy trajectory planning module 150.

[0199] The tool information acquisition module 110 is configured to acquire prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is mounted on a robot end of a surgical robot.

[0200] The feed coordinate transformation module 120 is configured to perform coordinate system transformation on the marked prosthesis coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system according to the prosthesis size information, so as to obtain the osteotomy feed point coordinate system of the knee joint prosthesis to be assembled in the reference coordinate system.

[0201] The movement trajectory planning module 130 is configured to perform tool end trajectory planning for the rotary osteotomy tool in the osteotomy feed point coordinate system based on the osteotomy radius and the intercondylar notch prosthesis size information included in the prosthesis size information, and obtain at least one layer of tool end movement trajectory in the osteotomy feed point coordinate system, wherein the projection position of each layer of tool end movement trajectory on the plane where the bottom surface of the intercondylar notch prosthesis of the knee joint prosthesis to be assembled is located is within the bottom surface of the intercondylar notch prosthesis.

[0202] The prosthesis posture acquisition module 140 is configured to obtain the desired assembly posture information of the knee joint prosthesis to be assembled relative to the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot.

[0203] The osteotomy trajectory planning module 150 is configured to perform coordinate system transformation on all tool end movement trajectories in the osteotomy entry point coordinate system according to the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marked prosthesis coordinate system and the expected assembly posture information, so as to obtain at least one layer of expected osteotomy trajectory of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomed in the base coordinate system, wherein each layer of expected osteotomy trajectory corresponds to a layer of tool end movement trajectory separately.

[0204] Optionally, in one implementation of this embodiment, the knee joint prosthesis to be assembled includes a femoral prosthesis structure and an intercondylar notch prosthesis structure, the femoral prosthesis structure includes 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, the marked prosthesis part corresponding to the marked prosthesis coordinate system at the femoral prosthesis structure is located on the distal assembly surface, the intercondylar notch prosthesis structure is fixedly connected to the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface and the anterior oblique assembly surface at the same time, then the feed coordinate transformation module may include: a vertical plane determination submodule, configured to determine the prosthesis size information according to the vertical plane determination submodule. A target vertical plane of the intercondylar fossa prosthesis bottom surface, wherein the target vertical plane is perpendicular to the intercondylar fossa prosthesis bottom surface, and the target vertical plane intersects the intercondylar fossa prosthesis bottom surface and the anterior oblique assembly surface at the same plane intersection line; a feed coordinate output submodule is configured to deflect the marked prosthesis coordinate system toward the target position away from the intercondylar fossa prosthesis bottom surface on the target vertical plane in the reference coordinate system to obtain the osteotomy feed point coordinate system, wherein the coordinate system origin of the osteotomy feed point coordinate system overlaps with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar fossa prosthesis structure.

[0205] Optionally, in one implementation of this embodiment, the movement trajectory planning module may include: a prosthesis bottom surface vertex determination submodule, configured to determine the vertex coordinates of each of the four bottom surface vertices of the intercondylar fossa prosthesis bottom surface in the osteotomy entry point coordinate system according to the structural depth of the intercondylar fossa prosthesis structure included in the intercondylar fossa prosthesis size information, the length information and the width information of the intercondylar fossa prosthesis bottom surface; a moving boundary vertex determination submodule, configured to determine the vertex coordinates of each of the four moving boundary vertices of the tool end center of the rotary osteotomy tool on the intercondylar fossa prosthesis bottom surface according to the vertex coordinates of each of the four bottom surface vertices and the osteotomy radius, wherein each moving boundary vertex is close to a bottom surface vertex separately, and each moving boundary vertex is close to the bottom surface of the intercondylar fossa prosthesis bottom surface. The actual distance between the edge of the surface and the osteotomy radius is consistent with the osteotomy radius; the tool end movement planning submodule is configured to perform full coverage path planning in the circle center movement area matching the four moving boundary vertices according to the vertex coordinates of each of the four moving boundary vertices, and obtain the target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar notch prosthesis in the osteotomy entry point coordinate system; the tool end trajectory translation submodule is configured to perform trajectory translation on the target tool end movement trajectory along the direction of the structural depth toward the coordinate system origin of the osteotomy entry point coordinate system according to the preset trajectory planning number of layers, and obtain the at least one layer of tool end movement trajectory including the target tool end movement trajectory, wherein the total number of trajectory translations is obtained by subtracting one from the preset trajectory planning number of layers.

[0206] Among them, the tool end movement planning submodule may include: a boundary vertex grouping unit, configured to group the four moving boundary vertices to obtain two vertex combinations corresponding to the length direction or width direction of the bottom surface of the intercondylar notch prosthesis, wherein the line between the two moving boundary vertices included in each of the two vertex combinations is parallel to the length direction or the width direction; a path point interpolation planning unit, configured to, for each vertex combination, use the osteotomy diameter of the rotary osteotomy tool as the interpolation interval to perform path point interpolation planning between the two moving boundary vertices according to the vertex coordinates of each of the two moving boundary vertices included in the vertex combination, and obtain a path point between the two moving boundary vertices. The path point coordinates of all interpolation path points are obtained, wherein the osteotomy diameter is twice the osteotomy radius; a trajectory endpoint selection unit is configured to randomly select a moving boundary vertex from the two moving boundary vertices included in any vertex combination as the tool end movement starting point, and determine the corresponding tool end movement end point from the two moving boundary vertices included in the remaining vertex combinations according to the total number of interpolation path points corresponding to the single vertex combination; an end trajectory planning unit is configured to perform bow-shaped path planning according to the actual coordinates corresponding to the tool end movement starting point, the tool end movement end point and all interpolation path points in the osteotomy feed point coordinate system to obtain the target tool end movement trajectory.

[0207] Optionally, in one implementation of this embodiment, the prosthesis posture acquisition module may include: an assembly posture acquisition submodule, configured to obtain the relative assembly posture relationship between the marked reference part on the intercondylar fossa model of the intercondylar fossa of the entity to be osteotomized and the marked prosthesis part of the knee joint prosthesis to be assembled in the reference coordinate system, wherein the marked prosthesis part corresponds to the marked prosthesis coordinate system; a bone point cloud alignment submodule, configured to perform point cloud alignment on the bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target alignment matrix of the reference coordinate system relative to the bone tracer; a relative posture alignment submodule, configured to perform relative posture alignment on the bone tracer and the surgical robot to obtain an actual posture matrix of the bone tracer relative to the base coordinate system; an expected posture output submodule, configured to perform coordinate system transformation on the relative assembly posture relationship according to the target alignment matrix and the actual posture matrix to obtain the expected assembly posture information.

[0208] In this process, it can be understood that, in one implementation of this embodiment, the relative pose registration submodule performs relative pose registration on the skeletal tracer and the surgical robot to obtain the actual pose matrix of the skeletal tracer relative to the base coordinate system, which may include:

[0209] Performing posture calibration on the rotary osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the rotary osteotomy tool relative to the base coordinate system;

[0210] Performing posture registration on the bone tracer and the tool tracer to obtain a first posture registration matrix of the bone tracer relative to the tool tracer;

[0211] Performing posture registration on the tool tracer and the rotary osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the rotary osteotomy tool;

[0212] Perform a matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0213] It can also be understood that, in another implementation of this embodiment, the relative pose registration submodule performs relative pose registration on the skeletal tracer and the surgical robot to obtain the actual pose matrix of the skeletal tracer relative to the base coordinate system, which may include:

[0214] 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;

[0215] 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;

[0216] A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

[0217] It should be noted that the basic principles and technical effects of the intercondylar notch osteotomy planning device 100 provided in the present embodiment are the same as those of the aforementioned intercondylar notch osteotomy planning method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned intercondylar notch osteotomy planning method.

[0218] In this application, to ensure that the surgical robot 20 can perform the aforementioned intercondylar fossa automated osteotomy method using the intercondylar fossa automated osteotomy device 300, this application implements the aforementioned functions by dividing the intercondylar fossa automated osteotomy device 300 into functional modules. The specific components of the intercondylar fossa automated osteotomy device 300 provided in this application are described below.

[0219] Please refer to Figure 12, which is a schematic diagram of the components of an automatic intercondylar fossa osteotomy device 300 provided in an embodiment of the present application. In this embodiment of the present application, the automatic intercondylar fossa osteotomy device 300 is applied to the surgical robot 20 described above. The automatic intercondylar fossa osteotomy device 300 may include an osteotomy trajectory acquisition module 310, an osteotomy sequence determination module 320, and a rotational osteotomy control module 330.

[0220] The osteotomy trajectory acquisition module 310 is configured to acquire at least one layer of expected osteotomy trajectory of the rotary osteotomy tool for the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot, wherein the at least one layer of expected osteotomy trajectory matches the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled.

[0221] In one implementation of this embodiment, the at least one desired osteotomy trajectory can be planned using any of the intercondylar notch osteotomy planning methods described in FIG. 3 to FIG. 8 , or can be planned using any of the intercondylar notch osteotomy planning devices 100 described above.

[0222] The osteotomy sequence determination module 320 is configured to determine the osteotomy execution order of each of the at least one desired osteotomy trajectory at the intercondylar notch of the to-be-osteotomy entity according to the relative depth relationship of the at least one desired osteotomy trajectory at the intercondylar notch of the to-be-osteotomy entity.

[0223] The rotational osteotomy control module 330 is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy trajectory according to the order of executing the osteotomy operations of each layer of the expected osteotomy trajectory, so as to cut out a bone surface structure in the intercondylar fossa of the entity to be osteotomized that matches the size of the intercondylar fossa prosthesis structure.

[0224] It should be noted that the basic principles and technical effects of the intercondylar fossa automated osteotomy device 300 provided in this embodiment of the present application are the same as those of the aforementioned intercondylar fossa automated osteotomy method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned intercondylar fossa automated osteotomy method.

[0225] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. 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 application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions configured to implement 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 with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0226] In addition, the functional modules in each embodiment of the present application 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 application is essentially or the part that contributes to the relevant technology or the part of the technical solution can be embodied in the form of a software product. 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 a rotary osteotomy tool, etc.) to perform all or part of the steps of the method described in each embodiment of the present application, or to load and run all or part of the modules of the device described in each embodiment of the present application. The aforementioned readable storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0227] The above are merely various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims. Industrial Applicability

[0228] By adopting the above scheme, according to the size information of the intercondylar fossa prosthesis of the knee joint prosthesis to be assembled, an expected osteotomy trajectory with a size fit is planned for the intercondylar fossa to be osteotomized, and the automatic osteotomy function of the intercondylar fossa of the surgical robot is realized through the planned expected osteotomy trajectory, so as to improve the intercondylar fossa osteotomy precision, intercondylar fossa osteotomy accuracy and intercondylar fossa osteotomy stability, improve the fit between the intercondylar fossa bone surface structure and the knee joint prosthesis to be assembled, and simultaneously simplify the TKA surgical process, improve the TKA surgical efficiency, ensure that the TKA surgery achieves the expected effect, and ensure that the robotic automatic osteotomy scheme for the intercondylar fossa provided in this application has significant effectiveness and safety.

Claims

1. A device for planning intercondylar notch osteotomy, characterized in that: The device comprises: a tool information acquisition module configured to acquire prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is mounted on a robot end of a surgical robot; a feed coordinate transformation module configured to perform a coordinate system transformation on the marked prosthesis coordinate system of the to-be-assembled knee joint prosthesis in the reference coordinate system according to the prosthesis size information, so as to obtain the osteotomy feed point coordinate system of the to-be-assembled knee joint prosthesis in the reference coordinate system; a movement trajectory planning module configured to perform tool end trajectory planning for the rotary osteotomy tool in the osteotomy entry point coordinate system based on the osteotomy radius and the intercondylar notch prosthesis size information included in the prosthesis size information, to obtain at least one layer of tool end movement trajectory in the osteotomy entry point coordinate system, wherein a projection position of each layer of tool end movement trajectory on the plane where the bottom surface of the intercondylar notch prosthesis of the knee joint prosthesis to be assembled is located within the bottom surface of the intercondylar notch prosthesis; a prosthesis posture acquisition module configured to acquire desired assembly posture information of the knee joint prosthesis to be assembled relative to the intercondylar fossa to be osteotomized in the base coordinate system of the surgical robot; The osteotomy trajectory planning module is configured to perform coordinate system transformation on all tool end movement trajectories in the osteotomy entry point coordinate system according to the coordinate system transformation relationship between the osteotomy entry point coordinate system and the marked prosthesis coordinate system and the expected assembly posture information, so as to obtain at least one layer of expected osteotomy trajectory of the rotary osteotomy tool acting on the intercondylar fossa of the to-be-osteotomy entity in the base coordinate system, wherein each layer of expected osteotomy trajectory corresponds to a layer of tool end movement trajectory separately.

2. The device according to claim 1, characterized in that The knee joint prosthesis to be assembled includes a femoral prosthesis structure and an intercondylar notch prosthesis structure, the femoral prosthesis structure includes 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, the marked prosthesis part corresponding to the marked prosthesis coordinate system at the femoral prosthesis structure is located on the distal assembly surface, the intercondylar notch prosthesis structure is fixedly connected to the posterior condyle assembly surface, the posterior oblique assembly surface, the distal assembly surface and the anterior oblique assembly surface, and the feed coordinate transformation module includes: a vertical plane determination submodule configured to determine a target vertical plane of the intercondylar notch prosthesis bottom surface according to the prosthesis size information, wherein the target vertical plane is perpendicular to the intercondylar notch prosthesis bottom surface, and the target vertical plane intersects the intercondylar notch prosthesis bottom surface and the anterior oblique assembly surface at the same plane intersection line; The feed coordinate output submodule is configured to deflect the marked prosthesis coordinate system toward the target position on the target vertical plane away from the bottom surface of the intercondylar notch prosthesis in the reference coordinate system to obtain the osteotomy feed point coordinate system, wherein the coordinate system origin of the osteotomy feed point coordinate system overlaps with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar notch prosthesis structure.

3. The device according to claim 1 or 2, characterized in that The movement trajectory planning module includes: a prosthesis bottom surface vertex determination submodule, configured to determine the vertex coordinates corresponding to each of the four bottom surface vertices of the intercondylar notch prosthesis bottom surface in the osteotomy entry point coordinate system based on the structural depth of the intercondylar notch prosthesis structure, the length information, and the width information of the intercondylar notch prosthesis bottom surface included in the intercondylar notch prosthesis size information; a moving boundary vertex determination submodule configured to determine, based on the vertex coordinates of the four bottom surface vertices and the osteotomy radius, the vertex coordinates of each of the four moving boundary vertices of the tool end of the rotary osteotomy tool on the bottom surface of the intercondylar fossa prosthesis, wherein each moving boundary vertex is individually close to a bottom surface vertex, and the actual distance from each moving boundary vertex to the bottom surface edge of the intercondylar fossa prosthesis bottom surface is consistent with the osteotomy radius; a tool end movement planning submodule configured to perform full coverage path planning within a circle center movement area matching the four movement boundary vertices based on the vertex coordinates of each of the four movement boundary vertices, to obtain a target tool end movement trajectory of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis in the osteotomy entry point coordinate system; The tool end trajectory translation submodule is configured to perform trajectory translation of the target tool end movement trajectory along the direction of the structural depth toward the coordinate system origin of the osteotomy entry point coordinate system according to a preset trajectory planning layer number, to obtain the at least one layer of tool end movement trajectory including the target tool end movement trajectory, wherein the total number of trajectory translations is obtained by subtracting one from the preset trajectory planning layer number.

4. The device according to claim 3, characterized in that The tool end movement planning submodule includes: a boundary vertex grouping unit configured to group the four moving boundary vertices to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar notch prosthesis, wherein a line connecting two moving boundary vertices included in each of the two vertex combinations is parallel to the length direction or the width direction; a path point interpolation planning unit configured to, for each vertex combination, perform path point interpolation planning between the two moving boundary vertices included in the vertex combination based on the vertex coordinates of the two moving boundary vertices, using the osteotomy diameter of the rotary osteotomy tool as an interpolation interval, to obtain the path point coordinates of all interpolated path points between the two moving boundary vertices, wherein the osteotomy diameter is twice the osteotomy radius; a trajectory endpoint selection unit configured to randomly select a moving boundary vertex from the two moving boundary vertices included in any vertex combination as a tool end movement starting point, and determine a corresponding tool end movement endpoint from the two moving boundary vertices included in the remaining vertex combinations based on the total number of interpolation path points corresponding to the single vertex combination; The end trajectory planning unit is configured to perform bow-shaped path planning based on the actual coordinates corresponding to the tool end movement starting point, the tool end movement end and all interpolation path points in the osteotomy feed point coordinate system to obtain the target tool end movement trajectory.

5. The device according to any one of claims 1 to 4, characterized in that The prosthesis posture acquisition module includes: an assembly posture acquisition submodule, configured to acquire a relative assembly posture relationship between a marked reference portion on the intercondylar fossa model of the intercondylar fossa of the physical intercondylar fossa to be osteotomized and a marked prosthetic portion of the knee joint prosthesis to be assembled in the reference coordinate system, wherein the marked prosthetic portion corresponds to the marked prosthetic coordinate system; a bone point cloud registration submodule configured to perform point cloud registration on the bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer; a relative pose registration submodule, configured to perform relative pose registration on the skeletal tracer and the surgical robot to obtain an actual pose matrix of the skeletal tracer relative to the base coordinate system; The expected posture output submodule is configured to perform a coordinate system transformation on the relative assembly posture relationship according to the target registration matrix and the actual posture matrix to obtain the expected assembly posture information.

6. The device according to claim 5, characterized in that The relative pose registration submodule performs relative pose registration on the skeletal tracer and the surgical robot to obtain an actual pose matrix of the skeletal tracer relative to the base coordinate system, including: Performing posture calibration on the rotary osteotomy tool and the surgical robot to obtain a first posture calibration matrix of the tool coordinate system of the rotary osteotomy tool relative to the base coordinate system; Performing posture registration on the bone tracer and the tool tracer to obtain a first posture registration matrix of the bone tracer relative to the tool tracer; Performing posture registration on the tool tracer and the rotary osteotomy tool to obtain a second posture registration matrix of the tool tracer relative to the tool coordinate system of the rotary osteotomy tool; Perform a matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix, and the first pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

7. The device according to claim 5, characterized in that The relative pose registration submodule performs relative pose registration on the skeletal tracer and the surgical robot to obtain an actual pose matrix of the skeletal tracer relative to the base coordinate system, 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 skeletal tracer and the base tracer to obtain a fourth posture registration matrix of the skeletal tracer relative to the base tracer; A matrix multiplication operation is performed on the third pose registration matrix and the fourth pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

8. An automatic intercondylar notch osteotomy device, characterized in that: Applied to a surgical robot, wherein a rotary osteotomy tool is installed at the end of the surgical robot, the device comprises: an osteotomy trajectory acquisition module configured to acquire at least one layer of desired osteotomy trajectory of the rotary osteotomy tool for the intercondylar notch to be osteotomized in the base coordinate system of the surgical robot, wherein the at least one layer of desired osteotomy trajectory matches the intercondylar notch prosthesis structure of the knee joint prosthesis to be assembled; an osteotomy sequence determination module configured to determine an osteotomy execution order of each of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity based on a relative depth relationship of the at least one desired osteotomy trajectory at the intercondylar fossa of the to-be-osteotomy entity; The rotary osteotomy control module is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy trajectory according to the order of executing the osteotomy operations of each layer of the expected osteotomy trajectory, so as to cut out a bone surface structure in the intercondylar fossa of the entity to be osteotomized that matches the size of the intercondylar fossa prosthesis structure.

9. The device according to claim 8, characterized in that The at least one layer of desired osteotomy trajectory is planned by the intercondylar notch osteotomy planning device according to any one of claims 1-7.

10. A computer device, characterized in that: The device comprises 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 drive the intercondylar notch osteotomy planning device according to any one of claims 1 to 7 to operate.

11. A surgical robot, characterized in that: A rotary 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 intercondylar fossa automatic 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 intercondylar fossa osteotomy planning device described in any one of claims 1-7, or drives the surgical robot to load and run the intercondylar fossa automatic osteotomy device described in any one of claims 8-9, wherein the robot end of the surgical robot is equipped with a rotary osteotomy tool.

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