Tibia osteotomy planning apparatus for keel groove structure and automatic tibia osteotomy device

Abstract

The present disclosure relates to the field of robot control technology, and in particular, to a tibia osteotomy planning apparatus for a keel groove structure and an automatic tibia osteotomy apparatus. According to the structure / size information of the keel groove structure and the osteotomy radius of a rotary osteotomy tool, the present disclosure performs osteotomy tool end effector trajectory planning in the osteotomy reference coordinate system of the keel groove structure to give a tool end effector movement trajectory matching the keel groove structure, and after acquiring the expected assembly pose information of the tibia assembly surface where the keel groove structure is located relative to the tibial plateau surface of the tibia entity of interest in the robot base coordinate system, trajectory transformation processing on the tool end effector movement trajectory is performed according to the expected assembly pose information to give an expected osteotomy trajectory of the rotary osteotomy tool on the tibia entity of interest in the robot base coordinate system, so as to achieve the automatic osteotomy function for the keel groove with high precision, improve the matching degree between the assembly space and the keel groove structure, and ensure the expected effects of the TKA surgery.

Description

Tibial osteotomy planning device and tibial osteotomy automatic device for keel groove structure

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure claims priority to Chinese patent application number 2024101344024 filed with the Chinese Patent Office on January 31, 2024, entitled “Tibial osteotomy planning device and tibial automatic osteotomy device for keel groove structure,” the entire contents of which are incorporated by reference into the present disclosure. Technical Field

[0003] The present disclosure relates to the field of robot control technology, and in particular to a tibial osteotomy planning device and an automatic tibial osteotomy device for a keel groove structure. Background Art

[0004] The knee joint is one of the largest and most important joints in the human body. Knee joint lesions will seriously affect the patient's mobility and reduce their quality of life. For knee joints with serious lesions (for example, severe knee osteoarthritis, advanced lesions of rheumatoid knee arthritis, severe knee joint dysfunction after joint trauma, osteochondral necrosis of the knee involving the articular surface, bone tumors, etc.), TKA (Total Knee Arthroplasty) surgery can usually be performed to replace the original knee joint with a knee prosthesis to reconstruct knee joint function and improve the patient's quality of life. Among them, TKA surgery usually requires the removal of a small amount of bone from the femur and tibia at the knee joint to be operated on, in order to cut out a tibial plateau surface on the tibia and five intersecting plateau surfaces on the femur, so as to cut the knee joint to be operated into a shape that is compatible with the knee prosthesis to be assembled, so as to facilitate the installation of the prosthesis.

[0005] 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.

[0006] During this process, the tibial prosthesis structure in the knee joint prosthesis to be assembled is usually composed of a tibial support structure and a keel groove structure installed on the tibial assembly surface of the tibial support structure. Therefore, after the tibial plateau surface corresponding to the tibial assembly surface is cut out on the solid tibia involved in the knee joint to be operated on, it is also necessary to dig out an assembly space that is compatible with the keel groove structure on the tibial plateau surface, so that the attending physician can embed the keel groove structure into the assembly space by hammering, so as to make the tibial assembly surface of the tibial support structure fit with the tibial plateau surface and complete the installation operation of the tibial prosthesis structure. However, it is worth noting that the current osteotomy implementation scheme for the keel groove structure requires the attending physician to fix a guide plate on the tibial plateau surface, and the attending physician uses osteotomy tools such as reciprocating saws or chisels to manually remove bone along the edge of the space defined by the guide plate to form the corresponding assembly space. This tibial bone removal scheme usually makes it impossible for the osteotomy tool to align the guide edge with high precision due to the thickness of the mechanical structure of the guide. At the same time, the manual osteotomy process is prone to hand shaking, doctor fatigue, etc., and / or the guide is easily installed crookedly or loosely, resulting in poor overall tibial osteotomy accuracy. The corresponding assembly space is not highly consistent with the keel groove structure, making it impossible for the tibial prosthesis structure to be properly installed on the solid tibia being cut, so that the TKA surgery does not achieve the expected results or even fails.

[0007] Summary of the Invention

[0008] In view of this, the purpose of the present disclosure is to provide a tibial osteotomy planning method and device for a keel groove structure, a tibial automatic osteotomy method and device, a computer device, a surgical robot and a readable storage medium, which can plan a size-matched expected osteotomy trajectory on the tibial plateau surface of the solid tibia to be cut according to the structural size information of the keel groove structure, and realize the automatic tibial osteotomy function of the surgical robot for the keel groove structure through the planned expected osteotomy trajectory, so as to improve the tibial osteotomy precision, tibial osteotomy accuracy and tibial osteotomy stability for the keel groove structure, improve the fit between the cut assembly space and the keel groove structure, 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 robot automatic osteotomy solution for the keel groove structure provided by the present disclosure has significant effectiveness.

[0009] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present disclosure are as follows:

[0010] In a first aspect, the present disclosure provides a tibial osteotomy planning device for a keel slot structure, wherein the keel slot structure is mounted on a tibial assembly surface of a tibial prosthesis structure to be assembled, the device comprising:

[0011] a movement trajectory planning module configured to plan the trajectory of the end of the osteotomy tool in the osteotomy reference coordinate system of the keel groove structure according to the structural dimension information of the keel groove structure and the osteotomy radius of the rotary osteotomy tool, so as to obtain a movement trajectory of the end of the tool that matches the keel groove structure;

[0012] an assembly information acquisition module configured to acquire desired assembly posture information of the tibial assembly surface relative to the tibial plateau surface of the real tibia to be cut in the robot base coordinate system;

[0013] The osteotomy trajectory planning module is configured to perform trajectory transformation processing on the tool end movement trajectory according to the desired assembly posture information to obtain the desired osteotomy trajectory of the rotary osteotomy tool acting on the solid tibia to be cut in the robot base coordinate system.

[0014] In a second aspect, the present disclosure provides an automatic tibial osteotomy device for a keel trough structure, which is applied to a surgical robot, wherein a rotary osteotomy tool is installed at the end of the surgical robot, and the keel trough structure is installed on the tibial assembly surface of a tibial prosthesis structure to be assembled. The device comprises:

[0015] an osteotomy trajectory acquisition module configured to acquire a desired osteotomy trajectory of the rotary osteotomy tool for a solid tibia to be cut having a tibial plateau surface in a robot base coordinate system, wherein the desired osteotomy trajectory matches the keel groove structure;

[0016] The rotary osteotomy control module is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the tibial plateau surface according to the corresponding expected osteotomy trajectory, so as to cut out a bone surface structure on the solid tibia to be cut that matches the size of the keel groove structure.

[0017] In a third aspect, the present disclosure provides a computer device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the tibial osteotomy planning method for the keel groove structure described in any one of the aforementioned embodiments, or drive the tibial osteotomy planning device for the keel groove structure in the aforementioned embodiments to operate.

[0018] In a fourth aspect, the present disclosure 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 executable by the processor, and the processor can execute the computer program to implement the automatic tibial osteotomy method described in any one of the aforementioned embodiments for the keel groove structure, or drive the automatic tibial osteotomy device for the keel groove structure in the aforementioned embodiment to operate.

[0019] In a fifth aspect, the present disclosure provides a readable storage medium having a computer program stored thereon. When the computer program is executed, the tibial osteotomy planning method described in any one of the aforementioned embodiments is implemented for the keel groove structure, or a computer device is driven to load and run the tibial osteotomy planning device for the keel groove structure in the aforementioned embodiment, or a surgical robot is driven to implement the automatic tibial osteotomy method described in any one of the aforementioned embodiments for the keel groove structure, or a surgical robot is driven to load and run the automatic tibial osteotomy device for the keel groove structure in the aforementioned embodiment, wherein a rotary osteotomy tool is installed at the robot end of the surgical robot.

[0020] In this case, the beneficial effects of the embodiments of the present disclosure may include the following:

[0021] 1. The present invention can plan a desired osteotomy trajectory with suitable dimensions on the tibial plateau surface of the real tibia to be resected based on the structural dimension information of the keel trough structure. The planned desired osteotomy trajectory enables the automatic osteotomy function of the surgical robot for the keel trough structure, thereby improving the tibial osteotomy precision, accuracy, and stability of the keel trough structure, ensuring that the cut-out assembly space has a good assembly fit with the keel trough structure, and thus ensuring that the robotic automatic osteotomy solution for the keel trough structure provided by the present invention has significant effectiveness.

[0022] 2. The present disclosure can significantly simplify the surgical process involving the keel trough structure during TKA surgery by coordinating the tibial osteotomy trajectory planning operation with the robotic automatic osteotomy operation, eliminating the need for the attending physician to use a guide plate and osteotomy tools to perform manual tibial osteotomy. This avoids the cumbersome preoperative guide plate installation process and intraoperative osteotomy tool replacement process, improves TKA surgical efficiency, and avoids the 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.

[0023] 3. The tibial osteotomy trajectory planning scheme and the tibial automatic osteotomy scheme provided by the present invention for the keel groove structure both have strong versatility and can be applied to a variety of tibial prostheses with keel groove structures and different styles. They can also drive a surgical robot equipped with a rotary osteotomy tool to perform automatic osteotomy operations on the keel groove structure, so as to cut out a bone surface structure (i.e., assembly space) on the corresponding physical tibia that matches the size of the keel groove structure, thereby facilitating the normal installation of the tibial prosthesis, improving the success rate of TKA surgery, and ensuring that the TKA surgery achieves the expected results.

[0024] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0026] FIG1 is a schematic diagram of the composition of a computer device provided in an embodiment of the present disclosure;

[0027] FIG2 is a schematic structural diagram of a tibial prosthesis structure to be assembled provided by an embodiment of the present disclosure;

[0028] FIG3 is a flow chart of a tibial osteotomy planning method for a keel groove structure according to an embodiment of the present disclosure;

[0029] FIG4 is a coronal view of a tibial prosthesis structure to be assembled provided by an embodiment of the present disclosure;

[0030] FIG5 is a flow chart of the sub-steps included in step S210 in FIG2 ;

[0031] FIG6 is a schematic diagram showing the distribution of desired movement positions of the rotary osteotomy tool provided in an embodiment of the present disclosure within the tibial assembly surface;

[0032] FIG7 is a schematic diagram showing the distribution of the tool end retraction posture, tool end feed posture, and corresponding expected movement positions of the right wing structure of the keel groove structure provided by an embodiment of the present disclosure;

[0033] FIG8 is a schematic diagram showing the distribution of the tool end retraction posture, tool end feed posture, and corresponding expected movement positions of the left wing structure of the keel groove structure provided by an embodiment of the present disclosure;

[0034] FIG9 is a schematic diagram showing the distribution of the tool end retraction posture, tool end feed posture and corresponding expected movement positions of the support column of the keel groove structure provided by an embodiment of the present disclosure;

[0035] FIG10 is a flow chart of the sub-steps included in step S220 in FIG2 ;

[0036] FIG11 is a flow chart of the sub-steps included in step S230 in FIG2 ;

[0037] FIG12 is a schematic diagram of the components of a surgical robot provided by an embodiment of the present disclosure;

[0038] FIG13 is a schematic flow chart of an automatic tibial osteotomy method for a keel groove structure according to an embodiment of the present disclosure;

[0039] FIG14 is a schematic diagram of the components of a tibial osteotomy planning device for a keel groove structure provided by an embodiment of the present disclosure;

[0040] FIG15 is a schematic diagram showing the composition of the automatic tibial osteotomy device provided for the keel groove structure according to an embodiment of the present disclosure.

[0041] Icons: 10-computer device; 11-first memory; 12-first processor; 13-first communication unit; 100-tibial osteotomy planning device; 110-movement trajectory planning module; 120-assembly information acquisition module; 130-osteotomy trajectory planning module; 20-surgical robot; 21-second memory; 22-second processor; 23-second communication unit; 300-tibial automatic osteotomy device; 310-osteotomy trajectory acquisition module; 320-rotational osteotomy control module. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of them. Generally, the components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure as claimed, but merely represents selected embodiments of the present disclosure. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort shall fall within the scope of protection of the present disclosure.

[0044] 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.

[0045] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating 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 the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0046] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on the specific circumstances.

[0047] In addition, in the description of the present disclosure, it is understood that relational terms such as the terms "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0048] The following describes some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0049] Please refer to FIG1 , which is a schematic diagram of the composition of the computer device 10 provided in the embodiment of the present disclosure. In the embodiment of the present disclosure, the computer device 10 can be connected to a surgical robot equipped with osteotomy tools (including oscillating saws, milling cutters, grinding drills, etc.), and according to the prosthesis size information of the knee joint prosthesis to be assembled and the tool size information of the osteotomy tools, an osteotomy trajectory adapted to the various prosthesis components (for example, tibial prosthesis structure and femoral prosthesis structure) included in the knee joint to be assembled is planned for the knee joint to be operated, so as to drive the surgical robot to realize the automatic osteotomy function on the knee joint to be operated, thereby improving the knee joint osteotomy accuracy and the knee joint osteotomy efficiency. Bone accuracy and knee osteotomy stability can be improved to avoid osteotomy errors caused by manual osteotomy operations, ensure that the knee prosthesis to be assembled can be normally installed on the solid knee joint after osteotomy, and effectively ensure that the TKA surgery achieves the expected results. At the same time, the robot's automatic osteotomy operation greatly simplifies the TKA surgical process, avoiding the tedious preoperative guide installation process and intraoperative osteotomy tool replacement process, so as to improve the efficiency of TKA surgery and avoid the patient pain caused by guide installation and / or manual osteotomy during TKA surgery, thereby greatly reducing the pain caused to patients by TKA surgery. Among them, the computer device 10 can be an electronic device independent of the surgical robot, and the computer device 10 can be, but not limited to, a personal computer, a server, etc.; the computer device 10 can also be a physical hardware device integrated with the surgical robot; the surgical robot can be, but not limited to, a position-controlled robotic arm, a force-controlled robotic arm, a force-position mixed-control robotic arm, etc.; the knee joint prosthesis to be assembled includes at least a tibial prosthesis structure to be assembled, wherein the tibial prosthesis structure to be assembled is composed of a tibial support structure and a keel groove structure, and the keel groove structure is installed on the tibial assembly surface of the tibial support structure.

[0050] In the disclosed embodiment, the computer device 10 may include a first memory 11, a first processor 12, a first communication unit 13, and a tibial osteotomy planning apparatus 100 for a keel groove structure. 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.

[0051] 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.

[0052] In this embodiment, the first processor 12 can be an integrated circuit chip with signal processing capabilities. The first processor 12 can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present disclosure.

[0053] 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.

[0054] In this embodiment, the tibial osteotomy planning device 100 for the keel slot structure 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 tibial osteotomy planning device 100. The computer device 10 can plan an expected osteotomy trajectory that is compatible with the keel groove structure of the tibial prosthesis structure to be assembled on the tibial plateau surface of the solid tibia to be cut through the tibial osteotomy planning device 100, so as to realize the automatic tibial osteotomy function of the surgical robot through the planned expected osteotomy trajectory, improve the tibial osteotomy precision, tibial osteotomy accuracy and tibial osteotomy stability for the keel groove structure, avoid osteotomy errors caused by manual osteotomy operations, improve the degree of fit between the assembly space cut out on the corresponding solid tibia and the keel groove structure, and simultaneously simplify the TKA surgical process, improve the efficiency of TKA surgery, so as to facilitate the normal installation of the tibial prosthesis structure including the keel groove structure on the tibial plateau surface of the solid tibia, improve the success rate of TKA surgery, ensure that the TKA surgery achieves the expected effect, and ensure that the robot automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness.

[0055] 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.

[0056] As for the above-mentioned tibial prosthesis structure to be assembled, it can be described in combination with the overall view shown in Figure 2(a), the main view shown in Figure 2(b) and the bottom view shown in Figure 2(c). In the embodiment of the present disclosure, the prosthesis structure to be assembled may include a tibial support structure and a keel groove structure, the keel groove structure is installed on the tibial assembly surface of the tibial support structure, wherein the keel groove structure may include a support column and two wing structures fixedly connected to the support column, the support column and the two wing structures are fixedly connected to the tibial assembly surface at the same time, the wing root portion of each wing structure is fixedly connected to the column side of the support column, the wing tip portion of each wing structure is away from the support column relative to the wing root portion, and the wing extension directions of the two wing structures may be non-parallel to each other (that is, there is a non-zero angle between the wing extension directions of the two wing structures), so as to improve the installation firmness of the keel groove structure when it is embedded in the assembly space cut out of the solid tibia. It is understandable that the tibial prosthesis structure to be assembled may be a tibial prosthesis structure included in a posterior stabilized (PS) knee prosthesis, or a tibial prosthesis structure included in a posterior cruciate ligament retaining (CR) knee prosthesis.

[0057] It is understandable that the figure shown in FIG2 is only a structural schematic diagram of the tibial prosthesis structure to be assembled, and the tibial prosthesis structure to be assembled may also include more or fewer components than shown in FIG2 , or have a configuration different from that shown in FIG2 .

[0058] In the present disclosure, in order to ensure that the computer device 10 can plan a desired osteotomy trajectory with a suitable size on the tibial plateau surface of the solid tibia to be cut according to the prosthesis size information of the keel groove structure included in the tibial prosthesis structure to be assembled, so as to realize the automatic osteotomy function of the surgical robot for the keel groove structure through the planned desired osteotomy trajectory, improve the tibial osteotomy precision, tibial osteotomy accuracy and tibial osteotomy stability for the keel groove structure, avoid the tibial osteotomy error caused by manual osteotomy operation, improve the fit between the assembly space cut out on the solid tibia and the keel groove structure, and simultaneously simplify the TKA surgical process, improve the TKA surgical efficiency, so as to facilitate the normal installation of the tibial prosthesis structure including the keel groove structure on the tibial plateau surface of the solid tibia, and improve the success rate of the TKA surgery, the embodiment of the present disclosure provides a tibial osteotomy planning method for the keel groove structure to achieve the above-mentioned purpose. The tibial osteotomy planning method provided by the present disclosure for the keel groove structure is described in detail below.

[0059] Please refer to Figure 3, which is a flow chart of a tibial osteotomy planning method for a keel groove structure according to an embodiment of the present disclosure. In the embodiment of the present disclosure, the tibial osteotomy planning method may include steps S210 to S230.

[0060] Step S210 , based on the structural dimension information of the keel slot structure and the osteotomy radius of the rotary osteotomy tool, the osteotomy tool end trajectory is planned in the osteotomy reference coordinate system of the keel slot structure to obtain a tool end movement trajectory that matches the keel slot structure.

[0061] In this embodiment, the structural dimension information may include the wing surface angle between the wing extension directions of the two wing structures of the keel trough structure, the depth distance from the bottom surface of the column of the support column of the keel trough structure to the tibial assembly surface, the depth distance from the different wing edge parts of each wing structure of the keel trough structure to the tibial assembly surface, the length information and width information of the bottom surface of the column of the support column of the keel trough structure, the thickness information of the different wing parts of each wing structure of the keel trough structure, etc.; the rotary osteotomy tool is installed on the robot end of the surgical robot, and the rotary osteotomy tool is an osteotomy tool that removes bone structure through rotation. The osteotomy mode involved in the rotary osteotomy tool may include milling mode and grinding mode, etc. The osteotomy radius is the operating radius of the tool end of the rotary osteotomy tool when removing the bone structure. In one embodiment of this embodiment, the rotary osteotomy tool can be a milling cutter corresponding to the milling mode, or a grinding drill corresponding to the grinding mode.

[0062] At the same time, the computer device 10 can construct a three-dimensional prosthesis model of the tibial prosthesis structure to be assembled in a reference coordinate system corresponding to the CT (Computed Tomography) image, and construct an assembly surface marking coordinate system of the marked prosthesis part of the tibial prosthesis structure to be assembled on the three-dimensional prosthesis model in the reference coordinate system, and then obtain an osteotomy reference coordinate system configured to circle the osteotomy reference range of the keel groove structure in the reference coordinate system by performing a coordinate system translation operation and / or a coordinate system rotation operation on the assembly surface marking coordinate system, wherein the marked prosthesis part is located on the tibial assembly surface, and the osteotomy reference coordinate system has a target coordinate plane parallel to the tibial assembly surface, the target coordinate axis of the osteotomy reference coordinate system is perpendicular to the target coordinate plane, and the positive direction of the target coordinate axis points to the keel groove structure, so that the feed direction of the rotary osteotomy tool is represented by the positive direction of the target coordinate axis.

[0063] Among them, it can be understood that the marked prosthesis part can be a physical part on the tibial assembly surface, or it can be a virtual part set for the tibial assembly surface; the marked prosthesis part corresponds to a reference part (i.e., a marked reference part) on the physical tibia of the knee joint to be operated on, and the assembly posture of the tibial prosthesis structure to be assembled relative to the physical tibia of the knee joint to be operated on can be described by describing the posture of the marked prosthesis part relative to the marked reference part in the same coordinate system.

[0064] In one implementation of this embodiment, taking the prosthesis coronal view of the tibial prosthesis structure shown in Figure 4 as an example, point o'0 in Figure 4 is configured to represent the above-mentioned marked prosthesis part. At this time, the coordinate system o'0-x'0-y'0-z'0 is the assembly surface marking coordinate system of the above-mentioned marked prosthesis part in the reference coordinate system, and the plane x'0o'0y'0 is the plane where the tibial assembly surface is located. At this time, the coordinate system can be rotated by 90° through the coordinate system rotation operation to obtain the osteotomy reference coordinate system o1-x1-y1-z1 of the keel groove structure. Point o'0 coincides with point o1, and the plane y1o1z1 is the target coordinate plane parallel to the tibial assembly surface. The coordinate axis x1 is configured to represent the target coordinate axis. At this time, the coordinate system transformation relationship between the osteotomy reference coordinate system and the assembly surface marking coordinate system can be expressed by the following formula: T_o1=T_o'0Rot([0,π / 2,0]);

[0065] Wherein, T_o1 is configured to represent the osteotomy reference coordinate system, T_o'0 is configured to represent the assembly surface mark coordinate system, and Rot(*) is configured to represent a rotation operator, wherein the rotation operator is generally represented by the following formula:

[0066] Therefore, after the computer device 10 determines the structural dimension information of the keel trough structure and the osteotomy radius of the rotary osteotomy tool, it will plan the tool end trajectory for the rotary osteotomy tool in the osteotomy reference coordinate system of the keel trough structure, so that the rotary osteotomy tool can remove the bone structure that is adapted to the size of the keel trough structure through the planned tool end movement trajectory in the osteotomy reference coordinate system.

[0067] Alternatively, please refer to FIG. 5 , which is a flowchart illustrating the sub-steps included in step S210 in FIG. In the disclosed embodiment, the target coordinate plane of the osteotomy reference coordinate system is parallel to the tibial assembly surface; step S210 may include sub-steps S211 to S215 to plan a tool tip movement trajectory for the rotary osteotomy tool within the osteotomy reference coordinate system to remove bone structure that matches the dimensions of the keel slot structure.

[0068] Sub-step S211 : determining the prosthesis projection area of ​​the keel groove structure on the tibial assembly surface according to the structural dimension information.

[0069] In this embodiment, taking Figure 6 as an example, the prosthesis projection area of ​​the keel groove structure on the tibial assembly surface can be represented by the inverted Y-shaped area in the plane y1o1z1 in Figure 6, and the prosthesis projection area can be composed of the projection areas of the support column and the two wing structures on the tibial assembly surface. At this time, the "left wing structure" in Figure 6 is the wing structure located on the left side of the support column determined according to the main view shown in Figure 2 (b), and the "right wing structure" in Figure 6 is the wing structure located on the right side of the support column determined according to the main view shown in Figure 2 (b).

[0070] Sub-step S212, determining a plurality of desired movement positions of the center portion of the tool end of the rotary osteotomy tool within the prosthesis projection area according to the osteotomy radius.

[0071] In this embodiment, the desired moving position is configured to represent the desired position of the center portion of the tool end in a plane parallel to the tibial assembly surface during the osteotomy process. The sub-step S212 may include sub-steps A and B:

[0072] Sub-step A, taking the center position of the prosthesis projection area as the reference position, and the osteotomy diameter of the rotary osteotomy tool as the interpolation interval, performing interpolation point planning within the prosthesis projection area to obtain multiple target interpolation point positions, wherein the osteotomy diameter is twice the osteotomy radius.

[0073] The distance between two adjacent target interpolation points in the prosthesis projection area is the osteotomy diameter, and the straight-line distance from each target interpolation point adjacent to the center of the area to the center of the area is the osteotomy diameter.

[0074] In one implementation of this embodiment, to simplify the interpolation point planning operation, interpolation points may be directly selected in a direction pointing from the center position of the region to the center positions of the farthest projection edges of the support column and the two wing structures. Taking Figure 6 as an example, if the center position of the prosthesis projection area is represented by the coordinate system origin o1, the center position of the farthest projection edge corresponding to the support column is represented by D, the center position of the farthest projection edge corresponding to the left wing structure is represented by a, and the center position of the farthest projection edge corresponding to the right wing structure is represented by b, the angle aO1b is the wing surface angle θ between the left wing structure and the right wing structure, and the coordinate axis z1 can divide the angle aO1b into two parts. The total number of target interpolation point positions determined in the three directions O1a, O1D and O1b can be obtained by "calculating the ratio between the distance from the center position of the area to the center position of the farthest projection edge in the corresponding direction and the osteotomy diameter, and rounding the calculated ratio down". For example, if the distance O1a=O1b=22mm, O1D=4mm, and the operating radius r is 1.5mm, then the total number of target interpolation point positions M in the direction O1a or O1b is 7, and the total number of target interpolation point positions N in the direction O1D is 1.

[0075] In sub-step B, the center position of the region and the positions of the multiple target interpolation points are respectively used as an expected moving position.

[0076] Taking FIG6 as an example, a black dot in the plane y1o1z1 in FIG6 may be used to represent a desired moving position.

[0077] Therefore, the present disclosure can effectively determine a plurality of desired movement positions that the center portion of the tool end of the rotary osteotomy tool needs to reach during the osteotomy process by executing the above sub-steps A to B.

[0078] Sub-step S213, determining the edge depths corresponding to all the expected moving positions on the keel groove structure according to the structural dimension information.

[0079] In one implementation of this embodiment, after determining all the expected moving positions corresponding to the center part of the tool end of the rotary osteotomy tool, for each expected moving position, the depth distance of the edge part of the keel groove structure where the corresponding projection position overlaps with the expected moving position can be read from the depth distances from the different wing edge parts of the keel groove structure and the bottom surface of the column of the support column included in the structural dimension information to the tibial assembly surface, and the read depth distance is used as the edge part depth corresponding to the expected moving position, so as to characterize the bone removal depth required for the corresponding edge part of the keel groove structure during the tibial osteotomy process through the edge part depth.

[0080] In another implementation of this embodiment, the keel trough structure includes a support column and two side wing structures fixedly connected to the support column. The sub-step S213 may include sub-steps C to F:

[0081] Sub-step C: extracting the maximum structural depth of the keel groove structure from the structural dimension information.

[0082] The maximum structural depth is the maximum distance value among all depth distances included in the structural size information.

[0083] Sub-step D, fitting the structural depth change of the wing structure according to the maximum structural depth to obtain a corresponding structural depth change curve, wherein the wing root structural depth of the wing structure is greater than the wing tip structural depth of the wing structure, and the wing root structural depth of the wing structure is consistent with the maximum structural depth.

[0084] Among them, the corresponding projection position of the wing root part of a single wing structure within the prosthesis projection area can be represented by the regional center position of the prosthesis projection area, and the corresponding projection position of the wing tip part of a single wing structure within the prosthesis projection area can be represented by the center position of the farthest projection edge of the wing structure. The wing tip structural depth of the single wing structure is the depth distance of the corresponding wing tip part; the structural depth change curve is configured to represent the correlation between the wing body edge part position and the depth distance from the wing root part to the wing tip part of the single wing structure.

[0085] Taking Figures 7 and 8 as examples, the distance O1c in Figures 7 or 8 can be configured to represent the wing root structural depth (i.e., the maximum structural depth mentioned above), and the wing tip structural depths of the right wing structure and the left wing structure are both 0. For the convenience of calculation, a linear curve fitting method can be used to construct a structural depth variation curve. In this case, the structural depth variation curve can be expressed as " Where l = distance O1a or O1b, and t is configured to represent the distance between the projection position of the corresponding wing edge portion within the prosthesis projection area and the center position of the area.

[0086] In sub-step E, for each expected moving position within the projection range of a single wing structure, the structural depth is solved based on the structural depth change curve according to the relative positional relationship between the expected moving position and the wing root position within the projection range of the corresponding wing structure, so as to obtain the edge depth of the expected moving position.

[0087] For each wing structure, the edge depth of the i-th (i=1,…,M) expected moving position (as shown by the black dot in FIG. 7 or 8 ) corresponding to the wing structure and close to the center of the area can be calculated using “f(2r*i)”.

[0088] Sub-step F: for each expected movement position within the projection range of the support post on the tibial assembly surface, taking the maximum structural depth as the edge depth of the expected movement position.

[0089] Taking Figure 9 as an example, each expected movement position within the projection range of the support column on the tibial assembly surface (as shown by the black dots in Figure 7 or 8) can use the same depth distance as the edge part depth, that is, the edge part depth of each expected movement position within the projection range corresponding to the support column is the distance O1c.

[0090] Therefore, the present disclosure can effectively determine the depth of the edge portion corresponding to each desired movement position on the keel groove structure by executing the above sub-steps C to F.

[0091] Sub-step S214, for each expected moving position, determines the tool end feed position and tool end retraction position of the rotary osteotomy tool corresponding to the expected moving position in the osteotomy reference coordinate system, wherein the distance between the tool end feed position and the target coordinate plane is greater than or equal to the preset retraction distance, and the distance between the tool end retraction position and the target coordinate plane is equal to the edge depth corresponding to the expected moving position.

[0092] The target coordinate axis of the osteotomy reference coordinate system is perpendicular to the target coordinate plane, and the positive direction of the target coordinate axis points to the keel groove structure; the sub-step S214 may include sub-steps H to K:

[0093] Sub-step H: for each expected movement position, determine the target coordinate position of the expected movement position in the target coordinate plane based on the relative projection position relationship between the coordinate system origin of the osteotomy reference coordinate system and the expected movement position on the tibial assembly surface.

[0094] Sub-step I: determining the first coordinate position of the expected moving position on the target coordinate axis of the osteotomy reference coordinate system based on the preset tool retraction distance, wherein the first coordinate position is located on the side of the target coordinate plane away from the keel groove structure, and the distance between the first coordinate position and the target coordinate plane is greater than or equal to the preset tool retraction distance.

[0095] Sub-step J: determining a second coordinate position of the desired moving position on the target coordinate axis based on the edge portion depth corresponding to the desired moving position, wherein the second coordinate position is located on a side of the target coordinate plane close to the keel groove structure, and a distance between the second coordinate position and the target coordinate plane is equal to the edge portion depth corresponding to the desired moving position;

[0096] Sub-step K: constructing the tool end feed posture corresponding to the expected moving position based on the target coordinate position and the first coordinate position, and constructing the tool end retract posture corresponding to the expected moving position based on the target coordinate position and the second coordinate position.

[0097] Taking the right wing structure shown in Figure 7 as an example, when the regional center position of the prosthesis projection area is represented by the coordinate system origin o1, and the distance from the first coordinate position of each expected moving position of the right wing structure to the target coordinate plane x1 is the preset retraction distance dx, the tool end feed posture P0u corresponding to the regional center position (as shown by the black rectangle on the target coordinate axis x1 in Figure 7) can be expressed as T_o1*Transl([-dx,0,0]), and the tool end retraction posture P0d corresponding to the regional center position (as shown by the black diamond on the target coordinate axis x1 in Figure 7) can be expressed as T_o1*Transl([O1c,0,0]), close to the center position in the direction O1b. The tool end feed posture Priu of the i-th (i=1,…,M) desired movement position near the center of the region (as shown by the black rectangle in FIG7 that is not on the target coordinate axis x1) can be expressed as T_o1*Transl([-dx,2r*i*sin(θ / 2),2r*i*cos(θ / 2)]), and the tool end retract posture Prid of the i-th (i=1,…,M) desired movement position near the center of the region in the direction O1b (as shown by the black diamond in FIG7 that is not on the target coordinate axis x1) can be expressed as T_o1*Transl([f(2r*i),2r*i*sin(θ / 2),2r*i*cos(θ / 2)]). Wherein, Transl(*) is configured to represent a translation operator, and the translation operator is generally expressed using the following formula:

[0098] Taking the left wing structure shown in Figure 8 as an example, when the regional center position of the prosthesis projection area is represented by the coordinate system origin o1, and the distance from the first coordinate position of each expected moving position of the left wing structure to the target coordinate plane y1o1z1 is the preset retraction distance dx, the tool end feed posture P0u corresponding to the regional center position (as shown by the black rectangle on the target coordinate axis x1 in Figure 8) can be expressed as T_o1*Transl([-dx,0,0]), and the tool end retraction posture P0d corresponding to the regional center position (as shown by the black diamond on the target coordinate axis x1 in Figure 8) can be expressed as T_o1*Transl([O1c,0,0]), in the direction O1a The tool end feed posture Pliu of the i-th (i=1,…,M) desired moving position close to the center position of the area in the direction O1a (as shown by the black rectangle not on the target coordinate axis x1 in FIG8 ) can be expressed as T_o1*Transl([-dx,-2r*i*sin(θ / 2),2r*i*cos(θ / 2)]), and the tool end retract posture Pid of the i-th (i=1,…,M) desired moving position close to the center position of the area in the direction O1a (as shown by the black diamond not on the target coordinate axis x1 in FIG7 ) can be expressed as T_o1*Transl([f(2r*i),-2r*i*sin(θ / 2),2r*i*cos(θ / 2)]).

[0099] Taking the support column shown in Figure 9 as an example, when the regional center position of the prosthesis projection area is represented by the coordinate system origin o1, and the distance from the first coordinate position of each expected moving position of the support column to the target coordinate plane y1o1z1 is the preset retraction distance dx, the tool end feed posture P0u corresponding to the regional center position (as shown by the black rectangle on the target coordinate axis x1 in Figure 9) can be expressed as T_o1*Transl([-dx,0,0]), and the tool end retraction posture P0d corresponding to the regional center position (as shown by the black diamond on the target coordinate axis x1 in Figure 9) can be expressed as T_o1*Tr ansl([O1c,0,0]), the tool end feed posture Pju at the jth (j=1,…,N) desired moving position close to the center position of the area in the direction O1D (as shown by the black rectangle in FIG9 that is not on the target coordinate axis x1) can be expressed as T_o1*Transl([-dx,0,-2r*j]), and the tool end retract posture Pjd at the jth (j=1,…,N) desired moving position close to the center position of the area in the direction O1D (as shown by the black diamond in FIG9 that is not on the target coordinate axis x1) can be expressed as T_o1*Transl([O1c,0,2r*j]).

[0100] Therefore, the present disclosure can effectively determine the tool end feed posture and tool end retract posture corresponding to the keel groove structure at each expected moving position by executing the above sub-steps H to K.

[0101] In sub-step S215 , a reciprocating traversal path planning is performed according to the respective tool end feed postures and tool end retract postures of all desired moving positions to obtain a tool end movement trajectory.

[0102] The tool end movement trajectory may include the reciprocating motion paths corresponding to the support column, the right wing structure, and the left wing structure, involving all desired movement positions. Taking Figure 7 as an example, the reciprocating motion path corresponding to the right wing structure is P0u→P0d→P0u→Pr1u→Pr1d→Pr1u→Pr2u→…→Pr6d→Pr7u→Pr7d→Pr7u; taking Figure 8 as an example, the reciprocating motion path corresponding to the left wing structure is P0u→P0d→P0u→Pl1u→Pl1d→Pl1u→Pl2u→…→Pl6d→Pl7u→Pl7d→Pl7u; taking Figure 9 as an example, the reciprocating motion path corresponding to the support column is P0u→P0d→P0u→P1u→P1d→P1u.

[0103] Therefore, the present disclosure can plan a tool end movement trajectory configured to remove a bone structure that matches the size of the keel groove structure for the rotary osteotomy tool in the osteotomy reference coordinate system by executing the above sub-steps S211 to S215.

[0104] Step S220 , obtaining the desired assembly posture information of the tibial assembly surface relative to the tibial plateau surface of the real tibia to be cut in the robot base coordinate system.

[0105] In this embodiment, the expected assembly posture information is configured to represent the expected assembly posture of the tibial prosthesis structure to be assembled in the robot base coordinate system after the tibia to be cut off is successfully osteotomized. The expected assembly posture information can be configured to ensure that the tibial assembly surface of the tibial prosthesis structure to be assembled is assembled with the tibial plateau surface of the tibia to be cut off.

[0106] It is understandable that the computer device 10 can obtain the desired 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 desired assembly posture information for the tibial prosthesis structure to be assembled and the solid tibia to be cut.

[0107] Alternatively, referring to Figure 10, Figure 10 is a flow chart illustrating the sub-steps included in step S220 in Figure 2. In the disclosed embodiment, step S220 may include sub-steps S221 to S224 to accurately determine the desired assembly position of the tibial assembly surface of the tibial prosthesis structure to be assembled after osteotomy of the solid tibia to be resected.

[0108] Sub-step S221, obtaining the relative assembly posture relationship between the marked reference part of the solid tibia to be cut and the marked prosthesis part of the tibial prosthesis structure to be assembled in the reference coordinate system, wherein the marked prosthesis part is on the tibial assembly surface and the marked reference part is on the tibial plateau surface.

[0109] Among them, a corresponding bone model can be established for the physical tibia to be amputated in the reference coordinate system, and the attending physician can adjust the assembly posture of the three-dimensional prosthesis model of the tibial prosthesis structure 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 prosthesis part of the tibial prosthesis structure to be assembled relative to the marked reference part after the osteotomy of the corresponding physical tibia to be amputated is completed, and the relative assembly posture relationship is obtained. At this time, the relative assembly posture relationship can characterize the expected assembly posture of the marked prosthesis part relative to the marked reference part in the reference coordinate system, which can be represented by T_ct_o'0.

[0110] In sub-step S222 , point cloud registration is performed on the bone tracer corresponding to the solid tibia to be sectioned and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer.

[0111] In which, the bone tracer is configured to mark the actual posture of the physical tibia to be cut in the real surgical environment. At this time, the target registration matrix can be configured to represent the mapping relationship between the bone model of the physical tibia to be cut and the physical tibia to be cut in the real surgical environment, which can be represented by T_femurtracer_ct.

[0112] Sub-step S223, 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 robot base coordinate system, wherein the rotary osteotomy tool is installed at the robot end of the surgical robot.

[0113] The actual posture matrix is ​​configured to describe the actual posture of the physical tibia to be cut in the real surgical environment in the robot base coordinate system of the surgical robot, which can be represented by T_b_femurtracer.

[0114] 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 S223 may include:

[0115] 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 robot base coordinate system;

[0116] 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;

[0117] 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;

[0118] 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.

[0119] 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, and the second pose registration matrix can be represented by T_tcp_calib.

[0120] 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, and the base tracer may be used as a reference to determine the relative posture relationship between the bone tracer and the surgical robot. In this case, sub-step S223 may include:

[0121] 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 robot base coordinate system;

[0122] 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;

[0123] 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.

[0124] The third pose registration matrix may be represented by T_b_basearray, and the fourth pose registration matrix corresponding to the bone tracer may be represented by T__basearray_femurtracer.

[0125] Sub-step S224 , performing coordinate system transformation on the relative assembly pose relationship according to the target registration matrix and the actual pose matrix to obtain the expected assembly pose information.

[0126] 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.

[0127] Therefore, the present disclosure can accurately solve the expected assembly posture of the tibial assembly surface of the tibial prosthesis structure to be assembled after the osteotomy of the solid tibia to be cut off by executing the above sub-steps S221 to S224.

[0128] Step S230 , performing trajectory transformation processing on the tool end movement trajectory according to the desired assembly posture information, and obtaining the desired osteotomy trajectory of the rotary osteotomy tool acting on the solid tibia to be cut in the robot base coordinate system.

[0129] Alternatively, please refer to Figure 11, which is a flowchart illustrating the sub-steps included in step S230 in Figure 2. In the disclosed embodiment, step S230 may include sub-steps S231 to S233 to effectively ensure that the desired osteotomy trajectory is compatible with the operating radius of the rotary osteotomy tool, the tibial plateau surface, and the keel groove structure of the solid tibia to be resected.

[0130] Sub-step S231, determining the first coordinate system pose of the assembly surface marking coordinate system corresponding to the marked prosthesis part in the reference coordinate system, and determining the second coordinate system pose of the osteotomy reference coordinate system in the reference coordinate system.

[0131] Among them, the first coordinate system posture may include the three-dimensional position coordinates of the coordinate system origin of the corresponding assembly surface marking coordinate system in the reference coordinate system, and the direction vectors of the positive directions of the three coordinate axes of the corresponding assembly surface marking coordinate system in the reference coordinate system; the second coordinate system posture may include the three-dimensional position coordinates of the coordinate system origin of the corresponding osteotomy reference coordinate system in the reference coordinate system, and the direction vectors of the positive directions of the three coordinate axes of the corresponding osteotomy reference coordinate system in the reference coordinate system.

[0132] Sub-step S232, calculating the coordinate system transformation relationship between the first coordinate system posture and the second coordinate system posture.

[0133] The coordinate transformation relationship between the first coordinate system posture and the second coordinate system posture can be expressed by the following formula: T_o1=T_o'0Rot([0,π / 2,0]);

[0134] Wherein, T_o1 is configured to represent the osteotomy reference coordinate system, T_o'0 is configured to represent the assembly surface mark coordinate system, and Rot(*) is configured to represent a rotation operator.

[0135] Sub-step S233 , performing coordinate system transformation on the tool end movement trajectory according to the coordinate system transformation relationship and the desired assembly posture information to obtain the desired osteotomy trajectory.

[0136] Among them, the corresponding expected osteotomy trajectory can be obtained by performing matrix multiplication operations on the various tool end feed postures and tool end retract postures involved in the tool end movement trajectory, the expected assembly posture information and the coordinate system transformation relationship. At this time, the expected osteotomy trajectory will correspond to the osteotomy motion trajectories corresponding to the support column, the right wing structure and the left wing structure.

[0137] Therefore, the present disclosure can ensure that the desired osteotomy trajectory obtained ultimately can be adapted to the operating radius of the rotary osteotomy tool, the tibial plateau surface and the keel groove structure of the solid tibia to be cut by executing the above sub-steps S231 to S233.

[0138] After the computer device 10 plans the desired osteotomy trajectory that is adapted to the size of the keel groove structure on the tibial plateau surface of the solid tibia to be cut, the osteotomy motion trajectory corresponding to the support column, the right wing structure and the left wing structure included in the desired osteotomy trajectory 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 osteotomy according to the obtained osteotomy motion trajectory in sequence, thereby cutting an assembly space that is adapted to the size of the keel groove structure on the tibial plateau surface of the solid tibia to be cut, so as to realize the automatic tibial osteotomy function of the surgical robot for the keel groove structure, and improve the tibial osteotomy accuracy and tibial The accuracy of bone osteotomy and the stability of tibial osteotomy are improved, tibial osteotomy errors caused by manual osteotomy operations are avoided, the fit between the assembly space and the keel groove structure is improved, and at the same time, the surgical process involving the tibia during TKA surgery is greatly simplified, the efficiency of TKA surgery is improved, and patient pain caused by guide plate installation and / or manual osteotomy during TKA surgery is avoided, thereby greatly reducing the pain caused to patients by TKA surgery, so that a variety of tibial prostheses with keel groove structures and different styles can be normally installed on the solid tibia, thereby improving the success rate of TKA surgery, ensuring that TKA surgery achieves the expected effect, and ensuring that the robotic automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness.

[0139] Therefore, the present invention can plan a desired osteotomy trajectory with a suitable size on the tibial plateau surface of the solid tibia to be cut according to the prosthesis size information of the keel groove structure included in the tibial prosthesis structure to be assembled by executing the above steps S210 to S230, so as to realize the automatic osteotomy function of the surgical robot for the keel groove structure through the planned desired osteotomy trajectory, improve the tibial osteotomy precision for the keel groove structure, tibial osteotomy accuracy and tibial osteotomy stability, avoid the tibial osteotomy error caused by manual osteotomy operation, and improve the assembly space cut out on the solid tibia and the keel. The accuracy of the groove structure is improved, and the surgical process involving the tibia during TKA surgery is greatly simplified, thereby improving the efficiency of TKA surgery and avoiding 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 a variety of tibial prostheses with keel groove structures and different styles can be normally installed on the solid tibia, thereby improving the success rate of TKA surgery, ensuring that TKA surgery achieves the expected effect, and ensuring that the robotic automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness.

[0140] In addition, please refer to FIG9 , which is a schematic diagram of the composition of the surgical robot 20 provided in an embodiment of the present disclosure. In the embodiment of the present disclosure, 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 real tibia to be cut, and drive the rotary osteotomy tool to automatically perform osteotomy on the real tibia to be cut according to the obtained osteotomy trajectory, thereby improving the accuracy of tibial osteotomy, simplifying the TKA surgical process, improving the efficiency of TKA surgery, avoiding osteotomy errors caused by manual osteotomy operations, ensuring that the tibial prosthesis structure to be assembled can be normally installed on the real tibia after osteotomy, and ensuring that the TKA surgery achieves the expected effect.

[0141] Among them, the computer device 10 can use the tibial osteotomy planning method involved in Figures 3 to 11 to plan the aforementioned osteotomy trajectory for the keel groove structure, or can use other osteotomy trajectory planning means (for example, in the same model space, the three-dimensional model of the tibial prosthesis structure to be assembled is assembled to the three-dimensional model of the real tibia to be cut according to the prosthesis assembly requirements, and based on the model overlapping area corresponding to the keel groove structure 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 bone structure corresponding to the aforementioned model overlapping area on the real tibia to be cut, so as to cut out an assembly space on the corresponding real tibia that matches the size of the keel groove structure).

[0142] In the disclosed embodiment, the surgical robot 20 may include a second memory 21, a second processor 22, a second communication unit 23, and an automated tibial osteotomy device 300 for a keel trough structure. The second memory 21, the second processor 22, and the second communication unit 23 are electrically connected to each other, either 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.

[0143] 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.

[0144] In this embodiment, the second processor 22 can be an integrated circuit chip with signal processing capabilities. The second processor 22 can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present disclosure.

[0145] 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.

[0146] In this embodiment, the automatic tibial osteotomy device 300 for the keel groove structure 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 automatic tibial osteotomy device 300. The surgical robot 20 can realize the automatic osteotomy function on the tibial plateau surface of the real tibia to be cut according to the pre-planned expected osteotomy trajectory through the tibial automatic osteotomy device 300, thereby improving the tibial osteotomy accuracy, tibial osteotomy accuracy and tibial osteotomy stability, avoiding tibial osteotomy errors caused by manual osteotomy operations, and improving the fit between the assembly space cut out on the corresponding real tibia and the keel groove structure, so as to ensure that the robotic automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness, and at the same time greatly simplifies the surgical process involving the tibia 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 tibial prostheses with keel groove structures and different styles on the real tibia, thereby improving the success rate of the TKA surgery and ensuring that the TKA surgery achieves the expected effect.

[0147] It is understood that the block diagram shown in FIG12 is only a schematic diagram of one composition of the surgical robot 20. The surgical robot 20 may include more or fewer components than shown in FIG12, or have a configuration different from that shown in FIG12. Each component shown in FIG12 may be implemented using hardware, software, or a combination thereof.

[0148] In the present disclosure, to ensure that the surgical robot 20 can perform an automatic osteotomy function on the tibial plateau surface of the real tibia to be cut according to a pre-planned desired osteotomy trajectory, improve the tibial osteotomy accuracy, tibial osteotomy stability, avoid tibial osteotomy errors caused by manual osteotomy operations, and improve the fit between the assembly space cut out on the corresponding real tibia and the keel groove structure, the present disclosure provides a method for automatic tibial osteotomy for the keel groove structure to achieve the aforementioned objectives. The present disclosure provides a method for automatic tibial osteotomy for the keel groove structure to achieve the aforementioned objectives. The following is a detailed description of the method for automatic tibial osteotomy for the keel groove structure provided by the present disclosure.

[0149] Please refer to Figure 13, which is a flowchart of the automatic tibial osteotomy method provided by the present disclosure for the keel groove structure. In the present disclosure, the automatic tibial osteotomy method is applied to the surgical robot 20, and the automatic tibial osteotomy method may include steps S410 to S420.

[0150] Step S410: obtaining a desired osteotomy trajectory of the rotary osteotomy tool for the solid tibia to be cut with a tibial plateau surface in the robot base coordinate system, wherein the desired osteotomy trajectory matches the keel groove structure.

[0151] The desired osteotomy trajectory can be planned using any of the tibial automatic osteotomy methods described in Figures 3 to 11, or other osteotomy trajectory planning methods. This disclosure does not specifically limit the specific trajectory planning method used by the surgical robot 20 to obtain the desired osteotomy trajectory that matches the keel groove structure.

[0152] In one implementation of this embodiment, the desired osteotomy trajectory can be planned using any one of the tibial automatic osteotomy methods described in FIG. 3 to FIG. 11 .

[0153] Step S420: Control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the tibial plateau surface according to the desired osteotomy trajectory, so as to cut out a bone surface structure that matches the size of the keel groove structure on the solid tibia to be cut.

[0154] Therefore, the present disclosure can execute the above steps S410 to S420 to enable the surgical robot 20 to realize the automatic osteotomy function on the tibial plateau surface of the real tibia to be cut according to the pre-planned expected osteotomy trajectory, thereby improving the tibial osteotomy accuracy, tibial osteotomy accuracy and tibial osteotomy stability, avoiding tibial osteotomy errors caused by manual osteotomy operations, and improving the degree of fit between the assembly space cut out on the corresponding real tibia and the keel groove structure, so as to ensure that the robotic automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness, and at the same time greatly simplifies the surgical process involving the tibia 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 tibial prostheses with keel groove structures and different styles on the real tibia, thereby improving the success rate of the TKA surgery and ensuring that the TKA surgery achieves the expected effect.

[0155] In the present disclosure, to ensure that the computer device 10 can execute the aforementioned tibial osteotomy planning method through the tibial osteotomy planning apparatus 100, the present disclosure implements the aforementioned functions by dividing the tibial osteotomy planning apparatus 100 into functional modules. The specific components of the tibial osteotomy planning apparatus 100 provided in the present disclosure are described below.

[0156] 14 is a schematic diagram illustrating the components of a tibial osteotomy planning device 100 for a keel groove structure according to an embodiment of the present disclosure. In the embodiment of the present disclosure, the tibial osteotomy planning device 100 may include a movement trajectory planning module 110 , an assembly information acquisition module 120 , and an osteotomy trajectory planning module 130 .

[0157] The movement trajectory planning module 110 is configured to plan the end trajectory of the osteotomy tool in the osteotomy reference coordinate system of the keel groove structure according to the structural dimension information of the keel groove structure and the osteotomy radius of the rotary osteotomy tool, and obtain the tool end movement trajectory matching the keel groove structure.

[0158] The assembly information acquisition module 120 is configured to acquire the desired assembly posture information of the tibial assembly surface relative to the tibial plateau surface of the real tibia to be cut in the robot base coordinate system.

[0159] The osteotomy trajectory planning module 130 is configured to perform trajectory transformation processing on the tool end movement trajectory according to the desired assembly posture information to obtain the desired osteotomy trajectory of the rotary osteotomy tool acting on the solid tibia to be cut in the robot base coordinate system.

[0160] Optionally, in one implementation of this embodiment, the target coordinate plane of the osteotomy reference coordinate system is parallel to the tibial assembly surface, and the movement trajectory planning module may include: a prosthesis projection determination submodule, configured to determine the prosthesis projection area of ​​the keel groove structure on the tibial assembly surface according to the structural size information; an expected position determination submodule, configured to determine a plurality of expected movement positions of the center part of the tool end of the rotary osteotomy tool within the prosthesis projection area according to the osteotomy radius; a depth information determination submodule, configured to determine the depth of the edge part corresponding to each of all expected movement positions on the keel groove structure according to the structural size information. degree; an end position determination submodule is configured to determine, for each expected moving position, a tool end feed position and a tool end retract position of the rotary osteotomy tool corresponding to the expected moving position in the osteotomy reference coordinate system, wherein the distance between the tool end feed position and the target coordinate plane is greater than or equal to a preset retract distance, and the distance between the tool end retract position and the target coordinate plane is equal to the depth of the edge portion corresponding to the expected moving position; a terminal trajectory planning submodule is configured to perform reciprocating traversal path planning according to the tool end feed position and the tool end retract position of each of all expected moving positions to obtain the tool end movement trajectory.

[0161] It can be understood that the expected position determination submodule may include: an interpolation position planning unit, configured to use the regional center position of the prosthesis projection area as a reference position, and the osteotomy diameter of the rotary osteotomy tool as the interpolation interval, to perform interpolation point planning within the prosthesis projection area to obtain multiple target interpolation point positions, wherein the osteotomy diameter is twice the osteotomy radius; an expected position output unit, configured to use the regional center position and the multiple target interpolation point positions as a desired moving position respectively.

[0162] In addition, the keel groove structure may include a support column and two wing structures fixedly connected to the support column, and the depth information determination submodule may include: a maximum structural depth extraction unit, configured to extract the maximum structural depth of the keel groove structure from the structural size information; a depth change curve fitting unit, configured to perform structural depth change fitting on the wing structure according to the maximum structural depth to obtain a corresponding structural depth change curve, wherein the wing root structural depth of the wing structure is greater than the wing tip structural depth of the wing structure, and the wing root structural depth of the wing structure is consistent with the maximum structural depth; a wing structure depth solving unit, configured to, for each expected moving position within the projection range of a single wing structure, solve the structural depth based on the structural depth change curve according to the relative position relationship between the expected moving position and the wing root position within the projection range of the corresponding wing structure to obtain the edge portion depth of the expected moving position; a support column depth output unit, configured to use the maximum structural depth as the edge portion depth of the expected moving position for each expected moving position within the projection range of the support column on the tibial assembly surface.

[0163] It can also be understood that, when the target coordinate axis of the osteotomy reference coordinate system is perpendicular to the target coordinate plane, and the positive direction of the target coordinate axis points to the keel groove structure, the end posture determination submodule may include: a projection coordinate position determination unit, configured to determine, for each expected movement position, the target coordinate position of the expected movement position in the target coordinate plane according to the relative projection position relationship between the coordinate system origin of the osteotomy reference coordinate system and the expected movement position on the tibial assembly surface; a tool retraction position determination unit, configured to determine the first coordinate position of the expected movement position on the target coordinate axis of the osteotomy reference coordinate system according to the preset retraction distance, wherein the first coordinate position is located on the side of the target coordinate plane away from the keel groove structure, and the tool retraction position determination unit is configured to determine the first coordinate position of the expected movement position on the target coordinate axis of the osteotomy reference coordinate system according to the preset retraction distance, wherein the first coordinate position is located on the side of the target coordinate plane away from the keel groove structure. The distance between the first coordinate position and the target coordinate plane is greater than or equal to the preset retraction distance; the end operation depth determination unit is configured to determine the second coordinate position of the expected moving position on the target coordinate axis according to the depth of the edge part corresponding to the expected moving position, wherein the second coordinate position is located on the side of the target coordinate plane close to the keel groove structure, and the distance between the second coordinate position and the target coordinate plane is equal to the depth of the edge part corresponding to the expected moving position; the end advance and retreat posture output unit is configured to construct the tool end advance posture corresponding to the expected moving position according to the target coordinate position and the first coordinate position, and to construct the tool end retraction posture corresponding to the expected moving position according to the target coordinate position and the second coordinate position.

[0164] Optionally, in one implementation of this embodiment, the assembly information acquisition module may include: a posture relationship acquisition submodule, configured to obtain the relative assembly posture relationship between the marked reference part of the physical tibia to be amputated and the marked prosthetic part of the tibial prosthesis structure to be assembled in a reference coordinate system, wherein the marked prosthetic part is on the tibial assembly surface, and the marked reference part is on the tibial plateau surface; a bone point cloud alignment submodule, configured to perform point cloud alignment on the bone tracer corresponding to the physical tibia to be amputated 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 robot base coordinate system, wherein the rotary osteotomy tool is installed at the robot end of the surgical robot; 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.

[0165] Optionally, in one implementation of this embodiment, the osteotomy trajectory planning module may include: a coordinate system posture determination submodule, configured to determine the first coordinate system posture of the assembly surface marking coordinate system corresponding to the marked prosthesis part in the reference coordinate system, and determine the second coordinate system posture of the osteotomy reference coordinate system in the reference coordinate system; a coordinate system relationship calculation submodule, configured to calculate the coordinate system transformation relationship between the first coordinate system posture and the second coordinate system posture; a trajectory coordinate system transformation submodule, configured to perform a coordinate system transformation on the tool end movement trajectory according to the coordinate system transformation relationship and the expected assembly posture information to obtain the expected osteotomy trajectory.

[0166] It should be noted that the basic principles and technical effects of the tibial osteotomy planning device 100 provided in the embodiment of the present disclosure are the same as those of the aforementioned tibial osteotomy planning method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned tibial osteotomy planning method.

[0167] In the present disclosure, to ensure that the surgical robot 20 can perform the aforementioned automated tibial osteotomy method using the automated tibial osteotomy device 300, the present disclosure implements the aforementioned functions by dividing the automated tibial osteotomy device 300 into functional modules. The specific components of the automated tibial osteotomy device 300 provided in the present disclosure are described below.

[0168] Please refer to Figure 15, which is a schematic diagram of the components of an automatic tibial osteotomy device 300 for a keel groove structure according to an embodiment of the present disclosure. In the embodiment of the present disclosure, the automatic tibial osteotomy device 300 is applied to the surgical robot 20 described above and may include an osteotomy trajectory acquisition module 310 and a rotational osteotomy control module 320.

[0169] The osteotomy trajectory acquisition module 310 is configured to obtain the expected osteotomy trajectory of the rotary osteotomy tool for the solid tibia to be cut with a tibial plateau surface in the robot base coordinate system, wherein the expected osteotomy trajectory matches the keel groove structure, and the expected osteotomy trajectory can be planned by any of the above-mentioned tibial osteotomy planning devices 100 for the keel groove structure.

[0170] The rotary osteotomy control module 320 is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the tibial plateau surface according to the corresponding desired osteotomy trajectory, so as to cut out a bone surface structure on the solid tibia to be cut that matches the size of the keel groove structure.

[0171] It should be noted that the basic principles and technical effects of the automatic tibial osteotomy device 300 provided in the present embodiment are the same as those of the aforementioned automatic tibial osteotomy method. For the sake of brevity, any details not mentioned in this embodiment can be referred to the description of the aforementioned automatic tibial osteotomy method.

[0172] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a portion of code, and the module, program segment or a portion of 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 using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0173] In addition, the functional modules in each embodiment of the present disclosure can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions for enabling an electronic device (which can be a computer device, or a surgical robot equipped with a rotary osteotomy tool, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure, or to load and run all or part of the modules of the device described in each embodiment of the present disclosure. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0174] The above descriptions are merely examples of various embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein should be included within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims. Industrial Applicability

[0175] By adopting the above scheme, it is possible to plan an expected osteotomy trajectory with suitable size on the tibial plateau surface of the solid tibia to be cut according to the structural size information of the keel groove structure, and realize the automatic tibial osteotomy function of the surgical robot for the keel groove structure through the planned expected osteotomy trajectory, so as to improve the tibial osteotomy precision, tibial osteotomy accuracy and tibial osteotomy stability for the keel groove structure, improve the fit between the cut-out assembly space and the keel groove structure, 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 robot automatic osteotomy solution provided by the present disclosure for the keel groove structure has significant effectiveness.

Claims

1. A tibial osteotomy planning device for a keel groove structure, characterized in that: The keel groove structure is mounted on the tibial assembly surface of the tibial prosthesis structure to be assembled, and the device includes: a movement trajectory planning module configured to plan the trajectory of the end of the osteotomy tool in the osteotomy reference coordinate system of the keel groove structure according to the structural dimension information of the keel groove structure and the osteotomy radius of the rotary osteotomy tool, so as to obtain a movement trajectory of the end of the tool that matches the keel groove structure; an assembly information acquisition module configured to acquire desired assembly posture information of the tibial assembly surface relative to the tibial plateau surface of the real tibia to be cut in the robot base coordinate system; The osteotomy trajectory planning module is configured to perform trajectory transformation processing on the tool end movement trajectory according to the desired assembly posture information to obtain the desired osteotomy trajectory of the rotary osteotomy tool acting on the solid tibia to be cut in the robot base coordinate system.

2. The device according to claim 1, characterized in that The target coordinate plane of the osteotomy reference coordinate system is parallel to the tibial assembly surface; The movement trajectory planning module includes: a prosthesis projection determination submodule, configured to determine a prosthesis projection area of the keel groove structure on the tibial assembly surface according to the structural size information; an expected position determination submodule, configured to determine a plurality of expected movement positions of the center portion of the tool end of the rotary osteotomy tool within the prosthesis projection area according to the osteotomy radius; a depth information determination submodule configured to determine the depth of the edge portion corresponding to each of all the expected movement positions on the keel groove structure according to the structural dimension information; an end position determination submodule configured to determine, for each desired movement position, a tool end feed position and a tool end retraction position of the rotary osteotomy tool corresponding to the desired movement position in the osteotomy reference coordinate system, wherein a distance between the tool end feed position and the target coordinate plane is greater than or equal to a preset retraction distance, and a distance between the tool end retraction position and the target coordinate plane is equal to a depth of an edge portion corresponding to the desired movement position; The end trajectory planning submodule is configured to perform reciprocating traversal path planning according to the tool end feed posture and tool end retract posture of each of all expected moving positions to obtain the tool end movement trajectory.

3. The device according to claim 2, characterized in that The desired position determination submodule includes: an interpolation position planning unit configured to use the center position of the prosthesis projection area as a reference position and the osteotomy diameter of the rotary osteotomy tool as an interpolation interval, perform interpolation point planning within the prosthesis projection area, and obtain a plurality of target interpolation point positions, wherein the osteotomy diameter is twice the osteotomy radius; The expected position output unit is configured to take the area center position and the plurality of target interpolation point positions as an expected movement position respectively.

4. The device according to claim 2, characterized in that The keel groove structure includes a support column and two side wing structures fixedly connected to the support column, and the depth information determination submodule includes: a maximum structural depth extraction unit configured to extract the maximum structural depth of the keel groove structure from the structural dimension information; a depth variation curve fitting unit configured to perform structural depth variation fitting on the wing structure according to the maximum structural depth to obtain a corresponding structural depth variation curve, wherein the wing root structural depth of the wing structure is greater than the wing tip structural depth of the wing structure, and the wing root structural depth of the wing structure is consistent with the maximum structural depth; a wing structure depth solving unit configured to solve the structure depth for each expected movement position within the projection range of a single wing structure based on the relative positional relationship between the expected movement position and the wing root position within the projection range of the corresponding wing structure and based on the structure depth variation curve to obtain the edge depth of the expected movement position; The support column depth output unit is configured to use the maximum structural depth as the edge depth of each expected movement position within the projection range of the support column on the tibial mounting surface.

5. The device according to claim 2, characterized in that The target coordinate axis of the osteotomy reference coordinate system is perpendicular to the target coordinate plane, and the positive direction of the target coordinate axis points to the keel groove structure; The terminal posture determination submodule includes: The projection coordinate position determining unit is configured to determine, for each desired moving position, the position of the desired moving position in the target coordinate plane according to the relative projection position relationship between the coordinate system origin of the osteotomy reference coordinate system and the desired moving position on the tibial assembly surface. The target coordinate position; a tool retraction position determining unit configured to determine a first coordinate position of the expected movement position on a target coordinate axis of the osteotomy reference coordinate system according to the preset retraction distance, wherein the first coordinate position is located on a side of the target coordinate plane away from the keel groove structure, and a distance between the first coordinate position and the target coordinate plane is greater than or equal to the preset retraction distance; an end-operation depth determination unit configured to determine a second coordinate position of the desired moving position on the target coordinate axis based on the edge portion depth corresponding to the desired moving position, wherein the second coordinate position is located on a side of the target coordinate plane close to the keel groove structure, and a distance between the second coordinate position and the target coordinate plane is equal to the edge portion depth corresponding to the desired moving position; The end advance and retract posture output unit is configured to construct the tool end advance posture corresponding to the expected moving position based on the target coordinate position and the first coordinate position, and to construct the tool end retract posture corresponding to the expected moving position based on the target coordinate position and the second coordinate position.

6. The device according to any one of claims 1 to 5, characterized in that The assembly information acquisition module includes: A posture relationship acquisition submodule is configured to acquire a relative assembly posture relationship between a marked reference portion of the real tibia to be cut and a marked prosthetic portion of the tibial prosthesis structure to be assembled in a reference coordinate system, wherein the marked prosthetic portion is located on the tibial assembly surface and the marked reference portion is located on the tibial plateau surface; a skeletal point cloud registration submodule configured to perform point cloud registration on the skeletal tracer corresponding to the physical tibia to be cut and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the skeletal tracer; a relative pose registration submodule configured to perform relative pose registration on the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer relative to a robot base coordinate system, wherein the rotary osteotomy tool is mounted on a robot end of the surgical robot; 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.

7. The device according to claim 6, characterized in that The osteotomy trajectory planning module includes: a coordinate system pose determination submodule configured to determine a first coordinate system pose of the assembly surface marking coordinate system corresponding to the marked prosthesis part in the reference coordinate system, and to determine a second coordinate system pose of the osteotomy reference coordinate system in the reference coordinate system; a coordinate system relationship calculation submodule, configured to calculate a coordinate system transformation relationship between the first coordinate system posture and the second coordinate system posture; The trajectory coordinate system transformation submodule is configured to perform coordinate system transformation on the tool end movement trajectory according to the coordinate system transformation relationship and the expected assembly posture information to obtain the expected osteotomy trajectory.

8. An automatic tibial osteotomy device for a keel groove structure, characterized in that: The invention is applied to a surgical robot, wherein a rotary osteotomy tool is installed at the end of the surgical robot, and the keel groove structure is installed on the tibial assembly surface of the tibial prosthesis structure to be assembled. The device comprises: an osteotomy trajectory acquisition module configured to acquire a desired osteotomy trajectory of the rotary osteotomy tool for a solid tibia to be cut having a tibial plateau surface in a robot base coordinate system, wherein the desired osteotomy trajectory matches the keel groove structure; The rotary osteotomy control module is configured to control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the tibial plateau surface according to the corresponding expected osteotomy trajectory, so as to cut out a bone surface structure on the solid tibia to be cut that matches the size of the keel groove structure.

9. The device according to claim 8, characterized in that The desired osteotomy trajectory is planned by the tibial osteotomy planning device for the keel groove structure according to any one of claims 1 to 7.

10. A computer device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to drive the tibial osteotomy planning device for the keel groove structure 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 automatic tibial osteotomy device for the keel groove structure as described in any one of claims 8-9.

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 tibial osteotomy planning device for the keel groove structure described in any one of claims 1-7, or drives the surgical robot to load and run the tibial automatic osteotomy device for the keel groove structure 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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