Orthopedic surgery guidance method and apparatus, and orthopedic surgery guidance device

Abstract

Embodiments of the present application pertain to the technical field of computer-assisted medical treatment and provide an orthopedic surgery guidance method and apparatus, and an orthopedic surgery guidance device. The method comprises: acquiring preoperative planning information of current orthopedic surgery; determining, according to the preoperative planning information, a target pose for a guide plate used during surgery, wherein the guide plate is designed to have at least one circular hole for guiding a drilling operation and at least one square groove for guiding an osteotomy operation; determining the current real-time pose of a guide plate mounted on the tail end of a robotic arm; and adjusting the guide plate from the real-time pose to the target pose by controlling movement of the robotic arm. The described method can be used to guide osteotomy operations and drilling operations in orthopedic surgery on the basis of the same guide plate. By means of accurate navigation and robotic arm control, a surgical target can be accurately positioned and operated.

Description

Orthopedic surgery guiding method and device and orthopedic surgery guiding equipment

[0001] The present application claims priority to the Chinese patent application No. 202411040036.2, filed on July 31, 2024 in the China Patent Office and entitled "Orthopedic surgery guiding method and device and orthopedic surgery guiding equipment", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The embodiments of the present application belong to the technical field of computer-aided medical treatment, in particular to an orthopedic surgery guiding method, device and orthopedic surgery guiding equipment. BACKGROUND

[0003] In orthopedic surgery, drilling and osteotomy are two common surgical operations, and the accuracy of drilling and osteotomy directly affects the surgical effect and patient recovery. In traditional orthopedic surgery, drilling and osteotomy usually rely on the experience and skills of the surgeon, and the surgical accuracy is difficult to be effectively guaranteed. With the development of surgical robot technology, computer-aided orthopedic surgery has gradually become a research hotspot.

[0004] In the process of computer-aided orthopedic surgery, a guiding plate tool is usually used for surgical guidance. For example, when osteotomy is needed, a guiding plate required for osteotomy is installed at the end of the mechanical arm, so that the movement plane of the saw blade can be limited during osteotomy, ensuring that the saw blade performs osteotomy within a safe range; when drilling is needed, the guiding plate installed at the end of the mechanical arm needs to be replaced with a guiding plate required for drilling, so that the direction and depth of the tool performing drilling operation can be limited by the guiding plate during drilling, ensuring the safety of drilling. When performing different surgical operations, the surgeon needs to replace the guiding plate tool and perform re-registration and other operations, resulting in low surgical efficiency. Moreover, the frequent replacement of the guiding plate can also reduce the accuracy of surgical operation. TECHNICAL PROBLEM

[0005] Therefore, the embodiments of the present application provide an orthopedic surgery guiding method, device and orthopedic surgery guiding equipment, which can provide guidance for osteotomy operation and drilling operation in orthopedic surgery based on the same guiding plate, and realize accurate positioning and operation of the surgical target through accurate navigation and mechanical arm control, thereby improving the surgical accuracy and efficiency. TECHNICAL SOLUTION

[0006] The first aspect of the embodiments of the present application provides an orthopedic surgery guiding method, comprising:

[0007] obtaining preoperative planning information of a current orthopedic surgery;

[0008] determine a target pose of a guide plate used in surgery according to the preoperative planning information, the guide plate being designed with at least one circular hole for guiding a drilling operation and at least one square slot for guiding a bone cutting operation;

[0009] detect a real-time pose of the guide plate currently installed at the end of the mechanical arm;

[0010] adjust the guide plate from the real-time pose to the target pose by controlling movement of the mechanical arm.

[0011] In a possible implementation manner of the first aspect, the method further includes:

[0012] monitor a position and a state of a surgical tool used in surgery based on the target pose of the guide plate;

[0013] monitor an operation exception according to the position and the state of the surgical tool;

[0014] when the operation exception is monitored, alarm the operation exception.

[0015] A second aspect of the embodiments of the present application provides a guiding device for orthopedic surgery, including:

[0016] an obtaining module, configured to obtain preoperative planning information of a current orthopedic surgery;

[0017] a determining module, configured to determine a target pose of a guide plate used in surgery according to the preoperative planning information, the guide plate being designed with at least one circular hole for guiding a drilling operation and at least one square slot for guiding a bone cutting operation;

[0018] a detecting module, configured to detect a real-time pose of the guide plate currently installed at the end of the mechanical arm;

[0019] a control module, configured to adjust the guide plate from the real-time pose to the target pose by controlling movement of the mechanical arm.

[0020] A third aspect of the embodiments of the present application provides a guiding device for orthopedic surgery, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the guiding method for orthopedic surgery of the first aspect as described above when executing the computer program.

[0021] A fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the guiding method for orthopedic surgery of the first aspect as described above.

[0022] The fifth aspect of the embodiments of the present application provides a computer program product, which, when running on a computer, enables the computer to perform the orthopedic surgery guiding method in the first aspect. Advantages

[0023] Compared with the prior art, the embodiments of the present application have the following advantages:

[0024] In the embodiments of the present application, when guiding the orthopedic surgery, the same guide plate can be used, which can be designed with at least one circular hole and at least one square slot. The circular hole can be used to guide the drilling operation, and the square slot can be used to guide the osteotomy operation. In this way, whether it is osteotomy or drilling, the same guide plate can be used, and there is no need to replace the guide plate at the end of the mechanical arm before each osteotomy or drilling. After the guide plate is installed at the end of the mechanical arm, the target pose of the guide plate used in the operation can be determined according to the preoperative planning information of the current orthopedic surgery. After detecting the real-time pose of the guide plate, the guide plate can be adjusted from the real-time pose to the target pose by controlling the movement of the mechanical arm. By using this method, the osteotomy operation and the drilling operation in the orthopedic surgery can be guided based on the same guide plate, which significantly reduces the preparation time of the surgery and the number of tool switching in the surgery, and improves the overall efficiency of the surgery. Moreover, through accurate navigation and mechanical arm control, it is ensured that the surgical tools operate according to the predetermined path and depth in the osteotomy and drilling process, which greatly improves the accuracy of the surgery and realizes the accurate positioning and operation of the surgical target.

[0025] The orthopedic surgery guiding method, device and orthopedic surgery guiding equipment provided by the embodiments of the present application can be applied to various types of surgeries such as joint replacement surgery (such as hip joint and knee joint replacement), fracture reduction surgery, bone tumor resection surgery, etc. using orthopedic surgery navigation. The preoperative planning and intraoperative navigation using the method, device and equipment can improve the accuracy and safety of the surgery. The technology provided by the embodiments of the present application can be integrated into an orthopedic surgery simulator to provide surgeons with a realistic surgical simulation training, especially in complex fracture treatment and precise surgical operation. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any creative labor.

[0027] FIG. 1 is a schematic view of an orthopedic surgery guide plate provided by an embodiment of the present application;

[0028] FIG. 2 is a schematic diagram of a surgical system for orthopedics according to an embodiment of the present application;

[0029] FIG. 3 is a schematic diagram of a surgical guiding method for orthopedics according to an embodiment of the present application;

[0030] FIG. 4 is a schematic diagram of a possible implementation of S304 in the surgical guiding method for orthopedics according to an embodiment of the present application;

[0031] FIG. 5 is a schematic diagram of another surgical guiding method for orthopedics according to an embodiment of the present application;

[0032] FIG. 6 is a schematic diagram of a possible implementation of S503 in the surgical guiding method for orthopedics according to an embodiment of the present application;

[0033] FIG. 7 is a schematic diagram of another possible implementation of S503 in the surgical guiding method for orthopedics according to an embodiment of the present application;

[0034] FIG. 8 is a schematic diagram of a surgical guiding process for orthopedics according to an embodiment of the present application;

[0035] FIG. 9 is a schematic diagram of a surgical guiding device for orthopedics according to an embodiment of the present application;

[0036] FIG. 10 is a schematic diagram of a surgical guiding apparatus for orthopedics according to an embodiment of the present application. Embodiments of the present application

[0037] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular architectures, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0038] In orthopedic surgery, different guiding plates are needed for different surgical operations. For example, osteotomy operation needs to use a guiding plate specially used for osteotomy, and drilling operation needs to use a guiding plate specially used for drilling. Frequent replacement of guiding plates during surgery not only leads to low surgical efficiency, but also affects the accuracy and safety of surgery.

[0039] To solve the above problems, the embodiment of the present application provides a two-in-one guide plate tool, which is designed with at least one circular hole and at least one square slot. The circular hole on the guide plate can guide the doctor to punch a hole in the surgical site of the patient during the orthopedic surgery, and the square slot on the guide plate can guide the doctor to perform osteotomy on the surgical site. In this way, the same guide plate can be used for guiding osteotomy operation and punching operation, without the need to frequently change the guide plate during the surgery.

[0040] As shown in FIG. 1, it is a schematic diagram of an orthopedic surgery guide plate provided by the embodiment of the present application. The guide plate 100 shown in FIG. 1 is in a rectangular shape, and the rectangular guide plate 100 is designed with a circular hole 101 and a square slot 102. The circular hole 101 and the square slot 102 are both designed to be through, so that the surgical tool can pass through the circular hole 101 or the square slot 102 to operate, and complete the punching or osteotomy operation on the surgical site. As shown in FIG. 1, the circular hole 101 on the guide plate 100 can be arranged at the lower right position of the guide plate 100, and the square slot 102 can be arranged at the upper right position of the guide plate 100, that is, the square slot 102 for guiding osteotomy on the guide plate 100 is arranged above the circular hole 101 for guiding punching. The center of the circular hole 101 can be the center of the circle, which can be used as the origin of the guide plate coordinate system. The center of the square slot 102 can be the intersection point of the diagonal lines of the slot. In the vertical direction, the center of the circular hole 101 and the center of the square slot 102 can not be on the same vertical line, that is, the square slot 102 in the guide plate 100 has a fixed bias bias relative to the guide plate coordinate system. The bias bias can be determined according to the relative positions of the centers of the circular hole 101 and the square slot 102, and the bias bias can include the bias of the three axes of the guide plate coordinate system, that is, the bias bias of the X axis of the guide plate coordinate system, the bias bias of the Y axis of the guide plate coordinate system, and the bias bias of the Z axis of the guide plate coordinate system. x y z .

[0041] ​​As shown in FIG. 2, it is a schematic diagram of an orthopedic surgery system provided by an embodiment of the present application. The guiding plate shown in FIG. 1 can be used in the surgery system shown in FIG. 2, so as to achieve the purpose of guiding the bone cutting and drilling operations using the same guiding plate. As shown in FIG. 2, the orthopedic surgery system includes a navigator 201, a master console cart 202, a mechanical arm 203, etc. The orthopedic surgery system can be used for corresponding surgical operations on a surgical site 204. The femur 2041, the tibia 2042 in the surgical site 204 and the mechanical arm 203 are all installed with a tracer, i.e. the tracer 2410, the tracer 2420 and the tracer 2030 in FIG. 2. In combination with the various tracers and the navigator 201, navigation and positioning can be performed during the surgery. The navigator 201, the master console cart 202 and the mechanical arm 203 can communicate with each other through wired or wireless communication, including real-time transmission of positioning information of the tracers, etc.

[0042] The guiding plate shown in FIG. 1 can be installed at the end of the mechanical arm 203 (not shown in FIG. 2). The mechanical arm 203 can calculate the target pose of the guiding plate according to the software or algorithm configured in the master console cart 202, and adjust the guiding plate to the target pose through accurate motor control. During this process, the user interface in the master console cart 202 can display the surgical operation information and receive the instructions of the user.

[0043] In an embodiment of the present application, the master console cart 202 can calculate the target pose M0 of the guiding plate installed at the end of the mechanical arm 203, and obtain the real-time pose M1 of the guiding plate in real time through the navigator 201. Both the target pose M0 and the real-time pose M1 can be represented by a 4x4 homogeneous matrix. By calculating the transformation matrix T = inverse(M0)*M1 between M0 and M1, and sending T to the mechanical arm 203, the mechanical arm 203 can automatically adjust the pose of the guiding plate, or the master console cart 202 can directly control the movement of the mechanical arm 203 to drive the adjustment of the pose of the guiding plate, until the Euler angles of the transformation matrix M in the X, Y and Z directions are all less than the set threshold, and the displacement is less than the set threshold. At this time, it can be considered that the tool at the end of the mechanical arm 203 is at the target guiding position. The doctor can perform the bone cutting or drilling operation at this position.

[0044] The technical solutions of the present application will be described below through specific embodiments.

[0045] Referring to FIG. 3, it shows a schematic diagram of an orthopedic surgery guiding method provided by an embodiment of the present application, which can specifically include the following steps:

[0046] S301, obtaining the preoperative planning information of the current orthopedic surgery.

[0047] It should be noted that the method can be applied to the orthopedic surgery system shown in FIG. 2, that is, the orthopedic surgery system shown in FIG. 2 can realize the guidance of the orthopedic surgery by performing the steps of the method provided in the embodiments of the present application.

[0048] In a possible implementation manner of the embodiments of the present application, the steps of the method can be implemented by the master console 202 in FIG. 2. The master console 202 can be a computer device configured with related software or algorithms, which can serve as a control unit in the process of implementing the method, run related algorithms, and thus control the devices or components such as the navigator 201 and the mechanical arm 203 in FIG. 2 to work together to complete the surgical guidance operation.

[0049] In the embodiments of the present application, the preoperative planning information can be a surgical planning scheme made according to the actual situation of the patient by collecting data of the surgical site through a related imaging device before the surgery. The preoperative planning information can be generated by other computer-aided medical devices and sent to the master console 202 in FIG. 2, or the preoperative planning information can also be obtained by the master console 202 in FIG. 2 by processing data. For example, the master console 202 can run the configured software or algorithms to plan the prosthesis to be installed on the patient, and calculate the target position of the osteotomy or the punching according to the planned position. In the actual surgery process, the end tool of the mechanical arm 203 in FIG. 2 needs to be moved to the target position for surgery.

[0050] S302, determining a target pose of a guide plate used in the surgery according to the preoperative planning information, the guide plate being designed with at least one circular hole and at least one square slot, the circular hole being used for guiding the punching operation, and the square slot being used for guiding the osteotomy operation.

[0051] In the embodiments of the present application, the guide plate can be designed with at least one circular hole and at least one square slot, wherein the circular hole is used for guiding the punching operation, and the square slot is used for guiding the osteotomy operation. For example, the shape of the guide plate can be as shown in FIG. 1, and the guide plate shown in FIG. 1 includes one circular hole and one square slot. In actual application, more circular holes and square slots can be provided on the guide plate according to needs, which is not limited in the embodiments of the present application.

[0052] The guide plate described above can be installed at the end of the mechanical arm 203 in FIG. 2 as part of the end tool of the mechanical arm.

[0053] In a possible implementation of the embodiment of the present application, the target pose of the guide plate can be a pose state assumed by the guide plate in a position where it should be in when surgery is performed, that is, the guide plate is moved to a position determined by preoperative planning through movement of the robot arm, and the guide plate is kept in the corresponding pose. In this pose state, the surgeon can use the relevant surgical tools to perform surgical operations, such as bone cutting operations, hole drilling operations, and prosthesis implanting operations.

[0054] The master console 202 in FIG. 2 can process the preoperative planning information to obtain a target pose M0 of the guide plate to be used in surgery, which can be represented by a 4x4 homogeneous matrix.

[0055] S303, detecting a current real-time pose of the guide plate installed at the end of the robot arm.

[0056] In the embodiment of the present application, the current real-time pose of the guide plate can be a pose state assumed in real time after the guide plate shown in FIG. 1 is installed at a certain end of the robot arm 203 shown in FIG. 2. The master console 202 in the orthopedic surgery system can obtain the current real-time pose M1 of the guide plate in real time through the navigation instrument 201, which can also be represented by a 4x4 homogeneous matrix.

[0057] S304, adjusting the guide plate from the real-time pose to the target pose by controlling movement of the robot arm.

[0058] In the embodiment of the present application, the guide plate at the end of the robot arm 203 can be adjusted from the current pose to the target pose required for surgery, that is, from the real-time pose M1 to the target pose M0, through movement of the robot arm 203.

[0059] In a possible implementation of the embodiment of the present application, the robot arm 203 can move in the surgical area, and the navigation instrument 201 can position the guide plate at the end of the robot arm in real time during the movement. When the guide plate is in the target pose M0, the robot arm 203 can stop moving, thereby achieving the purpose of adjusting the guide plate from the real-time pose M1 to the target pose M0 through movement of the robot arm 203.

[0060] In another possible implementation of the embodiment of the present application, as shown in FIG. 4, adjusting the guide plate from the real-time pose to the target pose by controlling movement of the robot arm in S304 can specifically include the following steps S3041-S3042:

[0061] S3041, calculating a transformation matrix between the real-time pose and the target pose.

[0062] In the embodiments of the present application, the real-time pose M1 and the target pose M0 can both be represented by a 4*4 homogeneous matrix. Therefore, for the adjustment of the guide plate pose, the transformation of the matrix can be used. The master console 202 can first calculate the transformation matrix between the real-time pose M1 and the target pose M0, which can be represented as T = inverse(M0)*M1.

[0063] In a possible implementation manner of the embodiments of the present application, the calculation of the transformation matrix T between the real-time pose M1 and the target pose M0 needs to calculate a first transformation matrix of the intraoperative bone model coordinate system to the navigator coordinate system, a second transformation matrix of the mechanical arm end tracer coordinate system to the navigator coordinate system, and a third transformation matrix of the guide plate coordinate system to the mechanical arm end tracer coordinate system. Then, according to the first transformation matrix, the second transformation matrix and the third transformation matrix, the transformation matrix of the guide plate coordinate system to the intraoperative bone model coordinate system is determined as the transformation matrix T between the real-time pose M1 and the target pose M0.

[0064] In the embodiments of the present application, the transformation matrix of the intraoperative bone model coordinate system to the navigator coordinate system, that is, the first transformation matrix can be represented as: M boneToCamera ; the transformation matrix of the mechanical arm end tracer coordinate system to the navigator coordinate system, that is, the second transformation matrix can be represented as: M robotToCamera ; the transformation matrix of the guide plate coordinate system to the mechanical arm end tracer coordinate system, that is, the third transformation matrix can be represented as: M plateToRobot ; and the transformation matrix of the guide plate coordinate system to the intraoperative bone model coordinate system can be represented as: M plateToBone .

[0065] When the transformation matrix M plateToBone of the guide plate coordinate system to the intraoperative bone model coordinate system is determined according to the first transformation matrix M boneToCamera , the second transformation matrix M robotToCamera and the third transformation matrix M plateToRobot , the third transformation matrix M plateToRobot can be first used to left multiply the second transformation matrix M robotToCamera , and then the calculated matrix is used to left multiply the inverse of the first transformation matrix M boneToCamera , to obtain the transformation matrix M plateToBone of the guide plate coordinate system to the intraoperative bone model coordinate system.

[0066] The above calculation process can be represented as: M plateToBone = M boneToCamera -1 *M robotToCamera *M plateToRobot

[0067] That is, the transformation matrix between the real-time pose M1 and the target pose M0 is: T = inverse(M0) * M1 = M plateToBone .

[0068] The transformation matrix T is also a 4x4 homogeneous matrix composed of a 3x3 rotation matrix and a translation vector.

[0069] In S3042, the mechanical arm is controlled to rotate and / or displace based on the transformation matrix, so that the guide plate mounted at the end of the mechanical arm is adjusted to the target pose.

[0070] In the embodiment of the present application, the console vehicle 202 can control the mechanical arm to move based on the calculated transformation matrix T, so as to adjust the guide plate to the target pose M0.

[0071] In a possible implementation manner of the embodiment of the present application, since the transformation matrix T is composed of a 3x3 rotation matrix and a translation vector, the console vehicle 202 can control the mechanical arm 203 to rotate and / or displace, so as to adjust the guide plate to the target pose M0. For example, the console vehicle 202 can control the mechanical arm to rotate according to the 3x3 rotation matrix of the transformation matrix T, so that the guide plate is rotated to the same as the planned pose, and then displace according to the translation vector in the transformation matrix T, so as to move the guide plate to the planned position, thereby achieving the purpose of adjusting the guide plate to the target pose M0.

[0072] The control of the mechanical arm 203 in the above example can be realized by the console vehicle 202. In another possible implementation manner of the embodiment of the present application, the movement process of the mechanical arm 203 can be automatically realized.

[0073] In the implementation of the above process, the console vehicle 202 can send a control instruction to the mechanical arm 203, and the control instruction can carry instruction information indicating that the mechanical arm 203 automatically adjusts according to the transformation matrix T. After receiving the instruction information, the mechanical arm 203 can adjust the guide plate mounted at the end to the target pose M0 by rotating and / or displacing.

[0074] When the mechanical arm 203 automatically adjusts according to the received instruction information, it can first rotate according to the 3x3 rotation matrix of the transformation matrix T, so that the guide plate is rotated to the same as the planned pose, and then displace according to the translation vector in the transformation matrix T, so as to move the guide plate to the planned position.

[0075] After the end-mounted guide plate is moved to the target pose M0 by the mechanical arm 203, the main control trolley 202 can assist the doctor to perform corresponding surgical operations, such as osteotomy operations or punching operations, according to the preoperative planning information.

[0076] In a possible implementation manner of the embodiment, the target pose M0 of the guide plate can be different when performing each osteotomy operation or punching operation. Therefore, before performing the corresponding operation, the main control trolley 202 can control the mechanical arm 203 or automatically adjust the pose of the guide plate by the mechanical arm 203 to the target pose corresponding to the surgical operation to be performed according to the foregoing method.

[0077] For example, before assisting in performing an osteotomy operation, the main control trolley 202 can adjust the guide plate to the target pose required for the current osteotomy operation by performing the steps of the foregoing method, and the target pose can be determined according to the preoperative planning information. After the guide plate is in the target pose, the main control trolley 202 can assist the doctor to perform the osteotomy operation. Assuming that after the osteotomy operation is completed, a punching operation is needed to be performed again to fix the implant at the corresponding position. At this time, the main control trolley 202 can determine the target pose of the guide plate when performing the punching operation according to the preoperative planning information, and then adjust the guide plate to the target pose according to the steps of the foregoing method. It should be noted that the target poses of the guide plate corresponding to two different osteotomy operations or two different punching operations can be different and can be specifically determined according to the preoperative planning information, which is not limited in the embodiment.

[0078] In the embodiment, when guiding the orthopedic surgery, the same guide plate can be used, and at least one circular hole and at least one square slot can be designed on the guide plate, wherein the circular hole can be used to guide the punching operation, and the square slot can be used to guide the osteotomy operation. In this way, the same guide plate can be used for osteotomy and punching, and it is not necessary to replace the guide plate at the end of the mechanical arm before each osteotomy or punching. After the guide plate is mounted at the end of the mechanical arm, the target pose of the guide plate used in the surgery can be determined according to the preoperative planning information of the current orthopedic surgery, and after the current real-time pose of the guide plate is detected, the guide plate can be adjusted from the current real-time pose to the target pose by controlling the movement of the mechanical arm. By using the method, the osteotomy operation and the punching operation in the orthopedic surgery can be guided based on the same guide plate, the preparation time of the surgery and the number of tool switching in the surgery are significantly reduced, and the overall efficiency of the surgery is improved. Moreover, by accurate navigation and mechanical arm control, it is ensured that the surgical tools operate according to the predetermined path and depth in the osteotomy and punching process, and the accuracy of the surgery is greatly improved, and the precise positioning and operation of the surgical target are achieved.

[0079] With reference to FIG. 5, a schematic diagram of another orthopedic surgery guiding method provided by an embodiment of the present application is shown, which can include the following steps:

[0080] S501, obtaining preoperative planning information of a current orthopedic surgery.

[0081] Similar to the method shown in FIG. 3, the method can also be applied to the orthopedic surgery system shown in FIG. 2. For ease of understanding, the subsequent introduction is made by taking the master console cart 202 in FIG. 2 as an example of the execution subject of the method. That is, the master console cart 202 can adjust the guiding plate to a target pose corresponding to a corresponding surgical operation by executing each step in the method.

[0082] The preoperative planning information in the embodiment of the present application can be a surgical planning scheme made according to the actual situation of the patient, such as the position of the prosthesis to be installed, the position of the osteotomy or the position of the hole, etc.

[0083] S502, determining a surgical operation to be performed, the surgical operation including a hole drilling operation or an osteotomy operation.

[0084] The surgical operation in the embodiment of the present application can include a hole drilling operation and an osteotomy operation in orthopedic surgery. Different surgical operations need to be performed at different positions, which are the target positions of the guiding plate. When the guiding plate is at the target position and maintains the target pose, the doctor can complete the corresponding surgical operation with the cooperation of the master console cart 202 and the mechanical arm 203, etc. The target pose of the guiding plate corresponding to different surgical operations can be determined by the preoperative planning information.

[0085] S503, determining a target pose matrix of the guiding plate according to the preoperative planning information, the target pose matrix being a 3x3 rotation matrix represented by data corresponding to a transformation matrix from an implant coordinate system to a preoperative bone model coordinate system.

[0086] In the embodiment of the present application, the master console cart 202 can determine the target pose of the guiding plate according to the preoperative planning information, which can be represented by the target pose matrix.

[0087] In the embodiment of the present application, the orthopedic surgery system and various devices used therein can construct corresponding coordinate systems, and the coordinate systems can have certain transformation relationship in actual operation.

[0088] For example, in the osteotomy operation, the osteotomy surface planned in the preoperative planning information can be composed of a series of position points and a plane normal vector, that is, Plane(position_P, normal_P); in the hole drilling operation, the hole drilling position can also be composed of a series of position points and a radial vector of the hole, that is, Hole(positon_H, normal_H).

[0089] Suppose the transformation matrix of the implant coordinate system to the preoperative bone model coordinate system is M implantToPreBone ; the transformation matrix of the preoperative bone model coordinate system to the intraoperative bone model coordinate system, that is, the registration matrix, is M regstration ; the transformation matrix of the intraoperative bone model coordinate system to the navigator coordinate system is M boneToCamera ; the transformation matrix of the tracer coordinate system installed at the end of the mechanical arm to the navigator coordinate system is M robotToCamera ; the transformation matrix of the guide plate coordinate system to the mechanical arm end tracer coordinate system is M plateToRobot . Wherein, the implant is also the prosthesis used in orthopedic surgery, so the implant coordinate system is also the coordinate system corresponding to the prosthesis. Each of the above transformation matrices is a 4x4 homogeneous matrix.

[0090] The target pose matrix of the guide plate can be expressed as R implantToPreBone : XAxis=(R implantToPreBone [0,0],R implantToPreBone [0,1],R implantToPreBone [0,2]) YAxis=(R implantToPreBone [1,0],R implantToPreBone [1,1],R implantToPreBone [1,2]) ZAxis=(R implantToPreBone [2,0],R implantToPreBone [2,1],R implantToPreBone [2,2])

[0091] The target pose matrix is a 3x3 rotation matrix represented by the data corresponding to the transformation matrix of the implant coordinate system to the preoperative bone model coordinate system.

[0092] S504, based on the target pose matrix, determining the target pose of the guide plate used when performing the surgical operation intraoperatively.

[0093] In the embodiments of the present application, the target pose of the corresponding guide plate can be determined for the osteotomy operation or the punching operation.

[0094] In a possible implementation manner of the embodiments of the present application, when the surgical operation is an osteotomy operation, as shown in FIG. 6, the determination of the target pose of the guide plate used when performing the surgical operation intraoperatively based on the target pose matrix in S504 can include the following steps S5041-S5043:

[0095] S5041, multiplying the target pose matrix by the registration matrix to obtain the inverse of the obtained matrix, to obtain the rotation matrix of the osteotomy operation, and the registration matrix is the transformation matrix of the preoperative bone model coordinate system to the intraoperative bone model coordinate system.

[0096] It should be noted that the matrix R with different subscripts in the embodiments of the present application represents a 3*3 homogeneous matrix, which is a rotation matrix. A 4*4 homogeneous matrix obtained by combining a translation vector T based on the 3*3 rotation matrix represented by R can be represented by a matrix M with a corresponding subscript.

[0097] Therefore, the transformation matrix of the preoperative bone model coordinate system to the intraoperative bone model coordinate system is the registration matrix R regstration in the surgical process, that is, R regstration . regstration The target pose matrix is R implantToPreBone ; the above target pose matrix R implantToPreBone is left multiplied by the registration matrix R regstration to obtain the inverse matrix, and the rotation matrix R target of the osteotomy operation can be represented as: R target = (R regstration *R implantToPreBone ) -1 .

[0098] S5042, determining a first translation vector of the implant coordinate system to the preoperative bone model coordinate system in the osteotomy operation, and left multiplying the first translation vector with the registration matrix to obtain an osteotomy translation vector.

[0099] S5043, determining a first homogeneous matrix representing a target pose of the guide plate used in the osteotomy operation based on the rotation matrix of the osteotomy operation and the osteotomy translation vector, the first homogeneous matrix being a 4*4 matrix.

[0100] After the rotation matrix R target of the osteotomy operation is calculated, the osteotomy translation vector needs to be determined to obtain the target pose of the guide plate in the osteotomy operation.

[0101] In the embodiments of the present application, a first translation vector T implantToPreBone of the implant coordinate system to the preoperative bone model coordinate system in the osteotomy operation can be determined, and the first translation vector T implantToPreBone is left multiplied by the registration matrix R regstration to obtain an osteotomy translation vector T target . On this basis, a first homogeneous matrix representing a target pose of the guide plate used in the osteotomy operation can be determined based on the rotation matrix R target of the osteotomy operation and the osteotomy translation vector T target , and the first homogeneous matrix is a 4*4 matrix.

[0102] In a possible implementation of the embodiment of the present application, the origin of the guide plate coordinate system is the center of the circular hole in the guide plate, and the square slot in the guide plate is used for the osteotomy operation, and the square slot has a bias amount fixedly arranged relative to the guide plate coordinate system, that is, the bias amount bias shown in FIG. 1. Therefore, in the process of obtaining the osteotomy translation vector T implantToPreBone by left multiplying the registration matrix R regstration by the compensated first translation vector T target , the first translation vector T implantToPreBone of the implant coordinate system to the preoperative bone model coordinate system during the osteotomy operation needs to be compensated according to the bias amount bias, and the registration matrix R implantToPreBone is left multiplied by the compensated first translation vector T target to obtain the osteotomy translation vector T .

[0103] The bias amount bias can include biases on three axes of the guide plate coordinate system, that is, a bias amount bias x relative to the X axis of the guide plate coordinate system, a bias amount bias y relative to the Y axis of the guide plate coordinate system, and a bias amount bias z relative to the Z axis of the guide plate coordinate system. Therefore, the compensated first translation vector obtained by compensating the first translation vector T implantToPreBone using the bias amount bias can be represented as: T implantToPreBone +(offset x +bias x )*XAxis+(offset y +bias y )*YAxis+(offset z +bias z )*ZAxis

[0104] offset x , offset y , and offset z respectively represent the offset amount of the guide plate relative to the implant on the corresponding axis. Since the guide plate cannot be directly placed at the planned position of the implant, it should be placed at a certain offset distance before the surgical tool can be used to safely place the implant on the bone, and therefore the offset amount of the guide plate relative to the implant should also be considered when calculating the translation vector.

[0105] Correspondingly, the process of obtaining the osteotomy translation vector T implantToPreBone by left multiplying the registration matrix R target by the compensated first translation vector T target can be represented as: T regstration =R implantToPreBone+ (offset x + bias x )*XAxis + (offset y + bias y )*YAxis + (offset z + bias z )*ZAxis)

[0106] Therefore, the first homogeneous matrix for representing the target pose of the guide plate used in the osteotomy operation can be expressed as:

[0107] where R target and T target are the rotation matrix and the osteotomy translation vector of the osteotomy operation, respectively.

[0108] In another possible implementation of the embodiments of the present application, when the surgical operation is a drilling operation, as shown in FIG. 7, the step S504 of determining the target pose of the guide plate used in the surgical operation based on the target pose matrix can include the following steps S5044-S5047:

[0109] S5044, determining the hole direction of the circular hole in the guide plate under the target pose corresponding to the drilling operation.

[0110] S5045, determining the rotation matrix of the drilling operation based on the hole direction and a registration matrix, the registration matrix being a transformation matrix from the preoperative bone model coordinate system to the intraoperative bone model coordinate system.

[0111] In the embodiments of the present application, the hole direction under the target pose can be expressed as direction hole The hole direction direction hole may also be expressed as YAxis under the drilling operation, and based on the hole direction and the registration matrix R regstration from the preoperative bone model coordinate system to the intraoperative bone model coordinate system, the rotation matrix R target of the drilling operation can be obtained through a corresponding data processing process.

[0112] Specifically, the rotation matrix R target of the drilling operation can be expressed as: R target = (XAxisN, YAxisN, ZAxisN) -1

[0113] where: YAxisN = R regstration *direction hole XAxisN = cross (YAxisN, R regstrationZAxisN = cross(XAxisN, YAxisN)

[0114] The cross in the above expression represents a function that calculates the cross product of vectors.

[0115] S5046, determine a second translation vector of the implant coordinate system to the preoperative bone model coordinate system at the time of the drilling operation, and left-multiply the registration matrix by the second translation vector to obtain a drilling translation vector.

[0116] In an embodiment of the present application, the second translation vector of the implant coordinate system to the preoperative bone model coordinate system can be represented as T implantToPreBone ; by left-multiplying the above-mentioned second translation vector T implantToPreBone by the registration matrix R regstration , the drilling translation vector T target required at the time of the drilling operation can be obtained.

[0117] In a possible implementation manner of the embodiment of the present application, when the registration matrix R imPlantToPreBone is left-multiplied by the second translation vector T regstration to obtain the drilling translation vector T target , a target length can be determined, and then the drilling translation vector T target of the drilling operation is calculated based on the target length and the registration matrix R regstration . Wherein the target length is equal to the length of the drilling tool minus the thickness of the guide plate and the depth of the circular hole.

[0118] Exemplarily, assuming that the target length is length, the length of the drilling tool is length tool , the thickness of the guide plate is thickness plate , and the depth of the circular hole is depth hole , the target length length can be represented as: length = length tool -thickness plate -depth hole

[0119] The process of calculating the drilling translation vector T target of the drilling operation based on the target length length and the registration matrix R regstration can be represented as: T target =R regstration *(T implantToPreBone *Pos hole -length*direction hole )

[0120] Wherein, T implantToPreBone*Pos hole This indicates the location of the drilling point in the preoperative bone model coordinate system, -length*direction hole This indicates that the calculation needs to be performed in the -direction direction. hole The direction is offset by a length. Based on this, the registration matrix R is left-multiplied. regstration This can be transformed to the intraoperative bone model coordinate system.

[0121] S5047. Based on the rotation matrix of the drilling operation and the translation vector of the drilling operation, determine a second homogeneous matrix that characterizes the target pose of the guide plate used during the drilling operation. The second homogeneous matrix is ​​a 4×4 matrix.

[0122] Therefore, the second homogeneous matrix used to characterize the target pose of the guide plate used in the drilling operation can be expressed as:

[0123] Among them, R target and T target These are the rotation matrix and translation vector for the punching operation, respectively.

[0124] S505. Detect the current real-time pose of the guide plate installed at the end of the robotic arm.

[0125] S506. Calculate the transformation matrix between the real-time pose and the target pose, wherein the transformation matrix is ​​a 4×4 homogeneous matrix.

[0126] S507. Based on the transformation matrix, control the robotic arm to rotate and / or displace, so that the guide plate installed at the end of the robotic arm is adjusted to the target pose.

[0127] After calculating the target pose of the guide plate corresponding to the surgical operation, the main control carriage 202 can detect the current real-time pose of the guide plate through the navigator 201 and calculate the transformation matrix between the real-time pose and the target pose. Based on the transformation matrix, the robotic arm 203 can be controlled to rotate and / or displace, so that the guide plate installed at the end of the robotic arm 203 is adjusted to the target pose.

[0128] The above S505-S507 are similar to S303-S304 in the previous embodiment and can be referred to each other, so they will not be described again here.

[0129] After the robotic arm 203 moves the end-mounted guide plate to the target position, the main control carriage 202 can assist the doctor in performing the corresponding osteotomy or drilling operations according to the preoperative planning information.

[0130] In a possible implementation of the embodiment of the application, the master console 202 can also monitor the position and state of a surgical tool used in the operation based on the target pose of the guide plate when the doctor performs the osteotomy operation or the drilling operation. The surgical tool can include a saw blade used in the osteotomy operation, a bone nail used in the drilling operation, etc. The master console 202 can monitor operation abnormalities according to the position and state of the surgical tool, for example, monitor the drilling too deep, the sawing too deep, or the angle deviation too large, etc. When the operation abnormality is monitored, the master console 202 can alarm the operation abnormality and take measures to stop or adjust the movement of the mechanical arm 203.

[0131] The orthopedic surgery guiding method provided in the embodiment of the application can effectively improve the accuracy and safety of the osteotomy or drilling in the operation, reduce the operation risk, and improve the rehabilitation quality of the patient.

[0132] It should be noted that the sequence numbers of the steps in the above embodiments do not mean the execution sequence, and the execution sequence of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0133] In order to facilitate understanding, the orthopedic surgery guiding method provided in the embodiment of the application will be introduced below in combination with a specific example.

[0134] As shown in FIG. 8, it is a schematic diagram of an orthopedic surgery guiding process provided in the embodiment of the application. In the process shown in FIG. 8, the guide plate installed at the end of the mechanical arm can be the guide plate shown in FIG. 1, and the complete surgical system can be as shown in FIG. 2.

[0135] According to the process shown in FIG. 8, at the beginning of the process, it is first needed to determine whether the to-be-executed operation is the osteotomy operation or the drilling operation.

[0136] In the osteotomy operation, the master console can calculate the target pose of the guide plate in the osteotomy and obtain the real-time pose of the guide plate. According to the target pose and the real-time pose, the master console can calculate the transformation matrix between the two. The transformation matrix can be sent by the master console to the mechanical arm, and the mechanical arm can automatically rotate and / or displace to adjust the guide plate to the target pose.

[0137] During the adjustment of the mechanical arm, the master console vehicle can detect the Euler angles of the transformation matrix in the X, Y and Z directions and the offset in the displacement direction in real time. If the Euler angles in the three directions and the offset in the displacement direction are all less than the corresponding set threshold, it can be considered that the guide plate has been adjusted to the target pose, and at this time the mechanical arm can stop moving. Otherwise, the mechanical arm can continue to adjust. During the adjustment, the master console vehicle can continue to obtain the real-time pose of the guide plate through the navigator, repeatedly calculate the transformation matrix between the target pose and the real-time pose, and send the calculated transformation matrix to the mechanical arm, so as to realize dynamic adjustment of the pose of the guide plate until the Euler angles of the transformation matrix in the X, Y and Z directions and the offset in the displacement direction are all less than the corresponding set threshold.

[0138] As shown in FIG. 8, during the drilling operation, the master console vehicle can calculate the target pose of the guide plate during drilling and obtain the current real-time pose of the guide plate. According to the target pose and the real-time pose, the master console vehicle can calculate the transformation matrix therebetween. The above transformation matrix can be sent by the master console vehicle to the mechanical arm, and the mechanical arm automatically rotates and / or displaces, so as to adjust the guide plate to the target pose.

[0139] Similar to the process during the osteotomy operation, during the adjustment of the mechanical arm, the master console vehicle can detect the Euler angles of the transformation matrix in the X, Y and Z directions and the offset in the displacement direction in real time. If the Euler angles in the three directions and the offset in the displacement direction are all less than the corresponding set threshold, it can be considered that the guide plate has been adjusted to the target pose required for drilling, and at this time the mechanical arm can stop moving. Otherwise, the mechanical arm can continue to adjust. During the adjustment, the master console vehicle can continue to obtain the real-time pose of the guide plate through the navigator, repeatedly calculate the transformation matrix between the target pose and the real-time pose, and send the calculated transformation matrix to the mechanical arm, so as to realize dynamic adjustment of the pose of the guide plate until the Euler angles of the transformation matrix in the X, Y and Z directions and the offset in the displacement direction are all less than the corresponding set threshold.

[0140] Referring to FIG. 9, a schematic diagram of a bone surgery guiding device provided by an embodiment of the present application is shown, which can specifically include an obtaining module 901, a determining module 902, a detecting module 903 and a control module 904, wherein:

[0141] The obtaining module 901 is configured to obtain preoperative planning information of a current orthopedic surgery.

[0142] The determining module 902 is configured to determine a target pose of a guide plate used in surgery according to the preoperative planning information, wherein the guide plate is designed with at least one circular hole and at least one square slot, the circular hole is used for guiding drilling operation, and the square slot is used for guiding osteotomy operation.

[0143] a detection module 903, configured to detect a current real-time pose of the guide plate installed at the end of the mechanical arm;

[0144] a control module 904, configured to adjust the guide plate from the real-time pose to the target pose by controlling movement of the mechanical arm.

[0145] In a possible implementation manner of the embodiment of the present application, the control module 904 can be specifically configured to:

[0146] calculate a transformation matrix between the real-time pose and the target pose;

[0147] control the mechanical arm to rotate and / or displace based on the transformation matrix, so that the guide plate installed at the end of the mechanical arm is adjusted to the target pose.

[0148] In a possible implementation manner of the embodiment of the present application, the control module 904 can be further configured to:

[0149] send a control instruction to the mechanical arm, the control instruction carrying instruction information indicating that the mechanical arm automatically adjusts according to the transformation matrix, and the mechanical arm is configured to adjust the guide plate installed at the end to the target pose by rotating and / or displacing after receiving the instruction information.

[0150] In a possible implementation manner of the embodiment of the present application, the control module 904 can be further configured to:

[0151] calculate a first transformation matrix from an intraoperative bone model coordinate system to a navigator coordinate system, a second transformation matrix from a mechanical arm end tracker coordinate system to the navigator coordinate system, and a third transformation matrix from a guide plate coordinate system to the mechanical arm end tracker coordinate system;

[0152] determine a transformation matrix from the guide plate coordinate system to the intraoperative bone model coordinate system as the transformation matrix between the real-time pose and the target pose according to the first transformation matrix, the second transformation matrix and the third transformation matrix.

[0153] In a possible implementation manner of the embodiment of the present application, the control module 904 can be further configured to:

[0154] after multiplying the third transformation matrix by the second transformation matrix, multiply the calculated matrix by an inverse of the first transformation matrix to obtain the transformation matrix from the guide plate coordinate system to the intraoperative bone model coordinate system.

[0155] In a possible implementation manner of the embodiment of the present application, the determination module 902 can be specifically configured to:

[0156] determining a surgical operation to be performed, the surgical operation comprising a drilling operation or an osteotomy operation;

[0157] determining a target pose matrix of the guide plate according to the preoperative planning information, the target pose matrix being a 3x3 rotation matrix corresponding to data using a transformation matrix from an implant coordinate system to a preoperative bone model coordinate system;

[0158] determining a target pose of the guide plate used when performing the surgical operation in surgery based on the target pose matrix.

[0159] In a possible implementation manner of the embodiment of the present application, the determining module 902 can be further configured to:

[0160] taking an inverse of a matrix obtained by left multiplying the target pose matrix by a registration matrix to obtain a rotation matrix of the osteotomy operation, the registration matrix being a transformation matrix from the preoperative bone model coordinate system to an intraoperative bone model coordinate system;

[0161] determining a first translation vector from the implant coordinate system to the preoperative bone model coordinate system when performing the osteotomy operation, and left multiplying the registration matrix by the first translation vector to obtain an osteotomy translation vector;

[0162] determining a first homogeneous matrix representing the target pose of the guide plate used when performing the osteotomy operation based on the rotation matrix of the osteotomy operation and the osteotomy translation vector, the first homogeneous matrix being a 4x4 matrix.

[0163] In a possible implementation manner of the embodiment of the present application, the origin of the guide plate coordinate system is a center of a circular hole in the guide plate, and a square slot in the guide plate has a fixed offset amount relative to the guide plate coordinate system, and the determining module 902 can be further configured to:

[0164] compensating a first translation vector from the implant coordinate system to the preoperative bone model coordinate system when performing the osteotomy operation according to the offset amount;

[0165] left multiplying the registration matrix by the compensated first translation vector to obtain the osteotomy translation vector.

[0166] In another possible implementation manner of the embodiment of the present application, the determining module 902 can be further configured to:

[0167] determining a hole direction of the circular hole in the guide plate under a target pose corresponding to the drilling operation;

[0168] determining a rotation matrix of the drilling operation based on the hole direction and a registration matrix, the registration matrix being a transformation matrix from a preoperative bone model coordinate system to an intraoperative bone model coordinate system;

[0169] determining a second translation vector of the implant coordinate system to the preoperative bone model coordinate system at the drilling operation, and using the second translation vector to left multiply the registration matrix to obtain a drilling translation vector;

[0170] determining a second homogeneous matrix representing a target pose of the guide plate used at the drilling operation based on a rotation matrix of the drilling operation and the drilling translation vector, the second homogeneous matrix being a 4x4 matrix.

[0171] In another possible implementation of the embodiment of the application, the determining module 902 can also be configured to:

[0172] determining a target length, the target length being equal to a length of a drilling tool minus a thickness of the guide plate and a depth of the circular hole;

[0173] calculating a drilling translation vector of the drilling operation based on the target length and the registration matrix.

[0174] In a possible implementation of the embodiment of the application, the apparatus can further include a monitoring module and an alarm module; wherein:

[0175] the monitoring module is configured to monitor a position and a state of a surgical tool used in a surgery based on the target pose of the guide plate, and monitor an operation exception according to the position and the state of the surgical tool;

[0176] the alarm module is configured to alarm the operation exception when the operation exception is monitored.

[0177] The orthopedic surgery guiding apparatus provided in the embodiments of the application can be an orthopedic surgery system as shown in FIG. 2, or a device or a functional component in a device that can realize the corresponding functions of the system. The apparatus can be used to realize each step in each method embodiment.

[0178] For the apparatus embodiment, it is basically similar to the method embodiment, so the description is relatively simple, and the related parts refer to the description in the method embodiment part.

[0179] Referring to FIG. 10, a schematic diagram of an orthopedic surgery guiding device is shown. As shown in FIG. 10, the orthopedic surgery guiding device 1000 in the embodiment of the present application includes a processor 1010, a memory 1020, and a computer program 1021 stored in the memory 1020 and executable on the processor 1010. The processor 1010 implements the steps in each of the embodiments of the orthopedic surgery guiding method when executing the computer program 1021, such as steps S301-S304 shown in FIG. 3 or steps S501-S507 shown in FIG. 5. Alternatively, the processor 1010 implements the functions of each module / unit in each of the device embodiments when executing the computer program 1021, such as the functions of the modules 901-904 shown in FIG. 9.

[0180] For example, the computer program 1021 can be divided into one or more modules / units, which are stored in the memory 1020 and executed by the processor 1010 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which can be used to describe the execution process of the computer program 1021 in the orthopedic surgery guiding device 1000. For example, the computer program 1021 can be divided into an acquisition module, a determination module, a detection module, and a control module, and the specific functions of each module are as follows:

[0181] The acquisition module is configured to acquire preoperative planning information of a current orthopedic surgery.

[0182] The determination module is configured to determine a target pose of a guiding plate used in surgery according to the preoperative planning information, the guiding plate being designed with at least one circular hole and at least one square slot, the circular hole being used to guide a drilling operation, and the square slot being used to guide an osteotomy operation.

[0183] The detection module is configured to detect a current real-time pose of the guiding plate installed at the end of a mechanical arm.

[0184] The control module is configured to adjust the guiding plate from the real-time pose to the target pose by controlling the movement of the mechanical arm.

[0185] The orthopedic surgery guiding device 1000 can be a device capable of implementing the steps in the foregoing various method embodiments. The orthopedic surgery guiding device 1000 can be a desktop computer, a cloud server, or the like computing device. The computing device can constitute a relevant surgery system, such as the orthopedic surgery system shown in FIG. 2, for implementing the steps in the foregoing various method embodiments. The orthopedic surgery guiding device 1000 can include, but is not limited to, a processor 1010, a memory 1020. Those skilled in the art can understand that FIG. 10 is only an example of the orthopedic surgery guiding device 1000, and does not constitute a limitation on the orthopedic surgery guiding device 1000, and can include more or fewer components than shown, or combine certain components, or different components, for example, the orthopedic surgery guiding device 1000 can also include an input / output device, a network access device, a bus, and the like.

[0186] The processor 1010 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0187] The memory 1020 can be an internal storage unit of the orthopedic surgery guiding device 1000, such as a hard disk or a memory of the orthopedic surgery guiding device 1000. The memory 1020 can also be an external storage device of the orthopedic surgery guiding device 1000, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like provided on the orthopedic surgery guiding device 1000. Further, the memory 1020 can include both the internal storage unit and the external storage device of the orthopedic surgery guiding device 1000. The memory 1020 is used to store the computer program 1021 and other programs and data required by the orthopedic surgery guiding device 1000. The memory 1020 can also be used to temporarily store data that has been output or will be output.

[0188] The embodiment of the present application further discloses a bone surgery guiding device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the bone surgery guiding method as described in the foregoing various embodiments.

[0189] The embodiment of the present application further discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the bone surgery guiding method as described in the foregoing various embodiments.

[0190] The embodiment of the present application further discloses a computer program product, which, when running on a computer, enables the computer to execute the bone surgery guiding method as described in the foregoing various embodiments.

[0191] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An orthopedic surgery guidance method, characterized by, The method comprises: obtaining preoperative planning information of a current orthopedic surgery; determining a target pose of a guide plate used in the surgery according to the preoperative planning information, the guide plate being designed with at least one circular hole for guiding a drilling operation and at least one square slot for guiding a bone cutting operation; detecting a current real-time pose of the guide plate installed at the end of a mechanical arm; adjusting the guide plate from the real-time pose to the target pose by controlling the movement of the mechanical arm.

2. The method of claim 1, wherein, The adjusting the guide plate from the real-time pose to the target pose by controlling the movement of the mechanical arm comprises: calculating a transformation matrix between the real-time pose and the target pose; controlling the mechanical arm to rotate and / or displace based on the transformation matrix, so that the guide plate installed at the end of the mechanical arm is adjusted to the target pose.

3. The method of claim 2, wherein, The controlling the mechanical arm to rotate and / or displace based on the transformation matrix, so that the guide plate installed at the end of the mechanical arm is adjusted to the target pose, comprises: sending a control instruction to the mechanical arm, the control instruction carrying instruction information indicating that the mechanical arm automatically adjusts according to the transformation matrix, the mechanical arm being configured to adjust the guide plate installed at the end to the target pose by rotating and / or displacing upon receiving the instruction information.

4. The method according to claim 2 or 3, characterized in that, The calculating a transformation matrix between the real-time pose and the target pose comprises: calculating a first transformation matrix from an intraoperative bone model coordinate system to a navigator coordinate system, a second transformation matrix from a mechanical arm end tracker coordinate system to the navigator coordinate system, and a third transformation matrix from a guide plate coordinate system to the mechanical arm end tracker coordinate system; determining a transformation matrix from the guide plate coordinate system to the intraoperative bone model coordinate system as the transformation matrix between the real-time pose and the target pose according to the first transformation matrix, the second transformation matrix, and the third transformation matrix.

5. The method of claim 4, wherein, The determining a transformation matrix from the guide plate coordinate system to the intraoperative bone model coordinate system as the transformation matrix between the real-time pose and the target pose according to the first transformation matrix, the second transformation matrix, and the third transformation matrix comprises: multiplying the calculated matrix by the inverse of the first transformation matrix after multiplying the third transformation matrix by the second transformation matrix to obtain the transformation matrix from the guide plate coordinate system to the intraoperative bone model coordinate system.

6. The method according to any of claims 1 to 3 or 5, characterized in that, The determining a target pose of a guide plate used in the surgery according to the preoperative planning information comprises: determining a surgical operation to be performed, the surgical operation including a drilling operation or a bone cutting operation; determining a target pose matrix of the guide plate according to the preoperative planning information, the target pose matrix being a 3x3 rotation matrix represented by data corresponding to a transformation matrix from an implant coordinate system to a preoperative bone model coordinate system; determining the target pose of the guide plate used when performing the surgical operation in the surgery based on the target pose matrix.

7. The method of claim 6, wherein, The determining the target pose of the guide plate used when performing the surgical operation in the surgery based on the target pose matrix comprises: determining a rotation matrix of the osteotomy operation by taking an inverse of a matrix obtained by left multiplying the target pose matrix by a registration matrix, the registration matrix being a transformation matrix from the preoperative bone model coordinate system to an intraoperative bone model coordinate system; determining a first translation vector from the implant coordinate system to the preoperative bone model coordinate system during the osteotomy operation, and obtaining a translation vector of the osteotomy operation by left multiplying the first translation vector by the registration matrix; determining a first homogeneous matrix representing a target pose of the guide plate used during the osteotomy operation based on the rotation matrix of the osteotomy operation and the translation vector of the osteotomy operation, the first homogeneous matrix being a 4x4 matrix.

8. The method of claim 7, wherein, the origin of the guide plate coordinate system is a center of a circular hole in the guide plate, a square slot in the guide plate has a bias amount fixedly arranged relative to the guide plate coordinate system, and the obtaining of the translation vector of the osteotomy operation by left multiplying the first translation vector by the registration matrix comprises: compensating the first translation vector from the implant coordinate system to the preoperative bone model coordinate system during the osteotomy operation according to the bias amount; obtaining the translation vector of the osteotomy operation by left multiplying the compensated first translation vector by the registration matrix.

9. The method of claim 6, wherein, the determining of the target pose of the guide plate used during the intraoperative surgical operation based on the target pose matrix comprises: determining a hole direction of the circular hole in the guide plate at a target pose corresponding to the drilling operation; determining a rotation matrix of the drilling operation based on the hole direction and a registration matrix, the registration matrix being a transformation matrix from the preoperative bone model coordinate system to an intraoperative bone model coordinate system; determining a second translation vector from the implant coordinate system to the preoperative bone model coordinate system during the drilling operation, and obtaining a translation vector of the drilling operation by left multiplying the second translation vector by the registration matrix; determining a second homogeneous matrix representing a target pose of the guide plate used during the drilling operation based on the rotation matrix of the drilling operation and the translation vector of the drilling operation, the second homogeneous matrix being a 4x4 matrix.

10. The method of claim 9, wherein, the obtaining of the translation vector of the drilling operation by left multiplying the second translation vector by the registration matrix comprises: determining a target length equal to a length of a drilling tool minus a thickness of the guide plate and a depth of the circular hole; calculating the translation vector of the drilling operation based on the target length and the registration matrix.

11. An orthopedic surgery guidance device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, the processor executes the computer program to implement the orthopedic surgery guiding method according to any one of claims 1-10. the processor executes the computer program to implement the orthopedic surgery guiding method according to any one of claims 1-10.

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