Orthopedic surgical robot system and computer program product

Abstract

An orthopedic surgical robot system and a computer program product. The orthopedic surgical robot system comprises an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot, wherein the flexible pressure sensor is used for collecting first data of a knee joint during a surgery and transmitting the first data to the orthopedic surgical robot, and the first data at least comprises force information of the knee joint during the surgery; the orthopedic surgical robot is used for acquiring second data corresponding to the first data during the surgery, generating visualized knee joint force distribution information according to the first data and the second data, and displaying the knee joint force distribution information by means of a display interface, and the second data at least comprises a flexion-extension angle and a joint space of the knee joint. By using the orthopedic surgical robot system, the force condition of the knee joint during the surgery can be accurately monitored, thereby providing precise mechanical feedback for the surgery.

Description

Orthopedic surgical robot systems and computer program products

[0001] This application claims priority to Chinese Patent Application No. 202510067145.1, filed on January 15, 2025, entitled "Orthopedic Surgical Robot System and Computer Program Product", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of computer-aided medical technology, and in particular relates to an orthopedic surgical robot system and computer program product. Background Technology

[0003] In total knee arthroplasty (TKA), appropriate stress at the knee joint is crucial for surgical outcomes and patient recovery. Traditional orthopedic surgery relies on the surgeon's experience to adjust stress at the knee joint, which may not accurately and in real-time reflect the stress distribution at the patient's knee joint during the operation. This can affect the surgeon's technique and consequently the precision and effectiveness of the surgery. Technical issues

[0004] In view of this, embodiments of this application provide an orthopedic surgical robot system and computer program product, which can accurately and in real time monitor the force on the knee joint during surgery and provide precise mechanical feedback for the surgery. Technical solutions

[0005] A first aspect of this application provides an orthopedic surgical robot system, including an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot; wherein:

[0006] The flexible pressure sensor is used to collect first data of the knee joint during the operation and transmit the first data to the orthopedic surgical robot. The first data includes at least the force information of the knee joint during the operation.

[0007] The orthopedic surgical robot is used to acquire second data corresponding to the first data during the operation, generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface. The second data includes at least the flexion and extension angles and joint space of the knee joint.

[0008] Optionally, the flexible pressure sensor is installed at the tibial osteotomy site of the knee joint and is respectively attached to the femoral and tibial trial models installed in the knee joint; the flexible pressure sensor consists of a shell shaped like the tibial trial model and multiple thin-film pressure sensors.

[0009] Optionally, the force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the distribution information of bone surface contact points at the knee joint. The distribution information of bone surface contact points includes the distribution information of contact points between the medial side of the tibia and the femoral model and the distribution information of contact points between the lateral side of the tibia and the femoral model.

[0010] Optionally, the first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data that has the same timestamp information as the first data.

[0011] Optionally, the orthopedic surgical robot is specifically used to: determine the pressure difference between the femur and tibia at the knee joint based on the force information; generate visualized knee joint force distribution information based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space; the knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-extension angles.

[0012] Optionally, the orthopedic surgical robot is also used to: in response to the operation of moving controls in the display interface, display relevant data in the force distribution information of the knee joint corresponding to the patient's leg flexion and extension process.

[0013] Optionally, the knee joint force distribution information includes a bar-line composite distribution graph, where the x-axis of the bar-line composite distribution graph represents the flexion-extension angle, and the y-axis of the bar-line composite distribution graph includes a first y-axis and a second y-axis. The first y-axis represents the pressure difference value, and the second y-axis represents the joint space. The relevant data in the knee joint force distribution information includes the pressure difference value corresponding to different flexion-extension angles displayed in the bar-line composite distribution graph in the form of a line graph, and the joint space corresponding to different flexion-extension angles displayed in the form of a bar graph. The joint space includes the medial tibial joint space value and the lateral tibial joint space value.

[0014] Optionally, the knee joint force distribution information also includes a bone surface contact point distribution map, wherein the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial insertion point. The relevant data in the knee joint force distribution information includes bone surface contact points at different locations displayed in the form of a dot plot in the bone surface contact point distribution map.

[0015] Optionally, the orthopedic surgical robot is further configured to: execute an alarm operation when the force value of the knee joint is detected to exceed a threshold, wherein the force value exceeding the threshold includes the pressure difference between the femur and tibia at the knee joint being greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint being greater than a second threshold.

[0016] A second aspect of this application provides a method for generating knee joint force distribution information, including:

[0017] Receive first data of the knee joint during surgery collected by a flexible pressure sensor, wherein the first data includes at least the force information of the knee joint during surgery;

[0018] Acquire second data corresponding to the first data during the operation, wherein the second data includes at least the flexion and extension angles of the knee joint and the joint space;

[0019] Visualized knee joint force distribution information is generated based on the first data and the second data, and the knee joint force distribution information is displayed through a display interface.

[0020] Optionally, the flexible pressure sensor is installed at the tibial osteotomy site of the knee joint and is respectively attached to the femoral and tibial trial models installed in the knee joint; the flexible pressure sensor consists of a shell shaped like the tibial trial model and multiple thin-film pressure sensors.

[0021] Optionally, the force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the distribution information of bone surface contact points at the knee joint. The distribution information of bone surface contact points includes the distribution information of contact points between the medial side of the tibia and the femoral model and the distribution information of contact points between the lateral side of the tibia and the femoral model.

[0022] Optionally, the first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data that has the same timestamp information as the first data.

[0023] Optionally, generating visualized knee joint force distribution information based on the first data and the second data includes:

[0024] The pressure difference between the femur and tibia at the knee joint is determined based on the force information.

[0025] Based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space, a visualized knee joint force distribution information is generated. The knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-extension angles.

[0026] Optionally, it also includes:

[0027] In response to the operation of moving the control in the display interface, relevant data in the force distribution information of the knee joint corresponding to the patient's leg flexion and extension process are displayed.

[0028] Optionally, the knee joint force distribution information includes a bar-line composite distribution graph, where the x-axis of the bar-line composite distribution graph represents the flexion-extension angle, and the y-axis of the bar-line composite distribution graph includes a first y-axis and a second y-axis. The first y-axis represents the pressure difference value, and the second y-axis represents the joint space. The relevant data in the knee joint force distribution information includes the pressure difference value corresponding to different flexion-extension angles displayed in the bar-line composite distribution graph in the form of a line graph, and the joint space corresponding to different flexion-extension angles displayed in the form of a bar graph. The joint space includes the medial tibial joint space value and the lateral tibial joint space value.

[0029] Optionally, the knee joint force distribution information also includes a bone surface contact point distribution map, wherein the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial insertion point. The relevant data in the knee joint force distribution information includes bone surface contact points at different locations displayed in the form of a dot plot in the bone surface contact point distribution map.

[0030] Optionally, it further includes: when the force value of the knee joint is detected to exceed a threshold, an alarm operation is performed, wherein the force value exceeding the threshold includes the pressure difference between the femur and tibia at the knee joint being greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint being greater than a second threshold.

[0031] A third aspect of this application provides a knee joint force distribution information generation device, comprising:

[0032] The first data receiving module is used to receive first data of the knee joint during the operation collected by the flexible pressure sensor. The first data includes at least the force information of the knee joint during the operation.

[0033] The second data acquisition module is used to acquire second data corresponding to the first data during the operation. The second data includes at least the flexion and extension angles of the knee joint and the joint space.

[0034] The knee joint force distribution information generation module is used to generate visualized knee joint force distribution information based on the first data and the second data.

[0035] The knee joint force distribution information display module is used to display the knee joint force distribution information through a display interface.

[0036] A fourth aspect of this application provides a computer device, which may be an orthopedic surgical robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the functions of the orthopedic surgical robot as described in any of the first aspects above. Alternatively, when the processor executes the computer program, it causes the orthopedic surgical robot to implement the method described in any of the second aspects above.

[0037] A fifth aspect of this application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a computer, it implements the functions of the orthopedic surgical robot as described in any of the first aspects above. Alternatively, when the computer program is executed by a computer, it implements the method as described in any of the second aspects above.

[0038] A sixth aspect of this application provides a computer program product, including a computer program. When the computer program is executed, it implements the functions of the orthopedic surgical robot as described in any of the first aspects above. Alternatively, when the computer program is executed, it causes the method described in any of the second aspects above to be performed. Beneficial effects

[0039] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0040] In this embodiment, by receiving first data such as the force information of the knee joint during surgery collected by a flexible pressure sensor, the orthopedic surgical robot can acquire second data corresponding to the first data during surgery, such as the flexion-extension angle and joint space data of the knee joint. Based on the first and second data, it generates visualized knee joint force distribution information and displays it through a display interface. This embodiment analyzes the force situation at the knee joint and the joint space in conjunction with different flexion-extension angles, allowing the force distribution information to be displayed in real-time on the surgical monitoring screen for the surgeon's reference. This provides precise biomechanical feedback for orthopedic surgery, improving the effectiveness and safety of various orthopedic surgeries, including total knee replacement surgery.

[0041] The orthopedic surgical robot system provided in this application can achieve real-time monitoring of knee joint stress, visualize stress values ​​and contact points, and guide soft tissue adjustments through the high sensitivity of flexible pressure sensors. By integrating complex mechanical data, flexion-extension angles, joint space conditions, and joint contact point distribution into intuitive visual feedback, the orthopedic surgical robot system can help doctors make more accurate judgments and adjustments. Real-time mechanical monitoring and feedback reduce intraoperative uncertainties, improving surgical success rates and patient satisfaction. Furthermore, the orthopedic surgical robot system provided in this application can also be applied to medical education and training. In relevant medical training, trials, and clinical surgeries, data obtained from the above-mentioned orthopedic surgical robot system can provide trainees with visualized mechanical feedback and space measurements, helping them better understand and master soft tissue adjustments and planning for joint replacement surgery. Since there are currently no unified standards regarding knee joint stress distribution and appropriate stress ranges in the prior art, collecting data on knee joint stress distribution and appropriate stress ranges during the application of the above-mentioned orthopedic surgical robot system will also contribute to the establishment of relevant standard systems such as standard procedures and standard ranges for knee joint stress adjustment. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 is a schematic diagram of a method for generating force distribution information of a knee joint according to an embodiment of this application;

[0044] Figure 2 is a schematic diagram of force distribution information of a knee joint provided in an embodiment of this application;

[0045] Figure 3 is a schematic diagram of another knee joint force distribution information provided in an embodiment of this application;

[0046] Figure 4 is a schematic diagram of an orthopedic surgical robot system provided in an embodiment of this application;

[0047] Figure 5 is a schematic diagram of the workflow of an orthopedic surgical robot system provided in an embodiment of this application;

[0048] Figure 6 is a schematic diagram of an orthopedic surgical robot system acquiring data according to an embodiment of this application;

[0049] Figure 7 is a schematic diagram of a knee joint force distribution information generation device provided in an embodiment of this application;

[0050] Figure 8 is a schematic diagram of a computer device provided in an embodiment of this application. Embodiments of the present invention

[0051] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0052] The technical solution of this application will be described below through specific embodiments.

[0053] Referring to Figure 1, a schematic diagram of a method for generating knee joint force distribution information according to an embodiment of this application is shown, which may specifically include the following steps:

[0054] S101. Receive first data of the knee joint during the operation collected by a flexible pressure sensor, wherein the first data includes at least the force information of the knee joint during the operation.

[0055] It should be noted that this method can be applied to orthopedic surgical robots, meaning that the execution subject of this application embodiment can be an orthopedic surgical robot. By executing the various steps of the method provided in this application embodiment, the orthopedic surgical robot can generate knee joint force distribution information, provide feedback to the surgeon on the force situation at the patient's knee joint, facilitate the surgeon's assessment of the rationality and accuracy of the surgical plan, evaluate postoperative effects, and improve the safety of orthopedic surgery.

[0056] The orthopedic surgical robot in this application embodiment can be a computer system designed based on computer-aided medical technology, capable of providing corresponding auxiliary support before, during, and after surgery. In some examples, the orthopedic surgical robot may include a control unit that undertakes data analysis and processing tasks, as well as other units or components capable of performing surgical operations, such as a robotic arm, etc. This application embodiment does not limit the type and structure of the orthopedic surgical robot.

[0057] In this embodiment, the first data may include at least the force information of the knee joint during surgery, which may refer to the pressure value borne by the knee joint. In a specific implementation, a flexible pressure sensor can be installed at the knee joint to collect force information and other data at different flexion and extension angles. The aforementioned force information may include medial tibial pressure values ​​and lateral tibial pressure values.

[0058] In one possible implementation of this application, the flexible pressure sensor can be installed at the tibial osteotomy site of the knee joint and can be respectively fitted to the femoral and tibial trial models installed at the knee joint. Therefore, the flexible pressure sensor used can have a housing shaped like the tibial trial model so that it can fit into the tibial trial model. The interior of the tibial trial model-shaped housing can include multiple thin-film pressure sensors for collecting data such as force information during surgery.

[0059] In another possible implementation of this application embodiment, the first data collected by the flexible pressure sensor may also include bone surface contact point distribution information at the knee joint. This bone surface contact point distribution information may refer to the contact point distribution information between the medial side of the tibia and the femoral model, and the contact point distribution information between the lateral side of the tibia and the femoral model.

[0060] The first data collected by the flexible pressure sensor can be transmitted to the orthopedic surgical robot for further processing.

[0061] In this embodiment, the flexible pressure sensor can be wirelessly connected to the orthopedic surgical robot. After collecting first data such as force information and bone surface contact point distribution information, the flexible pressure sensor can transmit the first data to the orthopedic surgical robot via wireless communication.

[0062] S102. Obtain second data corresponding to the first data during the operation, wherein the second data includes at least the flexion and extension angle of the knee joint and the joint space.

[0063] In this embodiment, to more comprehensively analyze the stress on the knee joint, in addition to collecting first data such as stress information and bone surface contact point distribution information through a flexible pressure sensor, second data corresponding to the aforementioned first data can also be obtained during the surgery. For example, the second data may include the flexion-extension angle of the knee joint and the joint space. This allows determination of the corresponding stress information, bone surface contact point distribution information, and joint space at different flexion-extension angles, providing accurate data for the surgeon to make targeted stress adjustments. The aforementioned flexion-extension angle can refer to the angle at which the patient's leg is bent at different angles with the assistance of the surgeon, and the joint space can refer to the corresponding gap value at the knee joint under different flexion-extension angles.

[0064] In this embodiment, data such as the flexion and extension angles of the knee joint and the joint space can be directly collected by the orthopedic surgical robot during the operation. The collection of these data is a function that the orthopedic surgical robot itself can perform, and this embodiment will not elaborate on this further.

[0065] In one possible implementation of this application embodiment, the first data and the second data can each have corresponding timestamp information, which can indicate the time when the flexible pressure sensor and the orthopedic surgical robot respectively collect the first data and the second data. Therefore, the second data obtained by the orthopedic surgical robot corresponding to the first data can refer to the second data with the same timestamp information as the first data. In this way, when the orthopedic surgical robot processes and analyzes the first data and the second data in the subsequent process, it can match the first data and the second data at the same moment based on the timestamp, thereby ensuring that the obtained force information, bone surface contact point distribution information, and joint space can correspond to the corresponding flexion and extension angles, that is, different force information, bone surface contact point distribution information, and joint space data are obtained at different flexion and extension angles.

[0066] S103. Generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface.

[0067] In this embodiment of the application, after the orthopedic surgical robot obtains data such as the force information at the knee joint, the distribution information of bone surface contact points, the flexion and extension angles, and the joint space, it can process and analyze the above data to generate knee joint force distribution information. This distribution information can be displayed on the display interface in a visual form, so that the surgeon can intuitively understand the postoperative stress at the knee joint according to the current surgical plan, and thus ensure the postoperative effect by adjusting the soft tissue at the corresponding position or adjusting the surgical plan.

[0068] In one possible implementation of this application, when the orthopedic surgical robot processes the acquired first and second data, it can first determine the pressure difference between the femur and tibia at the knee joint based on the force information, and then generate visualized knee joint force distribution information based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space. The visualized knee joint force distribution information can display the pressure difference and joint space corresponding to different flexion-extension angles.

[0069] As an example of an embodiment of this application, the visualized knee joint force distribution information can be a distribution map presented in various forms. Surgeons can operate on the distribution map to determine the pressure difference and joint space and other related data at different flexion and extension angles of the patient's knee joint.

[0070] In this embodiment, knee joint force distribution information can be displayed on the display interface of the orthopedic surgical robot. This display interface provides the surgeon with operational functions, such as obtaining relevant data like pressure differences and joint space at different flexion and extension angles of the patient's knee joint by moving controls on the display interface. For example, the aforementioned controls can be the cursor of a mouse provided by a computer system. Therefore, the orthopedic surgical robot can display relevant data from the knee joint force distribution information during the patient's leg flexion and extension by responding to operations such as moving the cursor on the display interface.

[0071] In one possible implementation of this application, the knee joint force distribution information may include a bar-line composite distribution graph. The x-axis of this graph may represent the flexion-extension angle, and the y-axis may include a first y-axis and a second y-axis. The first y-axis may represent the pressure difference value, and the second y-axis may represent the joint space. Therefore, the relevant data in the knee joint force distribution information may include the pressure difference values ​​corresponding to different flexion-extension angles displayed as a line graph in the aforementioned bar-line composite distribution graph, and the joint spaces corresponding to different flexion-extension angles displayed as a bar graph. The joint spaces may further include the medial tibial joint space value and the lateral tibial joint space value.

[0072] Figure 2 is a schematic diagram of knee joint force distribution information provided in an embodiment of this application. Figure 2 shows the knee joint force distribution information presented as a bar-line composite distribution graph, i.e., a joint gap pressure gauge. As shown in Figure 2, the x-axis of the distribution graph represents the flexion-extension angle. Figure 2 shows the relevant data at four different flexion-extension angles: 0°, 45°, 90°, and 120°. The y-axis of the distribution graph uses different examples on the left and right sides to represent different data. The right y-axis, the first y-axis, represents the pressure difference, and the left y-axis, the second y-axis, represents the joint gap, i.e., the gap value. The gap values ​​shown in Figure 2 include the medial tibial joint gap value and the lateral tibial joint gap value, i.e., the medial gap and lateral gap shown in Figure 2. Furthermore, Figure 2 also shows the pressure difference value using a broken line. Therefore, Figure 2 shows the medial gap, lateral gap, and corresponding pressure difference values ​​at four different flexion-extension angles: 0°, 45°, 90°, and 120°.

[0073] In another possible implementation of this application, the knee joint force distribution information may further include a bone surface contact point distribution map. The x-axis of this bone surface contact point distribution map may represent the distance from the tibial contact point to the tibial midline, and the y-axis may represent the distance from the tibial contact point to the tibial insertion point. Therefore, the relevant data in the knee joint force distribution information may also include bone surface contact points at different locations displayed in a dot plot in the bone surface contact point distribution map.

[0074] Figure 3 shows a schematic diagram of another knee joint force distribution information provided in this application embodiment. Figure 3 shows the knee joint force distribution information, i.e., the bone surface contact point distribution diagram, i.e., the contact point diagram, presented as a dot plot. In the contact point diagram shown in Figure 3, the x-axis represents the distance from the tibial contact point to the tibial midline, i.e., the distance of each contact point from the tibial midline, and the y-axis represents the distance from the tibial contact point to the tibial insertion point, i.e., the distance of each contact point from the tibial insertion point. The solid black dots in Figure 3 represent each contact point.

[0075] Based on the force distribution information shown in Figures 2 and 3, the location of each contact point, as well as the inner and outer gap values ​​and pressure differences at different flexion and extension angles, can be intuitively displayed to the surgeon.

[0076] In this embodiment, the orthopedic surgical robot can also monitor the stress at the patient's knee joint in real time during surgery. When the monitored force value at the knee joint exceeds a certain threshold, the orthopedic surgical robot can execute an alarm operation to remind the surgeon to make corresponding intraoperative adjustments. The aforementioned force value exceeding the threshold can include various situations, such as the pressure difference between the femur and tibia at the knee joint being greater than a first threshold, and / or, the femoral pressure value and / or tibial pressure value at the knee joint being greater than a second threshold, etc. When such situations occur, it can be considered that continuing the surgical procedure according to the current plan may affect the patient's postoperative recovery. The orthopedic surgical robot can provide real-time reminders to the surgeon, facilitating the surgeon to improve the accuracy of the surgery by adjusting soft tissues or changing the surgical plan.

[0077] In another possible implementation of this application's embodiments, the femoral and tibial trial models have information on recommended bone surface contact points. When generating knee joint force distribution information using the method provided in this application's embodiments, the orthopedic surgical robot can also determine whether the patient's actual bone surface contact points are consistent with the recommended bone surface contact points of the currently used femoral and tibial trial models, thereby avoiding situations where the bone surface contact points are too concentrated or too biased to one side.

[0078] In this embodiment, by receiving first data such as the force information of the knee joint during surgery collected by a flexible pressure sensor, the orthopedic surgical robot can obtain second data corresponding to the first data during surgery, such as the flexion-extension angle and joint space data of the knee joint. Based on the first and second data, it generates visualized knee joint force distribution information and displays it through a display interface. This embodiment analyzes the force situation at the knee joint and the joint space in conjunction with different flexion-extension angles, allowing the force distribution information to be displayed in real-time on the surgical monitoring screen for the surgeon's reference. This provides precise biomechanical feedback for orthopedic surgery, improving the effectiveness and safety of various orthopedic surgeries, including total knee replacement surgery.

[0079] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0080] Based on the knee joint force distribution information generation method provided in the foregoing embodiments, this application also provides an orthopedic surgical robot system, which can generate knee joint force distribution information by executing the aforementioned method. This will be described in detail below.

[0081] Figure 4 shows a schematic diagram of an orthopedic surgical robot system provided in an embodiment of this application. The orthopedic surgical robot system may include an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot. The connection between the flexible pressure sensor and the orthopedic surgical robot can be wireless, meaning that the flexible pressure sensor and the orthopedic surgical robot can transmit and receive data wirelessly.

[0082] The above-mentioned orthopedic surgical robot system can realize functions such as data acquisition and transmission, real-time data processing, and surgical feedback and adjustment.

[0083] Data acquisition and transmission can be achieved during intraoperative assessment. Flexible pressure sensors can continuously collect force data and bone surface contact information of the knee joint at different flexion and extension angles. The sensors can wirelessly transmit the data to the data processing module of the orthopedic surgical robot.

[0084] After receiving data from the sensors, the data processing module can perform real-time data processing. By analyzing the flexion-extension angles and clearance conditions output by the orthopedic surgical robot, it generates a force distribution and clearance diagram of the knee joint. This diagram can intuitively display the force distribution, clearance conditions, and concentrated contact point areas of the joint at different flexion-extension angles.

[0085] The display and feedback module can show the stress distribution diagram in real time on the surgical monitoring screen for the surgeon's reference. When the system detects abnormal mechanical distribution (such as excessive stress concentration or uneven distribution), it can issue a warning and suggest that the surgeon adjust the soft tissue condition. If adjusting the soft tissue cannot resolve the issue, it will suggest that the surgeon adjust the surgical plan of the robotic system, adjust the position or angle of the prosthesis, and perform a secondary osteotomy. The surgeon can make adjustments in real time based on the feedback information to ensure that the joint stress distribution and condition are appropriate.

[0086] Figure 5 shows a schematic diagram of the workflow of an orthopedic surgical robot system provided in this application embodiment. Using the orthopedic surgical robot system provided in this application embodiment, procedures such as prosthesis planning and bone surface registration can be performed on patients requiring orthopedic surgery, such as those undergoing total knee replacement surgery, leading to the postoperative evaluation stage. During the postoperative evaluation stage, a flexible pressure sensor can be activated, placed in the patient's knee joint, and connected to the orthopedic surgical robot.

[0087] Specifically, the flexible pressure sensor can consist of a shell shaped like a tibia trial model and multiple thin-film pressure sensors. The flexible pressure sensor can be installed at the tibial osteotomy site of the knee joint and fits into the femoral and tibial trial models installed in the knee joint respectively, ensuring that the force on each part can be monitored in real time during the operation.

[0088] Figure 6 illustrates a schematic diagram of data acquisition by an orthopedic surgical robot system according to an embodiment of this application. A flexible pressure sensor installed at the knee joint outputs data such as medial tibial pressure values, lateral tibial pressure values, contact point distribution information between the medial tibial and femoral model, and contact point distribution information between the lateral tibial and femoral model, and transmits this data to the orthopedic surgical robot. On the other hand, the orthopedic surgical robot can record the flexion-extension angles and joint spaces at this time, including medial tibial joint space values ​​and lateral tibial joint space values.

[0089] Orthopedic surgical robots can process the various types of data acquired above to generate corresponding knee joint force distribution information. For example, as shown in Figure 6, the orthopedic surgical robot can generate knee joint force distribution information presented in the form of a bar-line composite distribution map, as shown in Figure 2, based on information such as flexion-extension angles, joint space, and pressure values. This distribution information can be data reflecting the joint space pressure, and can also be referred to as a joint space pressure gauge. In addition, the orthopedic surgical robot can also generate a schematic diagram of bone surface contact points at different locations, as shown in Figure 3, displayed in the form of a dot plot, based on flexion-extension angles and bone surface contact point distribution information.

[0090] The above-described visualization of the force distribution information of the knee joint can intuitively show the force, gap, and concentrated contact area of ​​the joint at different flexion and extension angles.

[0091] As shown in Figure 5, after the orthopedic surgical robot visualizes the force distribution information of the knee joint, the surgeon can assess the suitability of the surgical plan based on the displayed information. If the displayed force distribution information confirms the need for intraoperative adjustments, the surgeon can first perform soft tissue adjustments, such as cutting a portion of the soft tissue to adjust soft tissue tension, and then reapply this method to monitor the force at the corresponding location. If multiple assessments deem the plan unsuitable, the surgical plan can be adjusted. While the surgical plan is adjusted and the surgery is performed using the adjusted plan, the system and method provided in this application embodiment can continue to monitor the force on the knee joint in real time until the installation of the femoral and tibial prostheses is completed.

[0092] Referring to Figure 7, a schematic diagram of a knee joint force distribution information generation device provided in an embodiment of this application is shown. Specifically, it may include a first data receiving module 701, a second data acquisition module 702, a knee joint force distribution information generation module 703, and a knee joint force distribution information display module 704, wherein:

[0093] The first data receiving module 701 is used to receive first data of the knee joint during the operation collected by the flexible pressure sensor. The first data includes at least the force information of the knee joint during the operation.

[0094] The second data acquisition module 702 is used to acquire second data corresponding to the first data during the operation. The second data includes at least the flexion and extension angle of the knee joint and the joint space.

[0095] The knee joint force distribution information generation module 703 is used to generate visualized knee joint force distribution information based on the first data and the second data.

[0096] The knee joint force distribution information display module 704 is used to display the knee joint force distribution information through a display interface.

[0097] In one possible implementation of this application, the flexible pressure sensor is installed at the tibial osteotomy site of the knee joint and is respectively attached to the femoral and tibial trial models installed in the knee joint; the flexible pressure sensor consists of a shell shaped like the tibial trial model and a plurality of thin-film pressure sensors.

[0098] In this embodiment of the application, the force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the bone surface contact point distribution information at the knee joint. The bone surface contact point distribution information includes the contact point distribution information between the medial side of the tibia and the femoral model and the contact point distribution information between the lateral side of the tibia and the femoral model.

[0099] In one possible implementation of this application embodiment, the first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data that has the same timestamp information as the first data.

[0100] In one possible implementation of this application embodiment, the knee joint force distribution information generation module 703 can specifically be used for:

[0101] The pressure difference between the femur and tibia at the knee joint is determined based on the force information.

[0102] Based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space, a visualized knee joint force distribution information is generated. The knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-extension angles.

[0103] In one possible implementation of this application embodiment, the knee joint force distribution information display module 704 can also be used for:

[0104] In response to the operation of moving the control in the display interface, relevant data in the force distribution information of the knee joint corresponding to the patient's leg flexion and extension process are displayed.

[0105] In one example, the knee joint force distribution information includes a bar-line composite distribution graph, where the x-axis represents the flexion-extension angle, and the y-axis includes a first y-axis and a second y-axis. The first y-axis represents the pressure difference value, and the second y-axis represents the joint space. The relevant data in the knee joint force distribution information includes the pressure difference value corresponding to different flexion-extension angles displayed as a line graph in the bar-line composite distribution graph, and the joint space corresponding to different flexion-extension angles displayed as a bar graph. The joint space includes the medial tibial joint space value and the lateral tibial joint space value.

[0106] In another example, the knee joint force distribution information also includes a bone surface contact point distribution map, where the x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial insertion point. The relevant data in the knee joint force distribution information includes bone surface contact points at different locations displayed in the form of a dot plot in the bone surface contact point distribution map.

[0107] In one possible implementation of this application, the device may further include an alarm module, which may be used to: execute an alarm operation when the force value of the knee joint is detected to exceed a threshold, wherein the force value exceeding the threshold includes the pressure difference between the femur and tibia at the knee joint being greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint being greater than a second threshold.

[0108] This application provides a device for generating knee joint force distribution information. This device can be the orthopedic surgical robot system in the foregoing embodiments or related components constituting the system. By using this device, the steps in the foregoing method embodiments can be implemented.

[0109] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0110] Referring to FIG8, a schematic diagram of a computer device provided in an embodiment of this application is shown. As shown in FIG8, the computer device 800 in this embodiment includes: a processor 810, a memory 820, and a computer program 821 stored in the memory 820 and executable on the processor 810. When the processor 810 executes the computer program 821, it implements the steps in the various embodiments of the knee joint force distribution information generation method described above, such as steps S101 to S103 shown in FIG1. ​​Alternatively, when the processor 810 executes the computer program 821, it implements the functions of each module / unit in the various device embodiments described above, such as the functions of modules 701 to 704 shown in FIG7.

[0111] For example, the computer program 821 can be divided into one or more modules / units, which are stored in the memory 820 and executed by the processor 810 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 821 in the computer device 800. For example, the computer program 821 can be divided into a first data receiving module, a second data acquisition module, a knee joint force distribution information generation module, and a knee joint force distribution information display module, with the specific functions of each module as follows:

[0112] The first data receiving module is used to receive first data of the knee joint during the operation collected by the flexible pressure sensor. The first data includes at least the force information of the knee joint during the operation.

[0113] The second data acquisition module is used to acquire second data corresponding to the first data during the operation. The second data includes at least the flexion and extension angles of the knee joint and the joint space.

[0114] The knee joint force distribution information generation module is used to generate visualized knee joint force distribution information based on the first data and the second data.

[0115] The knee joint force distribution information display module is used to display the knee joint force distribution information through a display interface.

[0116] The computer device 800 may be the orthopedic surgical robot or a component of the orthopedic surgical robot in the foregoing embodiments, and the computer device 800 may implement the various steps in the foregoing method embodiments. The computer device 800 may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will understand that FIG8 is merely an example of the computer device 800 and does not constitute a limitation on the computer device 800. It may include more or fewer components than shown, or combine certain components, or different components. For example, the computer device 800 may also include input / output devices, network access devices, buses, etc.

[0117] The processor 810 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0118] The memory 820 can be an internal storage unit of the computer device 800, such as a hard disk or memory of the computer device 800. The memory 820 can also be an external storage device of the computer device 800, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the computer device 800. Furthermore, the memory 820 can include both internal and external storage units of the computer device 800. The memory 820 is used to store the computer program 821 and other programs and data required by the computer device 800. The memory 820 can also be used to temporarily store data that has been output or will be output.

[0119] This application also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the methods described in the foregoing embodiments.

[0120] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a computer, implements the methods described in the foregoing embodiments.

[0121] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0122] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An orthopedic surgical robot system, characterized in that, Includes an orthopedic surgical robot and a flexible pressure sensor connected to the orthopedic surgical robot; wherein: The flexible pressure sensor is used to collect first data of the knee joint during the operation and transmit the first data to the orthopedic surgical robot. The first data includes at least the force information of the knee joint during the operation. The orthopedic surgical robot is used to acquire second data corresponding to the first data during the operation, generate visualized knee joint force distribution information based on the first data and the second data, and display the knee joint force distribution information through a display interface. The second data includes at least the flexion and extension angles and joint space of the knee joint.

2. The orthopedic surgical robot system according to claim 1, characterized in that, The flexible pressure sensor is installed at the tibial osteotomy site of the knee joint and is respectively attached to the femoral and tibial trial models installed in the knee joint; the flexible pressure sensor consists of a shell shaped like the tibial trial model and multiple thin-film pressure sensors.

3. The orthopedic surgical robot system according to claim 1 or 2, characterized in that, The force information includes the pressure value on the medial side of the tibia and the pressure value on the lateral side of the tibia. The first data also includes the distribution information of bone surface contact points at the knee joint. The distribution information of bone surface contact points includes the distribution information of contact points between the medial side of the tibia and the femoral model and the distribution information of contact points between the lateral side of the tibia and the femoral model.

4. The orthopedic surgical robot system according to claim 3, characterized in that, The first data and the second data each have corresponding timestamp information, and the second data corresponding to the first data is the second data with the same timestamp information as the first data.

5. The orthopedic surgical robot system according to any one of claims 1, 2, or 4, characterized in that, The orthopedic surgical robot is specifically used to: determine the pressure difference between the femur and tibia at the knee joint based on the force information; generate visualized knee joint force distribution information based on the pressure difference, the flexion-extension angle of the knee joint, and the joint space; the knee joint force distribution information displays the pressure difference and the joint space corresponding to different flexion-extension angles.

6. The orthopedic surgical robot system according to claim 5, characterized in that, The orthopedic surgical robot is also used to: in response to the operation of moving controls in the display interface, display relevant data in the force distribution information of the knee joint corresponding to the patient's leg flexion and extension process.

7. The orthopedic surgical robot system according to claim 6, characterized in that, The knee joint force distribution information includes a bar-line composite distribution graph. The x-axis of the bar-line composite distribution graph represents the flexion-extension angle, and the y-axis of the bar-line composite distribution graph includes a first y-axis and a second y-axis. The first y-axis represents the pressure difference value, and the second y-axis represents the joint space. The relevant data in the knee joint force distribution information includes the pressure difference value corresponding to different flexion-extension angles displayed in the bar-line composite distribution graph in the form of a line graph, and the joint space corresponding to different flexion-extension angles displayed in the form of a bar graph. The joint space includes the medial tibial joint space value and the lateral tibial joint space value.

8. The orthopedic surgical robot system according to claim 6, characterized in that, The knee joint force distribution information also includes a bone surface contact point distribution map. The x-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial midline, and the y-axis of the bone surface contact point distribution map represents the distance from the tibial contact point to the tibial insertion point. The relevant data in the knee joint force distribution information includes bone surface contact points at different locations displayed in the form of a dot plot in the bone surface contact point distribution map.

9. The orthopedic surgical robot system according to any one of claims 1 to 2, 4, or 6 to 8, characterized in that, The orthopedic surgical robot is also used to: execute an alarm operation when the force value of the knee joint exceeds a threshold, wherein the force value exceeding the threshold includes the pressure difference between the femur and tibia at the knee joint being greater than a first threshold, and / or the femoral pressure value and / or tibial pressure value at the knee joint being greater than a second threshold.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is run, it implements the functions of the orthopedic surgical robot as described in any one of claims 1 to 9.

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