1233 results about "Lower limb" patented technology

The invention relates to the technical field of medical rehabilitation, and discloses a lower limb weight-bearing gait rehabilitation training system which comprises a data acquisition module, a data processing and analysis module, a patient individualized modeling module, an intelligent decision and control module, a rehabilitation execution module and a man-machine interaction and medical information interface module which are in communication connection through a network. The data acquisition module is used for acquiring multi-modal data of a patient in real time, and the multi-modal data comprises static sign data, dynamic physiological parameters, kinematics and dynamics parameters and non-motion physiological and psychological state data; and the data processing and analysis module is used for carrying out preprocessing, feature extraction and deep analysis on the original data, and outputting a structured patient individualized feature vector and an evaluation result. According to the invention, a patient three-dimensional skeletal muscle digital twinborn model is constructed through the patient individualized modeling module, and in combination with a continuous learning intelligent model library, body sign differences of different patients can be accurately adapted.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention discloses a double-clutch variable-stiffness knee joint exoskeleton, and relates to the technical field of wearable lower limb exoskeletons.The double-clutch variable-stiffness knee joint exoskeleton comprises a gait sensing module arranged outside and a limb connecting arm module used for being connected with a human body, and an energy storage module is installed on one side of the limb connecting arm module; a sensor module is mounted on the other side of the limb connecting arm module; the limb connecting arm module comprises a limb connecting arm assembly I used for being connected with the thigh of the human body and a limb connecting arm assembly II used for being connected with the shank of the human body, the limb connecting arm assembly I and the limb connecting arm assembly II are each provided with a clutch unit, and the core speed increaser is installed between the limb connecting arm assembly I and the limb connecting arm assembly II. The energy storage module and the sensor module are arranged on the two sides of the core speed increaser, and the core speed increaser is connected with the energy storage module. The device has the advantages of compact structure, variable rigidity bandwidth and good motion adaptability, can realize high energy recovery efficiency in a multi-gait mode, and reduces the metabolic consumption of a human body.

The present application relates to the field of medical devices, and provides a back plate adjustable exoskeleton, comprising: a column structure and a control module, the column structure is slidably connected with a back plate mechanism, and a lower limb exoskeleton connected with the back plate mechanism, and the back plate mechanism is provided with a back plate which can move up and down relative to the back plate mechanism; further comprising: a binding device arranged on the lower limb exoskeleton and a foot bottom exoskeleton, the foot bottom exoskeleton is provided with a pressure sensor. When the human body wears the exoskeleton and changes from a sitting posture to a standing posture, the back plate mechanism adjusts the back plate mechanism along the column structure to the height matched with the user according to different body shapes of the user; and when the user changes the posture in the walking process in the standing posture, the foot bottom exoskeleton detects the change of the foot bottom pressure, so that the control module can control the up and down movement of the back plate relative to the back plate mechanism according to the foot bottom pressure to adjust the human body posture.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

The invention relates to an early screening method and system for abnormal spinal curvature based on multi-modal data fusion, and the method comprises the steps: carrying out the fusion of space-time sequence features based on obtained multi-modal data, and carrying out the three-dimensional biomechanical modeling, and obtaining a spine-pelvis-lower limb dynamic coupling network; carrying out weighted calculation on the key mechanical transmission path through a graph attention mechanism based on a dynamic coupling network to obtain a path strengthening feature vector; performing multi-modal risk quantitative modeling based on the path strengthening feature vector to obtain a multi-dimensional risk index; and based on multi-dimensional risk indexes, carrying out grading early warning decision making through threshold value comparison and dynamic risk layering so as to realize early screening of spinal curvature abnormity. By implementing the scheme, the early screening accuracy of the abnormal spinal curvature can be improved.

The invention relates to the technical field of lower limb rehabilitation training, and discloses an intelligent load lower limb rehabilitation training system fused with a multi-source sensor. The system comprises a multi-source sensing module, a motion intention recognition module, a self-adaptive track generation module, a real-time load regulation and control module and an actuator driving module. The multi-source sensing module synchronously collects plantar pressure, joint angles and electromyographic signals during training of a user through a plantar pressure sensor array, a knee joint angle sensor and a surface electromyographic sensor; the motion intention recognition module extracts time domain and frequency domain features from the multi-source data, and obtains a real-time motion intention through classification; the self-adaptive track generation module generates an exclusive three-dimensional motion track in combination with the real-time intention and historical rehabilitation data of the user; the real-time load regulation and control module generates a self-adaptive load control signal through a fuzzy decision algorithm; the actuator driving module adjusts the magnetic powder brake through PWM current, outputs corresponding real-time resistance torque, and assists in optimizing the rehabilitation training effect.

The invention provides a compact lower limb exoskeleton hip pitching degree-of-freedom joint assembly which comprises a hip motor fixing plate and a hip motor, the hip motor is installed on the hip motor fixing plate through a hip motor fixing piece, the hip motor fixing plate is connected with a hip joint upper connecting plate and a hip joint lower connecting plate, and the hip joint upper connecting plate is connected with the hip joint lower connecting plate. A stable supporting structure is formed; a motor flange plate is mounted at the output end of the hip motor, and a motor output shaft is fixed on the motor flange plate to transmit torque generated by the motor; the other end of the motor output shaft is connected with a knee joint motor, and meanwhile the motor output shaft transmits power to the thigh rod connecting piece through a transmission bolt.

The invention discloses a hip replacement lower limb equal-length control system and method based on individualized three-dimensional modeling. The hip replacement lower limb equal-length control system comprises a data preprocessing module, a medical image processing module, a dynamic implantation simulation module, a biomechanical analysis module, a guide plate generation module and a postoperative evaluation module. The method comprises the following steps: acquiring bilateral lower limb CT data and carrying out multi-modal registration; segmenting a skeleton structure by using a deep learning model, and constructing a three-dimensional model; reconstructing a complete sphere through affected side femoral head multi-plane fitting, and determining a target femoral head center in combination with uninjured side mirror image data; dynamically adjusting the space posture of the prosthesis to enable the center of the prosthesis head to coincide with the center of the target; performing finite element analysis to optimize stress distribution; and generating a 3D printing file of the individualized osteotomy guide plate and the positioning pointer. According to the method, preoperative accurate planning, intraoperative real-time control and postoperative quantitative evaluation are achieved, the operation precision is effectively improved, and complications of unequal lengths of lower limbs are avoided.

The invention discloses a lightweight multi-mode lower limb motion intention recognition method and system, and relates to the technical field of biomedicine. The method comprises the steps that multi-channel surface electromyogram signals sEMG of a target lower limb and joint angle signals and joint torque signals of lower limbs on the same side are synchronously collected; performing feature extraction by using a double-branch structure to obtain muscle-related deep time sequence features and joint-related high-level semantic features; performing feature fusion through a bidirectional cross attention mechanism to obtain cross attention fusion features; and performing flattening, nonlinear mapping, regularization and Softmax classification on the cross attention fusion features, and outputting the motion intention of the target lower limb. Through double-branch input, depth feature extraction and a bidirectional cross attention mechanism, on the premise of ensuring recognition precision, a lightweight attention module, a residual structure and a cross-modal interaction mechanism are introduced, and the parameter quantity and calculation overhead are reduced.

An exercise device is disclosed to enable a user to stretch the lower limbs, lower back, hamstrings, gluteal tendons and gluteal fasciae for pain relief. The stretching device includes a padded body rest having back and leg rest sections hingedly connected together and rotatable from an unfolded configuration to a compact folded configuration lying face-to-face. First and second pairs of leg lifting straps are connected to one another by respective cam jam buckles so as to extend between the body rest and cuffs that surround the user's ankles and feet. A pulling force applied to each leg lifting strap causes the user's legs to be raised off the body rest from a horizontal flat position to a vertical upstanding position. Force monitors are located between the pairs of the leg lifting straps and the user's legs to provide a visual indication of the pulling force.

The invention provides a knee joint prosthesis and a lower limb prosthesis, and relates to the technical field of medical instruments. The knee joint prosthesis comprises a knee joint upper body, a knee joint lower body and a hydraulic rod; an offset rotating shaft is arranged on the knee joint upper body, one end of the hydraulic rod is pivoted in the knee joint lower body, and the other end of the hydraulic rod is pivoted with the offset rotating shaft, so that the knee joint upper body can drive the hydraulic rod to do telescopic motion when rotating relative to the knee joint lower body; the knee joint upper body is provided with a pivoting hole used for installing the pivoting shaft and a compression seam, the compression seam is located above the pivoting hole, the top of the knee joint upper body is provided with a connector used for being connected with the leg of a patient, and the knee joint upper body is provided with a first threaded connecting hole used for installing the connector. A locking hole is formed in the first threaded connecting hole, the locking hole penetrates through the compression seam to be communicated with the pivoting hole, a locking clamping column is arranged in the locking hole, and a locking piece used for limiting the locking clamping column is arranged at the top of the locking hole. The technical effect of improving the stability of the prosthesis is achieved.

A trajectory planning method for a lower limb exoskeleton includes: determining a state space equation corresponding to the lower limb exoskeleton using dynamic analysis; determining an objective function for trajectory planning of the lower limb exoskeleton according to the state space equation, wherein a phase variable corresponding to the objective function is a time-related phase variable; and performing trajectory planning of the lower limb exoskeleton according to the objective function to obtain a first gait trajectory corresponding to the lower limb exoskeleton, wherein the first gait trajectory is a gait trajectory corresponding to the time-related phase variable.

The invention relates to the technical field of intelligent control, and discloses a power-assisted control method of a lower limb pneumatic flexible exoskeleton and a lower limb pneumatic flexible exoskeleton system.The method comprises the steps that healthy side plantar pressure data are obtained, healthy side key gait event nodes are recognized, and the power-assisted control method of the lower limb pneumatic flexible exoskeleton is obtained according to the healthy side key gait event nodes and ankle joint angle data; estimating an uninjured side continuous gait phase, and calculating an affected side target gait phase according to the uninjured side continuous gait phase; according to the target gait phase of the affected side, auxiliary torque and tension are determined; according to the auxiliary torque and the pulling force, target air pressure for supporting the airbag and shrinking the airbag is determined, an electromagnetic valve is controlled to execute deflation or inflation operation according to the target air pressure, and the internal pressure of the airbag is controlled within a target range. The invention aims to provide flexible assistance conforming to the biomechanical characteristics of the ankle joint of a human body for people with ankle joint dysfunction, improve the walking ability and improve the safety and comfort of rehabilitation training.

The invention relates to an early risk assessment method and system for abnormal spine curvature, and the method comprises the steps: carrying out the fusion of space-time sequence features based on obtained multi-modal data, and carrying out the three-dimensional biomechanical modeling, and obtaining a spine-pelvis-lower limb dynamic coupling network; carrying out weighted calculation on the key mechanical transmission path through a graph attention mechanism based on a dynamic coupling network to obtain a path strengthening feature vector; performing multi-modal risk feature decoupling and dynamic weighted aggregation based on the path strengthening feature vector to obtain a structured risk map; and based on the structured risk map, early risk assessment of spine curvature abnormity is carried out through adaptive risk threshold mapping and dynamic risk quantification.

The invention discloses a medical thrombus detection stretch sock and a thrombus detection method, and relates to the technical field of medical instruments.The medical thrombus detection stretch sock comprises a sock body, the sock body is provided with a wearing cavity for lower limb wearing, and a pressure adjusting assembly is embedded in the side wall of the wearing cavity; the pressure adjusting assembly is used for adjusting the pressure applied to the lower limbs by the sock body and comprises an annular air bag and a protection limiting piece, and the protection limiting piece is arranged on the outer side of the annular air bag and used for guiding the annular air bag to be inflated and expanded towards the wearing cavity and protecting the outer side of the annular air bag; a thrombus flexible sensor for detecting thrombus is arranged on the inner surface of the wearing cavity. The thrombus flexible sensor is arranged in the wearing cavity of the sock body, when the pressure applied to the lower limb by the sock body is adjusted to be within the preset threshold range, the thrombus flexible sensor is automatically started to collect physical parameters such as expansion change of the blood vessel of the lower limb in real time, and the early detection and continuous monitoring functions of thrombus are achieved.

To provide an exercise device with excellent practicality that allows various exercises to be performed by moving the lower limbs without causing positional deviation during exercise. [Solution] The exercise equipment comprises a base 1 to be placed on the floor, and a main body 2 positioned relative to the base 1 and swingable, the base 1 having a spherical shaft 3 in the centre of its upper surface, the main body 2 having a ship-bottom shape with a rectangular upper surface in a plan view and a curved lower surface, and foot rests 4 on which the user places their feet are provided at both longitudinal ends of the upper surface, and a bearing 5 into which the spherical shaft 3 slides freely is recessed in the centre of the curved lower surface, the main body 2 being configured to be rotatable horizontally and swingable in 360° directions relative to the base 1 via the spherical shaft 3.

The invention provides a multifunctional leg supporting device and a control method thereof, and relates to the technical field of medical instruments. The multifunctional leg supporting device comprises an intelligent leg sleeve and a control module, the intelligent leg sleeve integrates a self-supporting structure, a gradient pressurization system, a constant-temperature regulation and control system, an acupoint massage system, a pressure monitoring system and an observation window, and all the systems are connected with the control module. The intelligent leg sleeve can be directly matched with a traditional operation leg frame, and the self-supporting structure of the intelligent leg sleeve can still be tightly attached to the lower limbs of the patient and the leg frame by adjusting the height and angle of the leg frame. According to the device and the control method thereof, intraoperative body position supporting is optimized, physiological fitness and comfort are improved, a multifunctional system is integrated, intraoperative circulation and nerve protection capacity is improved, intelligent regulation and control are achieved, individualized dynamic intervention is achieved, intraoperative safety monitoring capacity is enhanced, the structure is modularized, and operation convenience is high.

The present disclosure describes self-adjusting sockets for lower limb prostheses in which each step transmits motion to a resilient resistive element coupled to an actuator configured to cycle between a rest position and an actuated position. The resistive element can transmit the motion to the actuator to cycle the actuator. Each cycle of the actuator acts through a mechanical linkage to tighten the socket around the residuum, until a desired threshold tightness on the residuum is reached. After the threshold tightness is reached, the resistive element yields and absorbs the motion rather than transmitting the motion, so that the actuator ceases to cycle on each step, preventing further tightening beyond the threshold.

The invention discloses a variable stiffness external fixing device for accelerating lower limb fracture healing, which comprises two oppositely arranged fixing rings, a plurality of support arms connected between the two fixing rings, and kirschner wires arranged inwards along the radial direction on the fixing rings, and is characterized in that the fixing rings are also provided with kirschner wire applied stiffness adjusting mechanisms. The rigidity change of the fixing end of the external bone fixing device can be adjusted, the structure is simple, adjustment is convenient and fast, and the rigidity adjusting requirements of different stages in the bone rehabilitation process can be better met.

The invention discloses a training mode determination method and system for a lower limb exoskeleton rehabilitation robot. The method comprises the steps that angle data, joint torque data and plantar pressure data when a patient executes multiple target actions are collected; according to the angle data and the joint torque data, calculating to obtain a joint motion range, and according to the angle data and the plantar pressure data, calculating a joint output torque; acquiring a pain score of the patient, and calculating a training mode score according to the joint motion range, the joint output torque and the pain score of the patient; and according to the training mode score, determining a training mode of the lower limb exoskeleton rehabilitation robot, wherein the training mode comprises a passive mode, an auxiliary mode and an anti-resistance mode. The motion range of the hip, knee and ankle joints can be accurately quantified, the joint motion range can be dynamically evaluated, the optimal training mode is dynamically recommended in combination with the training score calculated in real time, therefore, the rehabilitation efficiency can be improved, and the method can be widely applied to the technical field of rehabilitation training.

Provided are a biplanar image-based preoperative planning method and system for total knee arthroplasty. Based on a static biplanar lower-limb image of a knee joint of a target object in a standing position and a dynamic biplanar image of the knee joint during functional motion, as well as an imported three-dimensional model, functional parameters, morphological parameters, and a three-dimensional medial and lateral joint gap of the knee joint are calculated, and then iterative calculation is continuously carried out using a two-dimensional model and a three-dimensional dynamic model to obtain a dynamically optimized placement position, so that preoperative TKA prosthesis model selection for balanced joint space across full flexion angles can be achieved; meanwhile, TKA prosthesis position planning for correcting the mechanical axis of the knee joint under three-dimensional weight-bearing conditions is considered, thereby accurately restoring the real dynamic motion of a patient, and improving the prosthesis-patient matching degree.

The invention relates to the technical field of rehabilitation robots, in particular to a gait phase detection method based on multi-model fusion, and the method comprises the steps: collecting human lower limb motion characteristic parameters, electromyographic signal characteristic parameters and foot bottom ground contact pressure; constructing a motion feature set based on the preprocessed human body lower limb motion feature parameters, the preprocessed electromyographic signal feature parameters and the preprocessed plantar ground contact pressure; processing the motion feature set by using a plurality of heterogeneous models, and generating a gait phase probability prediction result corresponding to each model; carrying out fusion based on the gait phase probability prediction results of the plurality of models, and generating a fused gait phase probability; performing correction processing based on the fused gait phase probability; and outputting a final gait phase label based on the motion feature set, the fused gait phase probability and the corrected gait phase probability. According to the invention, the accuracy of gait phase detection is obviously improved.

The invention relates to a dynamic intelligent fixing device for lower limb rehabilitation, which belongs to the technical field of medical instruments and comprises a dynamically adjustable leg supporting structure, a self-adaptive foot fixing device, a multi-modal stimulation system, a double-shaft linkage movement mechanism and an intelligent regulation and control system. The dynamic adjusting structure and the self-adaptive fixing device can adapt to different leg circumferences, foot types and joint motion ranges, and comfortable fixing and standard movement of a patient are guaranteed; the multi-mode stimulation system is combined with mechanical movement, pneumatic massage and myoelectricity stimulation to synergistically promote blood circulation of the lower limbs; the intelligent regulation and control system collects multi-dimensional physiological data in real time and dynamically optimizes motion parameters and stimulation intensity. The device solves the problems that an existing device is poor in adaptability, single in stimulation, lagged in regulation and control and the like, individualized precise adjuvant therapy is achieved, the lower limb rehabilitation effect and clinical benefits of postoperative lower limb fixation and VTE prevention are effectively improved, and meanwhile the operation complexity of medical staff is reduced.

An apparatus for an active exoskeleton boot is provided. The apparatus can include a foot plate disposed within a boot of a user. The apparatus can include a first adapter extending from a side surface of the foot plate having a slot and an actuator module comprising a chassis and a post, and the post coupled to the chassis. The apparatus can include a second adapter extending from an end surface of the post. The slot of the first adapter can be configured to engage the second adapter when the actuator module is positioned at a first angle relative to the first adapter. The first adapter can be configured to lock with the second adapter when the actuator module rotates from the first angle to a second angle relative to the first adapter.

The utility model discloses a joint torque measuring device, which comprises a base provided with a slide rail and used for bearing a force measuring unit and abutting against a static limb joint of a joint to be measured; the force measuring unit is mounted on the sliding rail in a sliding manner and is used for receiving and measuring the acting force of a movable limb joint of the joint to be measured; and the displacement measuring unit is arranged on the base and is used for measuring the displacement of the force measuring unit. The device can be used for measuring torques of joints of all positions of a human body, such as joints of upper and lower limbs or fingers, the muscle strength and motion function conditions of the joints can be evaluated only by adjusting the sizes of all parts of the device to be matched with the sizes of the corresponding joints and limbs, and basis is provided for formulation and adjustment of rehabilitation treatment when the device is applied to the rehabilitation treatment; accordingly, a corresponding rehabilitation training scheme is designed, and the patient is helped to recover muscle strength and motion functions.

The invention discloses a method and system for driving and controlling a lower limb exoskeleton through brain-computer interface intention confidence, and relates to the technical field of medical rehabilitation. The method comprises the following steps: firstly, identifying an original electroencephalogram signal to obtain intention confidence, and mapping an impedance parameter group containing joint stiffness and a damping coefficient in combination with gait phase information; secondly, extracting a motion position and an interaction force error, comparing an intention confidence coefficient with an actual execution state by using a sliding time window to obtain a nerve matching error, and fusing the three into a total composite error; meanwhile, the human-machine coupling compliance is evaluated based on the human body joint angle and the exoskeleton torque variation, and a safety gain coefficient is discriminated and generated; and finally, performing gain operation on the total composite error based on the impedance parameter group, and performing safety gain coefficient correction to obtain a target control torque to be output to a driving actuator. In this way, a nerve-force-motion three-closed-loop framework is constructed, and compliant self-adaptive on-demand assistance and high-safety man-machine collaborative rehabilitation with defense protection are achieved.

The invention provides a bionic lower limb robot artificial limb test system and method. The system comprises a humanoid robot test main body, a load module, a support module and a data acquisition module, the humanoid robot testing main body at least comprises human lower limb joints and is used for simulating human lower limb walking; the human body lower limb joint comprises at least one of a knee joint, an ankle joint and a foot modularization, and at least part of the human body lower limb joint can be replaced by an artificial limb to-be-tested unit, so that the humanoid robot test main body can drive the artificial limb to-be-tested unit to carry out a walking test; the load module is arranged on the humanoid robot test main body and is used for providing a target load for the artificial limb to-be-tested unit; the supporting module is used for providing a walking road on which the humanoid robot testing main body can carry out a walking test; the data acquisition module is used for monitoring test parameters when the artificial limb to-be-tested unit is subjected to a walking test. According to the invention, a real use scene can be simulated, and accurate detection of the multi-dimensional performance of the artificial limb can be realized.

Methods, devices and systems for planning, monitoring, simulating and / or evaluating a knee surgery procedure. Imaging data of the lower limb is acquired. Interpretable 3D models are generated and combined with static and dynamic parameters into an enhanced bone model. Intervention strategy is simulated. Deviations from the intervention strategy are monitored during surgery. Clinical outcome is predicted from machine learning. Methods for calibrating knee surgery imaging data, establishing an alignment reference frame, and simulating an intervention strategy in a knee surgery procedure.