CN110974426A - Robot system for orthopedic joint replacement surgery - Google Patents
Robot system for orthopedic joint replacement surgery Download PDFInfo
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- CN110974426A CN110974426A CN201911350894.6A CN201911350894A CN110974426A CN 110974426 A CN110974426 A CN 110974426A CN 201911350894 A CN201911350894 A CN 201911350894A CN 110974426 A CN110974426 A CN 110974426A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
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Abstract
The invention discloses an orthopedic joint replacement surgery robot system which comprises a base, wherein a mechanical arm for fixing surgical instruments is arranged on the base, the mechanical arm is a multi-degree-of-freedom mechanical arm, and the front end of the mechanical arm is provided with a clamping part for fixing the surgical instruments; the robot system for the orthopedic joint replacement surgery further comprises a support, a bone joint basic coordinate positioner and a bone joint to-be-operated part probe; a man-machine interaction display screen and an optical camera system are arranged on the bracket; the robot system for the orthopedic joint replacement surgery further comprises a control module, wherein a patient bone joint data module, an equipment data module and a calibration module are connected to the control module. When the invention is used for performing operation, the mechanical arm is matched with a special surgical instrument, and a surgeon can completely cover the space range involved in the whole total hip replacement operation without changing the machine position in the operation.
Description
Technical Field
The invention relates to the medical appliance industry, in particular to an orthopedic joint replacement surgical robot system.
Background
With the development of science and technology, the application range of the surgical robot is wider and wider. An existing joint surgery robot is generally provided with a mechanical arm, and in the surgery process, a surgeon completes an orthopedic surgery by operating the mechanical arm and utilizing a power tool at the front end of the mechanical arm through a human-computer interaction system.
The invention patent application No. 201710845696.1 (application publication No. CN107582167A) discloses an orthopedic joint replacement surgery system including a robot assembly, a scanner, a pressure sensor, a first position reflecting array, a second position reflecting array, an optical navigation device, a console, and the like. The technical scheme has the following defects: 1. when a scanner is used to process bone data, data errors often occur. 2. The position of the mechanical arm and the surgical instrument cannot be calibrated, and the position error of the mechanical arm and the surgical instrument exists. 3. The result of limb reconstruction after prosthesis implantation is completely controlled by subjective behavior and judgment of an operator, and authenticity and standardization cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a robot system for orthopedic joint replacement surgery.
The invention solves the technical problems through the following technical scheme:
a robot system for orthopedic joint replacement surgery comprises a base, wherein a mechanical arm for fixing surgical instruments is arranged on the base, the mechanical arm is a multi-degree-of-freedom mechanical arm, and a clamping part for fixing the surgical instruments is arranged at the front end of the mechanical arm; the robot system for the orthopedic joint replacement surgery further comprises a bracket, a bone joint base coordinate positioner and a bone joint to-be-operated position probe, wherein the bone joint base coordinate positioner is arranged on a patient body during surgery; the bracket is provided with a human-computer interaction display screen and an optical camera system capable of receiving the bone joint basic coordinate positioner and the position information of the probe of the bone joint to-be-operated part; the robot system for the orthopedic joint replacement surgery further comprises a control module which can perform data processing and control the mechanical arm, the optical camera system and the human-computer interaction display screen, the control module is provided with a control system for controlling the surgery process, and the control module is connected with a patient bone joint data module, an equipment data module and a calibration module.
The patient bone joint data module comprises a patient preoperative bone joint CT scanning data loading module for loading preoperative bone joint CT scanning data of a patient into the control system, a patient preoperative bone joint model loading module for converting preoperative bone joint CT scanning data of the patient into preoperative bone joint model data of the patient, a patient preoperative bone joint model loading module for loading preoperative bone joint model data of the patient into the control system, and a patient postoperative bone joint model loading module for loading postoperative bone joint model data of the patient formed based on the preoperative bone joint model data of the patient into the control system; the patient preoperative bone joint model loading module has a three-dimensional view of the patient preoperative bone joint, an X-ray rendering of the patient preoperative bone joint, and measurement data of the patient preoperative bone joint.
The orthopaedic joint replacement surgical robotic system also includes a surgical plan loading module for loading into the control system a surgical plan formed based on a difference between pre-operative and post-operative patient bone joint model data.
The equipment data module includes a robotic arm model loading module for loading a three-dimensional model of a robotic arm into the control system, and a surgical instrument model loading module for loading a three-dimensional model of a surgical instrument into the control system.
The calibration module comprises a surgical instrument model position calibration module for calibrating the position of the surgical instrument model and a patient preoperative bone joint model position calibration module for calibrating the position of the bone joint model.
The mechanical arm is provided with a mechanical arm position calibration positioner and a mechanical arm position positioning module; under the control of the mechanical arm position positioning module, the initial position of the mechanical arm is automatically positioned through the initial self-checking action of the mechanical arm; the calibration module further comprises a mechanical arm model position calibration module for calibrating the mechanical arm model position.
The mechanical arm is also provided with a mechanical arm working end pose control module and a mechanical arm working end tracking and locking module; under the control of the working end posture control module of the mechanical arm, when the mechanical arm is randomly twisted by external force in an operation, the working end of the mechanical arm is always aligned to the position before the external force is applied; under the control of the mechanical arm working end tracking and locking module, the mechanical arm working end can automatically reach a designated position, and the mechanical arm working end can be locked at the designated position.
The orthopedic joint replacement surgical robot system further comprises a post-operative effect verification module for confirming a final surgical effect, wherein the post-operative effect verification module is connected to the control module; the post-operation effect verification module compares the post-operation condition and the pre-operation condition of the limb skeleton of the operation part of the patient, and also compares the post-operation condition of the limb skeleton of the patient with the healthy condition of the limb skeleton of the patient.
The orthopedic joint replacement surgical robot system further comprises a surgical process real-time display module used for displaying the bone joint model, the three-dimensional model of the mechanical arm, the instant state of the three-dimensional model of the surgical instrument and the control interface of the control system on the human-computer interaction display screen, and the surgical process real-time display module is connected to the control module.
The optical camera system comprises an infrared transmitter and an infrared receiver, and the infrared receiver is connected with the control module; the bone joint basic coordinate positioner comprises a first support and a plurality of first reflecting components arranged on the first support; the bone joint to-be-operated part probe comprises a second bracket and a plurality of second reflecting components arranged on the second bracket; the mechanical arm position calibration positioner comprises a third support and a plurality of third reflecting parts arranged on the third support; the pattern formed by the first reflecting component on the first support, the pattern formed by the second reflecting component on the second support and the pattern formed by the third reflecting component on the third support are different.
The invention has the beneficial effects that: before operation, through the three-dimensional modeling and virtual prosthesis view adjusting functions of the system, an operator can more accurately plan the model and position of the prosthesis, determine the overall force line relationship, judge the optimal placing position of the prosthesis and design and limit the osteotomy range in advance, so that the operator can master all details related to the operation in a three-dimensional visual mode before the operation. When the operation is performed, the multi-degree-of-freedom mechanical arm is matched with a special surgical instrument, so that a surgeon can completely cover the space range involved in the whole total hip replacement operation without changing the machine position in the operation, and various operations and 6D aiming are realized; the device breaks through the requirements that the existing equipment can not take into account the different position accesses and the operation of the femoral side and the acetabulum side. The patient is positioned under the assistance of an optical camera system by combining a minimally invasive surgery mode, namely the specific position of an actual osteotomy target, the operator controls the guiding mechanical arm to limit the depth, the prosthesis is accurately implanted according to the planned direction and angle, the surgery is completed according to a pre-made surgery plan, and the real biomechanical replacement is achieved. The surgical time is saved, meanwhile, more excellent long-term curative effect can be brought, more bone tissues are reserved, the recovery of patients is quicker, and a feasible solution is provided for solving the problem of the core resource contradiction in the medical health field of China.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a usage status of the preferred embodiment of the present invention.
Detailed Description
The present invention will be more clearly and completely described in the following description of preferred embodiments, taken in conjunction with the accompanying drawings.
As shown in fig. 1 and 2, a robot system for orthopedic joint replacement surgery includes a base 33 on which a robot arm 30 for fixing a surgical instrument is provided, the robot arm being a multi-degree-of-freedom robot arm having a gripping member at a front end thereof for fixing the surgical instrument. Preferably, the multi-degree-of-freedom mechanical arm is a seven-degree-of-freedom mechanical arm.
The robot system for the orthopedic joint replacement surgery further comprises a bracket 62, a bone joint basic coordinate positioner 51 and a bone joint to-be-operated position probe 52, wherein the bone joint basic coordinate positioner 51 and the bone joint to-be-operated position probe 52 are arranged on a patient body during surgery; the bracket is provided with a man-machine interaction display screen 61 and an optical camera system 50 which can receive the bone joint basic coordinate positioner and the position information of the probe of the bone joint to-be-operated part.
The bone joint basic coordinate positioner 51 is used for positioning the basic coordinate position of the bone joint of the patient. And a bone joint to-be-operated part probe 52 for positioning the coordinate position of the to-be-operated part of the patient.
The robot system for the orthopedic joint replacement surgery further comprises a control module 10 which can perform data processing and control the mechanical arm, the optical camera system and the human-computer interaction display screen, wherein the control module is provided with a control system for controlling the surgery process, and a patient bone joint data module, an equipment data module and a calibration module are connected to the control module.
The patient bone joint data module comprises a patient preoperative bone joint CT scanning data loading module 20, a patient bone joint CT scanning data conversion module 21, a patient preoperative bone joint model loading module 22 and a patient postoperative bone joint model loading module 23.
The preoperative bone joint CT scanning data loading module 20 is used for loading preoperative bone joint CT scanning data of the patient into the control system.
A patient joint CT scan data conversion module 21, configured to convert the preoperative joint CT scan data of the patient into preoperative joint model data of the patient.
A patient preoperative bone joint model loading module 22 for loading patient preoperative bone joint model data into the control system.
A patient post-operative bone joint model loading module 23 for loading the patient post-operative bone joint model data formed based on the patient pre-operative bone joint model data into the control system.
The patient preoperative bone joint model loading module has a three-dimensional view of the patient preoperative bone joint, an X-ray rendering of the patient preoperative bone joint, and measurement data of the patient preoperative bone joint.
The orthopaedic joint replacement surgical robotic system also includes a surgical plan loading module 24 for loading into the control system a surgical plan formed based on a difference between pre-operative and post-operative bone joint model data of the patient.
The device data modules include a robotic arm model loading module 40 and a surgical instrument model loading module 41. The robot arm model loading module 40 is configured to load a three-dimensional model of a robot arm into the control system. A surgical instrument model loading module 41 for loading a three-dimensional model of the surgical instrument 32 into the control system.
The calibration modules include a surgical instrument model position calibration module 43 and a patient pre-operative bone joint model position calibration module 25. Wherein, the patient preoperative bone joint model position calibration module 25 is used for calibrating the position of the bone joint model. And a surgical instrument model position calibration module 43, configured to calibrate the surgical instrument model position.
The robot 30 is provided with a robot position calibration positioner 31 and a robot position positioning module 35.
Under the control of the mechanical arm position positioning module, the initial position of the mechanical arm is automatically positioned through the initial self-checking action of the mechanical arm.
The calibration module also includes a robot arm model position calibration module 42. A robot arm position calibration positioner 31 for positioning the position of the robot arm when the robot arm is calibrated. And a robot arm model position calibration module 42, configured to calibrate the robot arm model position.
The mechanical arm is also provided with a mechanical arm working end pose control module 36 and a mechanical arm working end tracking locking module 37.
Under the control of the working end position and posture control module of the mechanical arm, when the mechanical arm is randomly twisted by external force in an operation, the working end of the mechanical arm is always aligned to the position before the external force is applied.
Under the control of the mechanical arm working end tracking and locking module, the mechanical arm working end can automatically reach a designated position, and the mechanical arm working end can be locked at the designated position.
The orthopaedic joint replacement surgical robot system further includes a post-operative effect verification module 70 connected to the control module 10 for confirming a final operative effect.
The post-operation effect verification module compares the post-operation condition and the pre-operation condition of the limb skeleton of the operation part of the patient, and also compares the post-operation condition of the limb skeleton of the patient with the healthy condition of the limb skeleton of the patient.
The robot system for orthopedic joint replacement surgery further comprises a real-time surgical progress display module 60, wherein the real-time surgical progress display module 60 is used for displaying the bone joint model, the three-dimensional models of the mechanical arms, the real-time states of the three-dimensional models of the surgical instruments and the control interface of the control system on a man-machine interaction display screen 61, and the real-time surgical progress display module 60 is connected to the control module 10.
And the optical camera system 50 is used for receiving the position information of the bone joint base coordinate positioner 51 and the bone joint to-be-operated part probe 52 and forming the coordinates of the patient bone joint model in the control system, and is used for receiving the position information of the mechanical arm position calibration positioner 31 and forming the coordinates of the mechanical arm three-dimensional model in the control system.
The optical camera system 50 includes an infrared transmitter and an infrared receiver, which are connected to the control module.
The bone joint basic coordinate positioner 51 includes a first support 510 and a plurality of first reflecting members 511 provided on the first support 510.
The bone joint surgical site probe 52 includes a second frame 520 and a plurality of second reflecting members 521 provided on the second frame 520.
The robot arm position calibration fixture 31 includes a third support 310 and a plurality of third reflecting members 311 provided on the third support.
The pattern of the first reflecting member 511 formed on the first support 510, the pattern of the second reflecting member 521 formed on the second support 520, and the pattern of the third reflecting member 311 formed on the third support 310 are different.
The number of the first reflecting members 511 is at least four, the number of the second reflecting members 521 is at least four, and the number of the third reflecting members 311 is at least four.
An infrared emitter of the optical imaging system emits infrared rays, the first reflecting member, the second reflecting member, and the third reflecting member reflect the infrared rays, and the reflected infrared rays are received by an infrared receiver of the optical imaging system. The pattern of the first reflecting component, the pattern of the second reflecting component and the pattern of the third reflecting component are different, and the different patterns form unique information of different reflecting components and are distinguished. The control module receives infrared rays reflected by different patterns, and coordinates of a bone joint basic coordinate positioner, a bone joint to-be-operated part probe and a mechanical arm position calibration positioner are respectively formed in a control system.
When the orthopedic joint replacement surgical robot system is used, preoperative bone joint CT scanning data of a patient is loaded into a control system of a control module through a preoperative bone joint CT scanning data loading module. Then, the patient bone joint CT scanning data conversion module converts the preoperative bone joint CT scanning data of the patient into preoperative bone joint model data of the patient. Next, the patient pre-operative bone joint model loading module loads the patient pre-operative bone joint model data into the control system. An operator works out the postoperative bone joint model data of the patient on the basis of the preoperative bone joint model data of the patient. The patient post-operative bone joint model loading module loads the patient post-operative bone joint model data into the control system. An operation doctor forms an operation plan on the basis of the preoperative bone joint model data of the patient and the postoperative bone joint model data of the patient. The surgical plan loading module loads the surgical plan into the control system.
Based on the patient's bone joint model data, the prosthesis desired to be implanted by the patient can be formed in the control system. Through the three-dimensional modeling and virtual prosthesis view adjusting functions of the control system, an operator can more accurately plan the model and position of the prosthesis and determine the overall force line relationship, determine the optimal placing position of the prosthesis and design and limit the osteotomy range in advance, so that the operator can master all details related to the operation in a three-dimensional visual mode before the operation.
And the mechanical arm model loading module loads the three-dimensional model of the mechanical arm into the control system. The front end of the mechanical arm is fixed with a surgical instrument. The surgical instrument model loading module loads a three-dimensional model of the surgical instrument into the control system.
And a mechanical arm position calibration positioner is arranged on the mechanical arm, and the mechanical arm position is calibrated in the control system through an optical camera system.
As shown in fig. 1 and 2, the bone joint base coordinate positioner 50 is inserted into a bone joint of a patient 90, and positions a base coordinate position of the bone joint of the patient in a control system. A joint band surgical site probe is inserted at a site to be operated of the patient 90 to locate a coordinate position of the site to be operated of the patient.
A mechanical arm model position calibration module and a surgical instrument model position calibration module in the control system respectively calibrate the position of the mechanical arm model and calibrate the position of the surgical instrument model. The bone joint model position calibration module before the patient operation calibrates the position of the bone joint model.
The operation of the preoperative work by the surgeon can be performed through the operation progress real-time display module. The operation process real-time display module comprises a display, and an operator realizes man-machine interaction through the display.
After the preoperative preparation is completed, the surgeon can perform orthopedic surgery through the orthopedic joint replacement surgery robot system.
The robot system for orthopedic joint replacement surgery is also provided with a post-operative effect verification module, and the final surgical effect can be confirmed through the post-operative effect verification module.
The robot system for the orthopedic joint replacement surgery realizes semi-automatic accurate modeling by software of the system, gives a bone model immediately after an image is imported, and makes a surgery plan after a professional carries out manual inspection, so that the preparation time before the surgery is saved.
The robot system for the orthopedic joint replacement surgery can optimize the matching process, and the tracing registration is easy to operate and optimize. A large amount of time consumed by point-by-point taking according to a single flow is saved, and the image feeds back the registration result in real time and can correct and retrieve the position at any time.
The orthopedic joint replacement surgical robot system disclosed by the invention uses a bone joint position reflection array and a fixing device which are newly designed, so that poor tracking and effect loss are avoided. The coordinate position of the origin of the robot is obtained by system calculation, and a tracker is not arranged to avoid being shielded.
The orthopedic joint replacement surgical robot system has the advantages that the boundary range of command execution is preset by the system and monitored in real time, the system automatically stops after being blocked by external force, and the working end of the system is guided to return to a safe area. The device is provided with an overload protection function, when the system fails or the navigation signal is blocked, or when the user crosses a boundary constructed by the surgical plan, the mechanical arm is immediately stopped and the power tool is immediately stopped.
According to the robot system for the orthopedic joint replacement surgery, after the prosthesis test model is installed and prosthesis position data are collected, the system automatically compares pre-stored preoperative limb position parameters according to the position after reset, and simultaneously displays the difference between the current limb length and the eccentricity and the difference before the surgery, so that a surgeon is helped to carry out standardized force line measurement, and the result is more accurate.
The robot system for orthopedic joint replacement surgery further has the following beneficial effects:
1. by the three-dimensional modeling and virtual prosthesis view adjusting functions of the system before operation, an operator can more accurately plan the model and position of the prosthesis, determine the overall force line relationship, judge the optimal placing position of the prosthesis and design and limit the osteotomy range in advance, so that the operator can master all details related to the operation in a three-dimensional visual mode before the operation.
2. When the operation is executed, the seven-degree-of-freedom mechanical arm is matched with a special surgical instrument, so that a surgeon can completely cover the space range involved in the whole total hip replacement operation without changing a machine position in the operation, and various operations and 6D aiming are realized; the device breaks through the requirements that the existing equipment can not take into account the different position accesses and the operation of the femoral side and the acetabulum side.
3. The patient is positioned under the assistance of an optical camera system by combining a minimally invasive surgery mode, namely the specific position of an actual osteotomy target, the operator controls the guiding mechanical arm to limit the depth, the prosthesis is accurately implanted according to the planned direction and angle, the surgery is completed according to a pre-made surgery plan, and the real biomechanical replacement is achieved. The surgical time is saved, meanwhile, more excellent long-term curative effect can be brought, more bone tissues are reserved, the recovery of patients is quicker, and a feasible solution is provided for solving the problem of the core resource contradiction in the medical health field of China.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The robot system for the orthopedic joint replacement surgery is characterized by comprising a base, wherein a mechanical arm for fixing surgical instruments is arranged on the base, the mechanical arm is a multi-degree-of-freedom mechanical arm, and a clamping part for fixing the surgical instruments is arranged at the front end of the mechanical arm; the robot system for the orthopedic joint replacement surgery further comprises a bracket, a bone joint base coordinate positioner and a bone joint to-be-operated position probe, wherein the bone joint base coordinate positioner is arranged on a patient body during surgery; the bracket is provided with a human-computer interaction display screen and an optical camera system capable of receiving the bone joint basic coordinate positioner and the position information of the probe of the bone joint to-be-operated part; the robot system for the orthopedic joint replacement surgery further comprises a control module which can perform data processing and control the mechanical arm, the optical camera system and the human-computer interaction display screen, the control module is provided with a control system for controlling the surgery process, and the control module is connected with a patient bone joint data module, an equipment data module and a calibration module.
2. A robotic orthopaedic joint replacement surgery system according to claim 1, wherein the patient bone joint data modules include a patient pre-operative bone joint CT scan data loading module for loading pre-operative patient bone joint CT scan data into the control system, a patient pre-operative bone joint model loading module for converting pre-operative patient bone joint CT scan data into pre-operative patient bone joint model data, a patient pre-operative bone joint model loading module for loading pre-operative patient bone joint model data into the control system, a patient post-operative bone joint model loading module for loading post-operative patient bone joint model data into the control system formed based on the pre-operative patient bone joint model data; the patient preoperative bone joint model loading module has a three-dimensional view of the patient preoperative bone joint, an X-ray rendering of the patient preoperative bone joint, and measurement data of the patient preoperative bone joint.
3. The orthopaedic joint replacement surgical robotic system of claim 2, further comprising a surgical plan loading module for loading into the control system a surgical plan formed based on a difference between the pre-operative bone joint model data of the patient and the post-operative bone joint model data of the patient.
4. The robotic bone joint replacement surgery system according to claim 1, wherein the device data module includes a robotic arm model loading module for loading a three-dimensional model of a robotic arm into the control system, a surgical instrument model loading module for loading a three-dimensional model of a surgical instrument into the control system.
5. The orthopaedic joint replacement surgical robotic system of claim 1, wherein the calibration module comprises a surgical instrument model position calibration module for calibrating a surgical instrument model position and a patient pre-operative bone joint model position calibration module for calibrating a position of a bone joint model.
6. The robotic system for bone joint replacement surgery of claim 1, wherein the robotic arm is provided with a robotic arm position calibration fixture and a robotic arm position positioning module; under the control of the mechanical arm position positioning module, the initial position of the mechanical arm is automatically positioned through the initial self-checking action of the mechanical arm; the calibration module further comprises a mechanical arm model position calibration module for calibrating the mechanical arm model position.
7. The robotic system for bone joint replacement surgery of claim 1, wherein the robotic arm is further provided with a robotic arm working end pose control module and a robotic arm working end tracking locking module; under the control of the working end posture control module of the mechanical arm, when the mechanical arm is randomly twisted by external force in an operation, the working end of the mechanical arm is always aligned to the position before the external force is applied; under the control of the mechanical arm working end tracking and locking module, the mechanical arm working end can automatically reach a designated position, and the mechanical arm working end can be locked at the designated position.
8. The orthopaedic joint replacement surgical robot system of claim 1, further comprising a post-operative effect verification module for confirming a final surgical effect, the post-operative effect verification module being connected to the control module; the post-operation effect verification module compares the post-operation condition and the pre-operation condition of the limb skeleton of the operation part of the patient, and also compares the post-operation condition of the limb skeleton of the patient with the healthy condition of the limb skeleton of the patient.
9. The robotic bone joint replacement surgery system according to claim 1, further comprising a real-time surgical progress display module for displaying the bone joint model, the three-dimensional model of the robotic arm, the real-time status of the three-dimensional model of the surgical instrument, and the control interface of the control system on a human-computer interaction display screen, the real-time surgical progress display module being connected to the control module.
10. A robotic system for orthopaedic joint replacement surgery according to claim 1, wherein the optical camera system comprises an infrared emitter and an infrared receiver, the infrared receiver being connected to the control module; the bone joint basic coordinate positioner comprises a first support and a plurality of first reflecting components arranged on the first support; the bone joint to-be-operated part probe comprises a second bracket and a plurality of second reflecting components arranged on the second bracket; the mechanical arm position calibration positioner comprises a third support and a plurality of third reflecting parts arranged on the third support; the pattern formed by the first reflecting component on the first support, the pattern formed by the second reflecting component on the second support and the pattern formed by the third reflecting component on the third support are different.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911350894.6A CN110974426A (en) | 2019-12-24 | 2019-12-24 | Robot system for orthopedic joint replacement surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911350894.6A CN110974426A (en) | 2019-12-24 | 2019-12-24 | Robot system for orthopedic joint replacement surgery |
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| CN110974426A true CN110974426A (en) | 2020-04-10 |
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| CN112370290A (en) * | 2020-11-13 | 2021-02-19 | 毕建平 | Reduction and fixation integrated operation system for limb fracture and control method |
| CN112641510A (en) * | 2020-12-18 | 2021-04-13 | 北京长木谷医疗科技有限公司 | Joint replacement surgical robot navigation positioning system and method |
| CN112914729A (en) * | 2021-03-25 | 2021-06-08 | 江苏集萃复合材料装备研究所有限公司 | Intelligent auxiliary positioning bone surgery robot system and operation method thereof |
| CN112932670A (en) * | 2020-11-07 | 2021-06-11 | 北京和华瑞博医疗科技有限公司 | Calibration method, mechanical arm control method and surgical operation system |
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| CN113069207A (en) * | 2021-03-24 | 2021-07-06 | 杭州键嘉机器人有限公司 | Robot-assisted hip joint replacement surgery navigation system |
| CN113349933A (en) * | 2021-07-08 | 2021-09-07 | 杭州柳叶刀机器人有限公司 | Robot system |
| CN114010321A (en) * | 2021-10-20 | 2022-02-08 | 中科智博(珠海)科技有限公司 | Navigation surgical robot equipment for orthopedics department |
| CN114098938A (en) * | 2021-11-25 | 2022-03-01 | 云南欧铂斯智能科技有限公司 | Fracture reduction system |
| WO2022083719A1 (en) * | 2020-10-23 | 2022-04-28 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system, adjustment method, storage medium, and terminal |
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| CN114652444A (en) * | 2022-02-10 | 2022-06-24 | 中国医学科学院北京协和医院 | Spine grinding robot and control method |
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Application publication date: 20200410 |