CN111467036A

CN111467036A - Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof

Info

Publication number: CN111467036A
Application number: CN202010294567.XA
Authority: CN
Inventors: 潘昕荻; 朱振中; 叶震; 张长青; 周朝政; 付亚波; 凌宇飞; 李丹
Original assignee: Shanghai Electric Group Corp
Current assignee: Shanghai Electric Group Corp
Priority date: 2020-04-15
Filing date: 2020-04-15
Publication date: 2020-07-31
Anticipated expiration: 2040-04-15
Also published as: CN111467036B

Abstract

The invention discloses an operation navigation system, an acetabulum osteotomy operation robot system and a control method thereof. The acetabulum automatic search device can realize automatic search and move to the center of an acetabulum socket ball, and control a tail end tool at the tail end of a mechanical arm system to perform rotary osteotomy operation on an acetabulum according to a motion instruction sequence, so that the accuracy of the operation is improved; the operation is performed based on the mechanical arm, so that the stability of the osteotomy operation is improved; the operation can be stopped at the edge of a safe area, so that the safety of the operation is ensured; in addition, the rotary osteotomy operation can be navigated in real time, so that the convenience of operation and the use experience of a user are improved.

Description

Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to a surgical navigation system, an acetabular osteotomy surgical robot system and a control method thereof.

Background

Acetabular dysplasia (DDH) is a common cause of osteoarthritis secondary to hip joints. According to statistics, the incidence rate of the acetabular dysplasia in China is 0.9-3.8 per mill, and the artificial hip joint replacement operation must be carried out in the later period. The traditional Chinese medicine composition is a more effective treatment method for the patients with older age, but for the patients with young and large activity, because the artificial joint has a certain service life, the early surgical intervention can effectively delay the progress of the osteoarthritis and avoid or delay the artificial joint replacement surgery. The acetabulum periphery osteotomy (PAO) well solves the problems by changing the orientation of the acetabulum, increasing the acetabulum coverage rate and reducing the stress concentration, and is a commonly used method in the acetabulum reconstruction operation at present. The osteotomy around the acetabulum has the advantages of thorough deformity correction and good anatomical recovery; the pelvis ring is complete, and the postoperative pelvis deformation is small; the blood circulation of acetabulum is not damaged, and the healing after operation is facilitated; strong internal fixation, quick postoperative functional recovery and the like.

The traditional acetabulum periphery osteotomy is that a doctor manually performs polygonal osteotomy around an acetabulum by using an orthopedic horizontal pendulum saw to separate the acetabulum from a peripheral pelvis, and the intercepted acetabulum can be moved greatly, so that the coverage rate of a femoral head is corrected to a greater degree. However, the osteotomy plane of such polygonal osteotomy is generally a plane, which may result in a poor adjustment flexibility during the angular adjustment, and the osteotomy end may generally generate a gap, which may further result in an uneven osteotomy plane, which may easily cause poor union and infirm fixation of the fracture, and may also result in fracture of the fixed object. The intraoperative exposure incision is also quite large, potentially resulting in delayed healing and even severe acetabular correction, acetabular necrosis.

Therefore, the existing scheme for implementing the osteotomy around the acetabulum by holding the saw blade by a doctor is difficult to master the spherical center of the spherical osteotomy, and the spherical structure of the osteotomy area cannot be ensured during cutting; in addition, the vibration of the manually operated circular saw is large, and the reaction force of osteotomy is not easy to grasp, thereby easily causing eccentricity.

Disclosure of Invention

The invention aims to overcome the defect that the acetabulum rotation osteotomy scheme of the hip joint in the prior art cannot meet the actual use requirement, and provides a surgical navigation system, an acetabulum osteotomy surgical robot system and a control method thereof.

The invention solves the technical problems through the following technical scheme:

the invention provides a hip joint operation navigation system, which comprises an operation navigation module;

the operation navigation module is used for acquiring image data of a hip joint image and establishing a hip joint three-dimensional model based on the image data;

the operation navigation module is also used for obtaining the spherical center position of the sphere where the acetabular fossa in the hip joint is located according to the hip joint three-dimensional model.

Preferably, the surgical navigation module is configured to obtain a first target feature point on an affected side surface of the acetabulum socket on the three-dimensional model of the hip joint, and perform fitting processing on the first target feature point to obtain the center position of the sphere of the acetabulum socket.

Preferably, the surgical navigation module is configured to segment the hip image to obtain a plurality of segmented images, and establish the hip three-dimensional model according to image data corresponding to the plurality of segmented images.

Preferably, the surgical navigation system includes a display module;

the display module is electrically connected with the operation navigation module;

the operation navigation module is used for outputting the hip joint three-dimensional model to the display module for displaying; and/or the presence of a gas in the gas,

the operation navigation system also comprises a main control module, a vehicle body structure and a first movable support;

the vehicle body structure is fixedly arranged on the first movable support, the main control module is fixedly arranged in the vehicle body structure, and the display module is fixedly connected with the vehicle body structure;

the main control module is electrically connected with the operation navigation module;

the main control module is used for storing the hip joint image, and the operation navigation module is used for acquiring the hip joint image from the main control module.

The invention also provides a surgical robot system for acetabulum rotation osteotomy, which comprises the hip joint surgical navigation system, an optical positioning system and a mechanical arm system;

the optical positioning system is respectively in communication connection with the surgical navigation system and the mechanical arm system;

the operation navigation system is used for generating a motion instruction sequence according to the hip joint three-dimensional model and sending the sphere center position and the motion instruction sequence to the optical positioning system;

the optical positioning system is used for converting the spherical center position into a central point position of the acetabulum of the patient and sending the central point position and the motion instruction sequence to the mechanical arm system;

the mechanical arm system is used for moving the tool center of the end tool to the central point position and controlling the end tool to carry out rotary osteotomy operation on the acetabulum according to the motion instruction sequence.

Preferably, the surgical navigation system is used for acquiring three-dimensional morphological parameters, lower limb force line parameters, diameter parameters of acetabular fossa, edge morphological parameters of acetabulum and orientation parameters of acetabulum according to the hip joint three-dimensional model;

wherein the three-dimensional morphological parameters comprise anteversion and abduction angles of the acetabulum;

the surgical navigation system is further configured to determine a target size of the tip tool based on the three-dimensional morphological parameter, the lower limb force line parameter, the diameter parameter, the margin morphological parameter, and the orientation parameter.

Preferably, the surgical navigation system is further used for determining a plurality of osteotomy lines during the acetabulum rotation osteotomy surgery according to the sphere center position, the orientation parameters and the target size of the end tool;

wherein the parameters of each osteotomy line include an osteotomy orientation parameter and an osteotomy depth parameter, a plurality of said osteotomy lines forming an osteotomy region;

the surgical navigation system is further configured to generate the sequence of motion instructions according to a plurality of the osteotomy lines.

Preferably, the robotic arm system comprises a base, a robotic arm body, an end effector, and the end tool;

the bottom of the mechanical arm body is fixedly arranged on the base, and the end tool is fixedly arranged at the tail end of the mechanical arm body through the end effector;

wherein, a first reference target ball is fixedly arranged on the base, and a second reference target ball is fixedly arranged on the end tool;

the optical positioning system is used for acquiring a first reference coordinate system of the base according to the first reference target ball and acquiring a second reference coordinate system of the tool center of the terminal tool according to the second reference target ball under an optical positioning reference coordinate system, and performing hand-eye calibration on the mechanical arm system according to the first reference coordinate system and the second reference coordinate system.

Preferably, the end effector comprises a spherical osteotomy pendulum saw;

the tip tool comprises a spherical saw blade of the target size;

the top end position of the inner arc-shaped surface of the spherical saw blade is coincided with the central point of the spherical osteotomy pendulum saw.

Preferably, the mechanical arm system further comprises a motion controller, an electric control module and a communication module;

the electric control module is electrically connected with the motion controller and the communication module respectively;

the communication module is in communication connection with the optical positioning system;

the communication module is used for acquiring the central point position and the motion instruction sequence sent by the optical positioning system and sending the central point position and the motion instruction sequence to the electrical control module;

the electric control module is used for triggering the motion controller to control the tool center of the end tool to move to the central point position according to the central point position and triggering the end tool to start working according to the motion instruction sequence; and/or the presence of a gas in the gas,

the base further comprises a movable locking mechanism, a control cabinet and a marker fixing device;

the movable locking mechanism is fixedly arranged at the bottom of the base, the control cabinet is fixedly arranged in the base, and the first reference target ball is fixed on the base through the marker fixing device.

Preferably, the movement locking mechanism includes a support pedal and a release pedal;

a plurality of supporting wheels and a plurality of moving wheels are arranged below the base;

when the supporting pedal is opened to work, a hydraulic device in the supporting pedal pushes a supporting column out to support the base, and the moving wheel below the base leaves the ground to fix the mechanical arm system;

when the loosening pedal is started to work, the hydraulic device in the loosening pedal retracts into the supporting column, and the moving roller below the base contacts the ground to move the mechanical arm system.

Preferably, the surgical robotic system further comprises a probe;

when a third reference target ball is fixedly arranged on the acetabulum of the patient, the optical positioning system is used for acquiring a third reference coordinate system of the acetabulum of the patient according to the third reference target ball under the optical positioning reference coordinate system;

the optical positioning system is further configured to obtain a fourth reference coordinate system corresponding to the surgical navigation system and a fifth reference coordinate system corresponding to the probe under the optical positioning reference coordinate system, and obtain a conversion relationship between the third reference coordinate system and the fourth reference coordinate system according to the fifth reference coordinate system;

the optical positioning system is further configured to translate the center of sphere position to the center point position of the patient's acetabulum according to the translation relationship.

Preferably, the surgical navigation system is configured to display and navigate the acetabulum of the patient in real time in the three-dimensional model of the hip joint according to the transformation relationship.

Preferably, the probe is in communication with the optical positioning system;

the probe is used for clicking a second target characteristic point of the bone of the patient and sending the optical positioning system;

the optical positioning system is used for reading first parameter information of the second target characteristic point clicked by the probe;

the optical positioning system is further used for obtaining second parameter information corresponding to the second target feature point in the hip joint three-dimensional model, calculating the matching degree of the first parameter information and the second parameter information, and calling the probe to re-click a new second target feature point on the acetabulum of the patient when the matching degree is smaller than a set threshold value until the matching degree is larger than or equal to the set threshold value.

Preferably, the optical positioning system comprises a binocular camera and a second movable support;

the binocular camera is fixedly arranged on the second movable support;

the optical positioning system obtains the first reference coordinate system, the second reference coordinate system, the third reference coordinate system, the fourth reference coordinate system and the fifth reference coordinate system through the binocular camera.

Preferably, the optical positioning system is further configured to acquire a current execution path of the end tool in the robotic arm system;

the optical positioning system is further used for converting the motion instruction sequence into a reference path under the fourth reference coordinate system, judging whether the current execution path is consistent with the reference path or not, and if so, continuing to control the end tool to perform a rotation osteotomy operation on the acetabulum; if not, exiting the current execution path.

The invention also provides a surgical navigation method, which is realized by adopting the surgical navigation system for the hip joint, and comprises the following steps:

acquiring image data of a hip joint image;

establishing a hip joint three-dimensional model based on the image data;

and acquiring the sphere center position of the sphere where the acetabular fossa in the hip joint is located according to the three-dimensional model of the hip joint.

Preferably, the step of building a three-dimensional model of the hip joint based on the image data comprises:

carrying out segmentation processing on the hip joint image to obtain a plurality of segmentation images;

and establishing the hip joint three-dimensional model according to the image data corresponding to the plurality of segmented images.

Preferably, the step of obtaining the spherical center position of the sphere where the acetabular fossa in the hip joint is located according to the three-dimensional model of the hip joint comprises the following steps:

and acquiring a first target characteristic point of the affected side surface of the acetabulum socket on the three-dimensional model of the acetabulum joint, and fitting the first target characteristic point to obtain the center position of the sphere of the acetabulum socket.

The invention also provides a control method of the surgical robot system, which is realized by adopting the surgical robot system for acetabulum rotation osteotomy, and the control method comprises the following steps:

the operation navigation system generates a motion instruction sequence according to the hip joint three-dimensional model and sends the sphere center position and the motion instruction sequence to the optical positioning system;

the optical positioning system converts the spherical center position into a central point position of the acetabulum of the patient and sends the central point position and the motion instruction sequence to the mechanical arm system;

and the mechanical arm system moves the tool center of the end tool to the central point position and controls the end tool to perform rotary osteotomy operation on the acetabulum according to the motion instruction sequence.

Preferably, the navigation subsystem is further configured to obtain the anteversion angle and the abduction angle of the acetabulum according to the feature points.

The positive progress effects of the invention are as follows:

(1) the position of the sphere center of a sphere where the acetabulum socket is located is accurately obtained by establishing a hip joint three-dimensional model, so that the position of the actual center point of the acetabulum of a patient can be accurately obtained according to the position of the sphere center, and a tail end tool at the tail end of a mechanical arm system is controlled to carry out rotary osteotomy operation on the acetabulum according to a motion instruction sequence, namely, automatic search is realized and the acetabulum is moved to the sphere center of the acetabulum socket, so that the accuracy of the operation is;

(2) the mechanical arm is adopted for operation, so that vibration factors existing in manual operation can be eliminated, and the stability and the safety of osteotomy operation are improved;

(3) the operation can be stopped at the edge of a safe area, so that the safety of the operation is ensured;

(4) the rotary osteotomy condition is monitored and navigated through the surgical navigation system, so that the convenience of surgical operation and the use experience of operators (such as doctors) are improved.

Drawings

Fig. 1 is a first configuration diagram of a hip joint surgical navigation system according to embodiment 1 of the present invention.

Fig. 2 is a second configuration diagram of the hip joint surgical navigation system according to embodiment 1 of the present invention.

Fig. 3 is a schematic structural diagram of a surgical robot system for acetabular rotation osteotomy according to embodiment 2 of the present invention.

Fig. 4 is a schematic structural diagram of a mechanical arm system in the surgical robot system for acetabular rotation osteotomy according to embodiment 3 of the present invention.

Fig. 5 is a first partial structural schematic view of a mechanical arm system in the surgical robot system for acetabular rotation osteotomy in embodiment 3 of the invention.

Fig. 6 is a second partial structural schematic view of a mechanical arm system in the surgical robot system for acetabular rotation osteotomy in embodiment 3 of the invention.

Fig. 7 is a third partial structural schematic view of a mechanical arm system in the surgical robot system for acetabular rotation osteotomy in embodiment 3 of the invention.

Fig. 8 is a schematic structural diagram of an end effector in the surgical robot system for acetabular rotation osteotomy according to embodiment 3 of the present invention.

Fig. 9 is a schematic structural view of a tip tool in the surgical robot system for acetabular rotation osteotomy of embodiment 3 of the present invention.

Fig. 10 is a schematic structural diagram of an optical positioning system in the surgical robot system for acetabular rotation osteotomy according to embodiment 3 of the present invention.

Fig. 11 is a schematic structural view of a surgical robot system for acetabular rotation osteotomy according to embodiment 3 of the present invention.

Fig. 12 is a schematic view of a first acetabulum state of the surgical robot system for acetabulum rotation osteotomy according to embodiment 3 of the invention after osteotomy.

Fig. 13 is a schematic view of a second acetabulum state after osteotomy of the acetabular rotation osteotomy surgical robotic system according to embodiment 3 of the invention.

Fig. 14 is a schematic diagram of a first execution state of the spherical saw blade in the surgical robot system for acetabular rotation osteotomy of embodiment 3 of the invention.

Fig. 15 is a schematic diagram of a second execution state of the spherical saw blade in the surgical robot system for acetabular rotation osteotomy according to embodiment 3 of the invention.

Fig. 16 is a flowchart of a surgical navigation method according to embodiment 4 of the present invention.

Fig. 17 is a flowchart of a control method of a surgical robot system according to embodiment 5 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Example 1

As shown in fig. 1, the surgical navigation system for the hip joint of the present embodiment includes a surgical navigation module 1, a display module 2, a main control module 3, a vehicle body structure 4, and a first movable support 5.

The operation navigation module 1 is used for acquiring image data of the hip joint image and establishing a hip joint three-dimensional model based on the image data.

In an alternative embodiment, the surgical navigation module 1 is configured to perform segmentation processing on the hip joint image to obtain a plurality of segmented images, and build a hip joint three-dimensional model according to image data corresponding to the plurality of segmented images.

The image data is CT (computed tomography) scanning images of the acetabulum of the dysplasia of the patient, and specifically comprises data of the shapes of pelvic bones, thighbones, cross sections and the like, and a hip joint three-dimensional model is reconstructed according to the data, namely the virtual pelvis and thighbones, so that diagnostic information of affected parts of the patient can be reproduced conveniently, and preparation is provided for preoperative planning and surgical assessment.

Specifically, it is three-dimensionally surface reconstructed and displayed based on an input set of DICOM (digital imaging and communications in medicine) data, i.e., CT data. Specifically, (1) a preoperative CT scan is carried out on a patient, and CT image data of acetabulum and femur are obtained according to the preset CT imaging layer distance and layer thickness; (2) segmenting the input CT image to obtain target bone region information, roughly segmenting data by a machine learning method, and further obtaining a smooth segmentation result by an integral segmentation method based on energy evolution; (3) after the segmented image corresponding to each CT is obtained, three-dimensional information is reconstructed by utilizing the information in the two-dimensional segmented images to complete the reconstruction of a three-dimensional skeleton model; (4) and mapping the reconstructed object surface data into geometric data required for display through attributes of the reconstructed object surface data, and rendering to display the skeleton sectional view.

In addition, the establishment of the three-dimensional model based on the CT image can be realized by using, but not limited to, a MatchingCubes algorithm (a three-dimensional surface reconstruction algorithm) in a public image processing library VTK (visualization toolkit).

The operation navigation module 1 is also used for obtaining the sphere center position of the sphere where the acetabular fossa in the hip joint is located according to the hip joint three-dimensional model.

The acetabulum socket can be approximate to a spherical surface, and the surgical navigation module is used for directly obtaining the spherical center position of the sphere where the acetabulum socket is located according to the model parameters of the acetabulum three-dimensional model. Or the like, or, alternatively,

the operation navigation module 1 is used for obtaining a first target characteristic point of the affected side surface of the acetabulum socket on the hip joint three-dimensional model, and fitting the first target characteristic point to obtain the sphere center position of the sphere where the acetabulum socket is located, wherein the sphere center position is used as a reference point for subsequent robot trajectory planning.

Wherein the first target feature point comprises an anterior superior iliac spine, a leading edge of an acetabulum, a trailing edge of an acetabulum, an upper edge of an acetabulum, a surface of an acetabulum socket and the like.

The user can click and collect data of a plurality of surface points (such as 10) on the acetabulum spherical surface of the three-dimensional acetabulum model by using a mouse, and then the sphere center position of the sphere where the acetabulum fossa is located is fitted by a least square method.

The healthy side surface of the acetabulum fossa on the three-dimensional hip joint model can be used as a reference, and the position of the sphere center can be adjusted in a manual fine adjustment mode and the like so as to further ensure the accuracy of the operation.

In addition, a three-dimensional point cloud data registration algorithm such as an ICP (iterative closest point) algorithm can be adopted to obtain the spherical center position of the acetabulum fossa of the three-dimensional model based on the selected target characteristic points and the neural network model, and acetabular rim parameters, diameter parameters and the like can also be obtained.

The display module 2 is electrically connected with the operation navigation module 1, and the operation navigation module 1 is used for outputting the hip joint three-dimensional model to the display module 2 for displaying.

The operation navigation system comprises a server and a movable workbench. The server comprises a surgical navigation module 1 and a main control module 3; the movable table comprises a display module 2, a body structure 4 and a first movable support 5.

In an alternative embodiment, as shown in fig. 2, the vehicle body structure 4 is fixedly arranged on the first movable support 5, the main control module 3 is fixedly arranged in the vehicle body structure 4, and the display module 2 is fixedly connected with the vehicle body structure 4. The first movable support 5 includes a support main body and a roller provided below the support main body to facilitate the user to move the surgical navigation system.

The main control module 3 is electrically connected with the operation navigation module 1, the main control module 3 is used for storing hip joint images, and the operation navigation module 1 is used for obtaining the hip joint images from the main control module 3.

The operation navigation system of the hip joint of the embodiment corresponds to the preoperative planning stage, establishes the hip joint three-dimensional model through the hip joint image, and accurately obtains the sphere center position of the sphere where the acetabular fossa is located according to the hip joint three-dimensional model, so that the accuracy and the safety of the subsequent acetabulum rotation osteotomy operation are ensured.

Example 2

As shown in fig. 3, the surgical robot system for acetabular rotation osteotomy of the present embodiment includes the surgical navigation system 100 for hip joint of the embodiment 1, and further includes an optical positioning system 6 and a mechanical arm system 7. The optical positioning system 6 is in communication connection with the surgical navigation system 100 and the robotic arm system 7, respectively.

The operation navigation system 100 is used for generating a motion instruction sequence according to the hip joint three-dimensional model and sending the sphere center position and the motion instruction sequence to the optical positioning system 6;

during the acetabulum rotation osteotomy operation, the optical positioning system 6 is used for converting the spherical center position into the central point position of the acetabulum of the patient and sending the central point position and the motion instruction sequence to the mechanical arm system 7;

the mechanical arm system 7 is used for moving the tool center of the end tool to the central point position and controlling the end tool to perform rotary osteotomy operation on the acetabulum according to the motion instruction sequence.

Specifically, the optical positioning system 6 is in communication connection with the surgical navigation system 100 and the robotic arm system 7 through network cables.

The surgical navigation system transmits data, user instructions and the like to the optical positioning system through a gigabit Ethernet; the optical positioning system converts the acquired information into a position instruction under the mechanical arm coordinate and sends the position instruction to the mechanical arm system through the communication interface; and the mechanical arm system directly transmits the target motion instruction to the mechanical arm body through a hundred-mega Ethernet so as to realize data interaction transmission and instruction transmission and execution.

The surgical navigation system sends the tool center of the tail end tool to the mechanical arm system through the optical positioning system, and the mechanical arm system can automatically move towards the spherical center of the acetabulum fossa of the patient when a user manually drags the mechanical arm system within a certain safety range; when the tool center of the end tool of the mechanical arm is coincided with the spherical center of the patient's acetabulum fossa, the path planning reference position is reached; the preset sphere movement is started by the user manually pressing the spherical oscillating saw button to provide power.

The mechanical arm can be interrupted at any time in the moving process along the sphere, and the path can be manually adjusted again; providing a virtual clamp for the operation through preoperative planning, and stopping immediately at the edge part of a safe area; a display module in the surgical navigation system can display a corresponding virtual scene, and real-time image navigation is provided for a user.

In the embodiment, the three-dimensional model of the acetabulum is established through the surgical navigation system to accurately obtain the spherical center position of the sphere where the acetabulum socket is located, the actual central point position of the acetabulum of the patient is accurately obtained according to the spherical center position based on the optical positioning system, and then the tail end tool in the mechanical arm system is controlled to perform rotary osteotomy operation on the acetabulum according to the motion instruction sequence, namely, automatic search is realized and the acetabulum is moved to the spherical center of the acetabulum socket, so that the accuracy and the safety of the subsequent acetabulum rotary osteotomy operation are ensured, and the stability of the osteotomy operation is.

Example 3

The surgical robot system for acetabular rotation osteotomy of the present embodiment is a further improvement of embodiment 2, specifically:

the operation navigation system 100 is used for acquiring three-dimensional morphological parameters, lower limb force line parameters, diameter parameters of an acetabulum socket, edge morphological parameters of an acetabulum and orientation parameters of the acetabulum according to the hip joint three-dimensional model;

the three-dimensional morphological parameters comprise an anteversion angle and an abduction angle of the acetabulum, the anteversion angle of the acetabulum in the imaging is an included angle α between an acetabulum shaft and a coronal plane, and the abduction angle is an intersection angle β of a projection of the acetabulum shaft on the coronal plane and a vertical axis.

The surgical navigation system 100 is further configured to determine a target size of the tip tool based on the three-dimensional morphological parameter, the lower limb force line parameter, the diameter parameter, the margin morphological parameter, and the orientation parameter.

The surgical navigation system 100 is further configured to determine a plurality of osteotomy lines at the time of the acetabular rotational osteotomy procedure based on the center of sphere position, the orientation parameter, and the target size of the tip tool.

The parameters of each osteotomy line comprise an osteotomy orientation parameter and an osteotomy depth parameter, a plurality of osteotomy lines form an osteotomy area, and the planned osteotomy line is used as a safe area boundary for intraoperative control.

The center of the acetabulum fossa is the center of the osteotomy area, and the diameter of the end tool (namely the spherical saw blade) is the diameter of the osteotomy area, so as to obtain the planned spherical virtual osteotomy line and the spherical virtual osteotomy area.

The surgical navigation system 100 is also configured to generate a sequence of motion commands based on the plurality of osteotomies.

After the preoperative planning is completed, the surgical navigation system stores the relevant information of the corresponding patient so as to provide the relevant authority operating personnel for calling. The operation in the surgical navigation system only needs to be carried out before the operation by a user, does not need to be carried out in an operating room, and does not need the participation of a patient.

As shown in fig. 4, the robot arm system 7 includes a base 8, a robot arm body 9, an end effector 10, an end tool 11, a motion controller 12, an electric control module 13, and a communication module 14.

As shown in fig. 5, the bottom of the robot body 9 is fixed on the base 8, and the end effector 10 is fixed at the end of the robot body 9; as shown in fig. 6 and 7, the end tool 11 is fixed to the end effector 10.

The end effector provides transverse swinging power for the end tool, and the mechanical arm system reduces the eccentricity caused by vibration and completes the rotary osteotomy operation around the acetabulum center according to the motion command sequence.

As shown in fig. 8, the end effector 10 comprises a spherical osteotomy pendulum saw, and as shown in fig. 9, the end tool 11 comprises a spherical saw blade of a target size.

The top end position P of the inner arc surface of the spherical saw blade coincides with the central point O of the spherical osteotomy pendulum saw, then the spherical center position P0 point of the spherical saw blade is used as the tool center of the end tool in the mechanical arm system according to the diameter parameter of the spherical saw blade with the target size, namely, the second reference coordinate system T2 is translated to the spherical center P0 point of the spherical saw blade through the diameter parameter of the spherical saw blade with the target size planned before the operation, and the calibration of the tool spherical center is completed.

In addition, in the embodiment, the spherical oscillating saw is adopted and the mechanical arm is accurately controlled, so that the spherical osteotomy operation adaptive to the acetabulum socket-shaped structure is realized, the spherical osteotomy operation is easy to accurately adjust and fix, the interference of the extensive osteotomy of the original pelvis on the bone structure can be effectively reduced, and the operative wound is greatly reduced.

The electric control module 13 is respectively electrically connected with the motion controller 12 and the communication module 14;

the communication module 14 is in communication connection with the optical positioning system 6;

the communication module 14 is used for acquiring a central point position and a motion instruction sequence sent by the optical positioning system 6 and sending the central point position and the motion instruction sequence to the electric control module 13;

the electrical control module 13 is configured to trigger the motion controller 12 to control the tool center of the end tool 11 to move to the center point position according to the center point position, and trigger the end tool 11 to start working around the center point position according to the motion command sequence.

The mechanical arm system 7 also comprises a mobile locking mechanism, a control cabinet and a marker fixing device;

the movable locking mechanism is fixedly arranged at the bottom of the base 8, the control cabinet is fixedly arranged in the base 8, and the first reference target ball is fixed on the base 8 through the marker fixing device.

The mobile locking mechanism comprises a supporting pedal and a releasing pedal;

a plurality of supporting wheels and a plurality of moving wheels are arranged below the base 8;

when the support pedal is stepped to start the support pedal, a hydraulic device in the support pedal pushes the support column out of the support base 8, and the moving wheel below the base 8 leaves the ground to fix the mechanical arm system 7;

when the release pedal is stepped on to start the robot, the hydraulic device in the release pedal retracts into the support column, and the moving roller under the base 8 contacts the ground to move the arm system 7.

The marker fixing device comprises a fixed marker (first reference target ball), a marker support and a fixing device. Wherein, the position of the fixing device can be adjusted, and the posture of the marker fixed on the fixing device can also be adjusted. The fixing device is moved in a telescopic guide rod mode, is positioned through the clamping groove and can be locked and loosened through an external knob to fix and move the position of the device; meanwhile, the tail end of the marker support and the top of the fixing device are clamped through a clamp, the marker can be rotated to adjust the posture of the marker in a certain range before an operation, and the mechanical arm system is placed on one side of the operating table to ensure that the bone of a patient is contained in the working space of the mechanical arm.

As shown in fig. 10, the optical positioning system 6 includes a binocular camera 15 and a second movable bracket 16, the binocular camera being fixed to the second movable bracket 16.

Before the control in the operation, the base 8 of the mechanical arm system is fixedly provided with a first reference target ball, and the end tool 11 is fixedly provided with a second reference target ball.

The optical positioning system 6 is configured to obtain a first reference coordinate system T1 of the pedestal 8 according to the first reference target ball and a second reference coordinate system T2 of the tool center of the end tool 11 according to the second reference target ball under the optical positioning reference coordinate system T0 by using a calibration algorithm, and perform hand-eye calibration on the robot arm system 7 according to the first reference coordinate system T1 and the second reference coordinate system.

As shown in fig. 11, the surgical robotic system further includes a probe 17, the probe 17 being communicatively coupled to the optical positioning system 6.

When the third reference target ball is fixedly arranged on the acetabulum B of the patient, the optical positioning system 6 is used for acquiring a third reference coordinate system T3 of the acetabulum of the patient according to the third reference target ball under the optical positioning reference coordinate system T0;

the optical positioning system 6 is further configured to obtain a fourth reference coordinate system T4 corresponding to the surgical navigation system 100 and a fifth reference coordinate system corresponding to the probe 17 under the optical positioning reference coordinate system T0, respectively, and obtain a conversion relationship between the third reference coordinate system T3 and the fourth reference coordinate system T4 according to the fifth reference coordinate system T5.

The parameter information obtained by preoperative planning and based on the fourth reference coordinate system T4 corresponding to the surgical navigation system 100 is converted into the optical positioning reference coordinate system T0, and the acetabulum of the patient, the surgical navigation system, the mechanical arm system and the optical positioning system are located in the same coordinate system according to the connection established by the reference coordinate systems.

In the pre-operative estimation phase, the probe 17 is used to click a second target feature point on the acetabulum of the patient and transmit the optical positioning system 6;

the optical positioning system 6 is used for reading first position parameter information of the second target characteristic point clicked by the probe 17;

the optical positioning system 6 is further configured to obtain second position parameter information corresponding to a second target feature point in the hip three-dimensional model, calculate a matching degree between the first position parameter information and the second position parameter information, and call the probe 17 to re-click a new second target feature point on the acetabulum of the patient when the matching degree is smaller than a set threshold until the matching degree is greater than or equal to the set threshold, thereby completing re-adjustment of the preoperative plan to ensure accuracy of the surgical operation.

During the intraoperative control phase, the optical positioning system 6 is also used for converting the spherical center position into the central point position of the acetabulum of the patient according to the conversion relation.

During the acetabulum rotation osteotomy operation, the operation navigation system 100 is used for displaying and navigating the acetabulum of the patient in real time in the hip joint three-dimensional model according to the conversion relation so as to feed back the rotation osteotomy operation condition of the acetabulum of the patient in real time, namely, the operation navigation system 100 is used for monitoring the rotation osteotomy condition and navigating, thereby improving the convenience of operation and the use experience of operators (such as doctors).

During the acetabular rotation osteotomy, the optical positioning system 6 is also used for acquiring the current execution path of the end tool 11 in the mechanical arm system 7;

the optical positioning system 6 is further configured to convert the motion instruction sequence into a reference path in a fourth reference coordinate system T4, and determine whether the current execution path is consistent with the reference path, if so, continue to control the end tool 11 to perform a rotation osteotomy operation on the acetabulum; if not, exiting the current execution path.

The surgical robot system of the embodiment participates in preoperative planning, preoperative assessment, intraoperative control and intraoperative real-time monitoring, and the safety, accuracy and operability of the acetabulum rotation osteotomy are guaranteed.

In addition, the user can simultaneously interrupt the motion instruction at any time according to the relative position information of the hip joint three-dimensional model and the saw blade center displayed by the surgical navigation system in real time, and readjust the path to realize intraoperative navigation.

In the operation process of a user in an operation, the optical positioning system is used for monitoring the operation process in real time, and feeding back and displaying the current osteotomy position and depth information; the robotic arm system immediately stops the osteotomy operation once the path of motion exceeds a predetermined safe zone. After the osteotomy operation is finished, the mechanical arm body in the mechanical arm system can exit according to a preset safe path or a user can operate to drag the mechanical arm to exit safely, and the intraoperative monitoring is finished after the mechanical arm moves to a safe position.

In this embodiment, the surgical navigation system is provided with dedicated navigation system supporting software covering preoperative planning and intraoperative control, and database software for storing patient information, diagnostic information, and surgical information. The operation navigation system is placed at a position far away from an operation bed in an operating room, a user interacts with a user interface to complete diagnosis planning, three-dimensional reconstruction and system command issuing before an operation so as to control a mechanical arm system to perform operation according to a specified command, and three-dimensional image information of a patient and dynamic image monitoring in the operation can be displayed in real time.

The optical positioning system 6 is placed on one side of the operating table, which is not easy to be shielded, and is matched with the reference target ball arranged on the base of the pelvis of the patient and the mechanical arm system for use, so that the movement tracks of the reference target ball and the mechanical arm system can be dynamically captured, the operation state can be monitored in real time, and the operation area can be dynamically positioned. The target operation position can be accurately positioned by matching with other operation positioning devices, such as a matched probe and a reference target ball arranged on a terminal tool, and realizing the intra-operation registration and coordinate system transformation algorithm, so that intra-operation navigation is realized.

The mechanical arm system is mainly used for completing operation according to instructions and moving the end effector according to a target operation path and an instrument pose. The mechanical arm system is placed on one side, which can be operated, of the operating bed and is close to an affected part of a patient, the end effector, namely the spherical swing saw is fixed on the mechanical arm, a preoperative planning and designed saw blade of the spherical osteotomy swing saw matched with the shape and size of the acetabulum of the patient is installed, the top end position of the inner arc-shaped surface of the spherical saw blade is enabled to be coincided with the central point of the spherical osteotomy swing saw through processing, and then the tool center (O point) of the end tool can be converted to the center P0 point of the spherical saw blade through the diameter; the motion trail of the end tool is controlled by a human-computer interaction instruction of the surgical navigation system, the pose information of the end effector is captured and fed back in real time by the optical positioning system to form closed-loop control, the surgical robot system ensures that the motion trail of a P0 point of the center of the saw blade conforms to an expected spherical section, and finally, power is provided through manual operation of a user to enable the spherical oscillating saw to swing to complete osteotomy.

The embodiment makes up the defect that the existing surgical navigation equipment cannot navigate during the osteotomy around the acetabulum, and expands the application range of the navigation equipment. A calculation method and a software evaluation system aiming at acetabulum coverage of hip joint dysplasia through a world initial sleeve developed independently provide a theoretical basis for the scientization and standardization of an acetabulum operation. The surgical robot system for acetabulum rotation osteotomy is suitable for hospitals at all levels, particularly primary hospitals, can effectively improve the medical level of primary hospitals, realize medical resource sharing, effectively reduce the difficulty of osteotomy around acetabulum, and greatly shorten the learning curve.

In addition, after the surgical robot system completes the rotation osteotomy, the osteotomy bone needs to be rotated by a certain angle. Specifically, as shown in fig. 12, the acetabulum is completely cut out, and then the cut-out acetabulum is rotated by a planned rotation angle (as shown in fig. 13) along the direction shown by the arrow, and then the acetabulum is fixed to the pelvis by using screws at the current position, and the operation is determined to be completed; and calculating the acetabulum coverage rate based on the coincidence condition of the femoral head and the acetabulum in the direction.

The following is a detailed description with reference to examples:

the user: users of the hospital system administrator role and users of the hospital having a surgeon role with access to training credentials. The purpose is as follows: according to the operation of a user on a visual interface, a series of acetabulum rotation osteotomy procedures from preoperative planning to postoperative evaluation are completed.

(1) Preoperative planning phase

The user starts the operation navigation system of the hip joint, logs in, checks and loads corresponding basic information, diagnosis information and CT data information of the patient;

starting to obtain a hip joint three-dimensional model of the patient according to the CT data information three-dimensional reconstruction;

selecting characteristic points on the hip joint three-dimensional model, automatically detecting the spherical center and the acetabular edge of the acetabular fossa based on the characteristic points, and calculating required three-dimensional morphological parameters to plan the size of the end effector;

starting automatic planning, automatically displaying the osteotomy area of the acetabulum osteotomy and the surrounding conditions of the pelvis, and automatically planning the osteotomy rotation angle;

carrying out prediction evaluation on the acetabulum coverage rate parameter, when the acetabulum coverage rate parameter is smaller than a set value, manually adjusting a scheme according to an evaluation result, and repeating the previous step and the current step until the acetabulum coverage rate parameter meets the surgical requirements;

and generating a surgical motion planning path of a tail end tool in the mechanical arm system by using the virtual osteotomy region, manually adjusting the osteotomy position and depth according to the displayed peripheral condition of the pelvis, repeating the previous step and the step process until the surgical motion planning path is safe and reliable, storing preoperative planning information and ending the stage.

(2) Preoperative device identification phase

The user starts the operation navigation system of the hip joint, and the user operates, connects and checks the working state of each system;

after the working state is confirmed to be normal, mounting a first reference target ball on a base of the mechanical arm system, mounting a second reference target ball on the end effector, starting equipment calibration, and determining that the end effector corresponds to a second reference coordinate system T2;

verifying the comprehensive positioning accuracy of the system, and if the comprehensive positioning accuracy of the system is not in accordance with the expectation, repeating the previous step and the current step until the preset comprehensive positioning accuracy index is met; ending the stage after the confirmation is completed;

(3) intraoperative registration phase

After the user pushes the surgical robot system into the designated position of the operating room and the patient lies down, the user checks that the preoperative planning and preoperative equipment confirmation are finished, and if the preoperative planning and the preoperative equipment confirmation are not finished or the preoperative equipment confirmation needs to be adjusted, the two stages are repeated until the surgical requirements are met;

performing probe connection confirmation, and installing a third reference target ball at the acetabulum of the patient after the probe connection confirmation is correct, so as to realize dynamic tracking of the position of the acetabulum of the patient;

respectively selecting characteristic points on the acetabulum and CT three-dimensional models of a patient for matching;

completing bone registration based on the position information of the feature points clicked by the reading probe of the optical positioning system, and generating a fourth reference coordinate system T4 of the acetabulum of the patient;

verifying the bone registration accuracy, and if the bone registration accuracy is not expected, repeating the steps until the preset registration accuracy is met;

after the bone registration accuracy is confirmed, the registration of the end effector is completed according to the size of the end effector planned before the operation, and a second reference coordinate system T2 of the end effector calibrated in the confirmation of the preoperative equipment is translated to the spherical center position P0 of the spherical saw blade to form a new reference coordinate system of the end effector; ending the stage after the confirmation is completed;

(4) intraoperative planning and intraoperative navigation control phase

The user checks that the preoperative planning, preoperative equipment confirmation and intraoperative registration are completed and then starts;

deriving model information, position information and trajectory planning information during preoperative planning, and starting intraoperative navigation after confirming no error;

displaying the relative position between the acetabulum of the patient and the end effector based on the pre-registration result of the preoperative planning and the three-dimensional registration result of the intraoperative registration, and converting the preoperatively planned motion path into a fourth reference coordinate system T4 of the acetabulum of the patient to obtain a path one;

capturing a dynamic path of the end effector in real time by adopting an optical positioning system as a second path;

after the user confirms that the position of the end effector relative to the bone of the patient is correct, the end effector is held by the hand to provide power;

the robot feeds back the execution path I through the path II, the optical positioning system monitors the operation process in real time, the osteotomy position and the depth information are fed back and displayed, and a user checks whether the position is proper or not after the path II is completed;

if the position is not accurate, readjusting the first path, and repeating the two steps and the process of the step until the surgical expectation is met;

and (4) after the user operation is finished, manually disconnecting the power of the end effector, withdrawing the mechanical arm according to the third path, and finishing the stage after the mechanical arm moves to the safe position.

In an alternative embodiment, the sequence of motion commands executed by the end tool in the robotic arm system specifically includes:

as shown in fig. 14, the robotic arm reaches a safe initial position above the surgical target area at pose S1;

(1) starting an osteotomy motion command sequence, enabling the mechanical arm to reach a position A1 in a posture S1, and even if a central point P0 of the spherical saw blade is superposed with a central point of the acetabulum of the patient, establishing a target coordinate system by taking the central point as an origin and taking the axis of the spherical saw blade as a Z axis;

(2) rotating the spherical saw blade center point P0 counterclockwise around the direction perpendicular to the Z axis (shown as Y axis) of the target coordinate system to the attitude S2 while keeping the center point P0 unchanged;

(3) the center point P0 of the spherical saw blade is kept unchanged, and the spherical saw blade rotates anticlockwise around the direction (shown as the Y axis) of the target coordinate system, which is vertical to the Z axis, to the attitude Si;

(4) the center point P0 of the spherical saw blade is kept unchanged, and the spherical saw blade rotates anticlockwise around the direction (shown as the Y axis) of the target coordinate system, which is vertical to the Z axis, to the attitude SN;

(5) keeping the central point P0 of the spherical saw blade unchanged, rotating clockwise around the direction (shown as Y axis) of the target coordinate system vertical to the Z axis and returning to the attitude Si;

(6) rotating clockwise around the direction (shown as Y axis) of the target coordinate system vertical to the Z axis to return to the attitude S2 while keeping the center point P0 of the spherical saw blade unchanged;

(7) rotating clockwise around the direction (shown as Y axis) of the target coordinate system vertical to the Z axis to return to the attitude S1 while keeping the center point P0 of the spherical saw blade unchanged;

(8) after returning to the position A1 in the attitude S1, keeping the center point P0 of the spherical saw blade unchanged, and clockwise rotating to the attitude S2 around the Z-axis direction of the target coordinate system;

(9) repeating the steps (3) - (8);

(10) after returning to the position Ai in the attitude S1, keeping the central point P0 of the spherical saw blade unchanged, and clockwise rotating to the attitude Si around the Z-axis direction of the target coordinate system;

(11) repeating the steps (3) - (8);

(12) repeating the above steps (3) - (11) until returning to position AN, position a1, in attitude S1, as shown in fig. 15;

and returning to the safe initial position above the operation target area in the posture S1, and completing the osteotomy motion command sequence.

Example 4

As shown in fig. 16, the surgical navigation method of the present embodiment is implemented by the surgical navigation system for hip joint in embodiment 1, and the surgical navigation method includes:

s101, acquiring image data of a hip joint image;

s102, establishing a hip joint three-dimensional model based on image data;

specifically, step S102 includes:

and establishing a hip joint three-dimensional model according to the image data corresponding to the plurality of segmented images.

S103, obtaining the sphere center position of the sphere where the acetabular fossa in the hip joint is located according to the hip joint three-dimensional model.

Specifically, step S103 includes:

and obtaining a first target characteristic point of the affected side surface of the acetabulum socket on the hip joint three-dimensional model, and fitting the first target characteristic point to obtain the sphere center position of the sphere where the acetabulum socket is located.

In the embodiment, the three-dimensional model of the hip joint is established through the hip joint image, the spherical center position of the sphere where the acetabular fossa is located is accurately obtained according to the three-dimensional model of the hip joint, and automatic searching and movement to the spherical center of the acetabular fossa are achieved, so that the accuracy and the safety of a subsequent acetabulum rotation osteotomy operation are guaranteed.

Example 5

As shown in fig. 17, the control method of the surgical robot system according to the present embodiment is implemented by the surgical robot system for acetabular rotation osteotomy according to

embodiment

2 or 3, and includes:

s201, generating a motion instruction sequence by the operation navigation system according to the hip joint three-dimensional model, and sending the position of the spherical center and the motion instruction sequence to an optical positioning system;

s202, during an acetabulum rotation osteotomy operation, converting the spherical center position into the central point position of the acetabulum of the patient by the optical positioning system, and sending the central point position and the motion instruction sequence to the mechanical arm system;

s203, the mechanical arm system moves the tool center of the end tool to the central point position, and the end tool is controlled to perform rotary osteotomy operation on the acetabulum according to the motion instruction sequence.

In the embodiment, a three-dimensional model of the acetabulum is established through the surgical navigation system to accurately obtain the spherical center position of the sphere where the acetabulum socket is located, the actual central point position of the acetabulum of the patient is accurately obtained according to the spherical center position based on the optical positioning system, and then a terminal tool in the mechanical arm system is controlled to perform rotary osteotomy operation on the acetabulum according to a motion instruction sequence, namely, automatic search is realized and the acetabulum is moved to the spherical center of the acetabulum socket, so that the accuracy and the safety of the subsequent acetabulum rotary osteotomy operation are ensured, and the stability of the osteotomy operation is improved; in addition, the operation navigation system is used for monitoring the rotary osteotomy condition and navigating, so that the convenience of operation and the use experience of operators (such as doctors) are improved.

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

1. A surgical navigation system of a hip joint, the surgical navigation system comprising a surgical navigation module;

2. The surgical navigation system for the hip joint according to claim 1, wherein the surgical navigation module is configured to obtain the center of the sphere of the acetabulum socket according to the model parameters of the three-dimensional model of the hip joint; or the like, or, alternatively,

the operation navigation module is used for obtaining a first target characteristic point of the affected side surface of the acetabulum socket on the hip joint three-dimensional model, and fitting the first target characteristic point to obtain the sphere center position of the sphere where the acetabulum socket is located.

3. The surgical navigation system of the hip joint of claim 1, wherein the surgical navigation module is configured to segment the hip joint image to obtain a plurality of segmented images, and build the three-dimensional hip joint model according to image data corresponding to the plurality of segmented images.

4. The surgical navigation system for the hip joint of claim 1, wherein the surgical navigation system comprises a display module;

5. A surgical robotic system for acetabular rotational osteotomy, the surgical robotic system comprising the hip surgical navigation system of any one of claims 1 to 4, the surgical robotic system further comprising an optical positioning system and a robotic arm system;

6. The surgical robotic system for acetabular rotational osteotomy of claim 5, wherein said surgical navigation system is configured to obtain three-dimensional morphological parameters, lower limb force line parameters, acetabular socket diameter parameters, acetabular rim morphology parameters, and acetabular orientation parameters from said three-dimensional model of the hip joint;

7. The acetabular rotational osteotomy surgical robotic system of claim 6, wherein said surgical navigation system is further configured to determine a plurality of osteotomy lines at the time of acetabular rotational osteotomy based on said spherical center position, said orientation parameter, and a target size of said tip tool;

8. The acetabular rotational osteotomy surgical robotic system of claim 7, wherein said robotic arm system comprises a base, a robotic arm body, an end effector, and said end tool;

9. The acetabular rotational osteotomy surgical robotic system of claim 8, wherein said end effector comprises a spherical osteotomy pendulum saw, said end tool comprising a spherical saw blade of said target size;

wherein, the top position of the inside arc surface of spherical saw blade with spherical cut bone pendulum saw's central point coincidence.

10. The acetabular rotational osteotomy surgical robotic system of claim 9, wherein said robotic arm system further comprises a motion controller, an electrical control module, and a communication module;

the electric control module is used for triggering the motion controller to control the tool center of the end tool to move to the central point position according to the central point position and triggering the end tool to start working around the central point position according to the motion instruction sequence; and/or the presence of a gas in the gas,

the mechanical arm system also comprises a mobile locking mechanism, a control cabinet and a marker fixing device;

11. The acetabular rotational osteotomy surgical robotic system of claim 10, wherein said movement locking mechanism includes a support pedal and a relax pedal;

12. The surgical robotic system for acetabular rotational osteotomy of claim 8, further comprising a probe;

13. A surgical robotic system for acetabular rotational osteotomy as in claim 12, wherein said surgical navigation system is adapted to display and navigate a patient's acetabulum in real time in said three-dimensional model of the hip joint according to said transformational relationship.

14. A surgical robotic system for acetabular rotational osteotomy according to claim 12 or 13, wherein said probe is communicatively connected to said optical positioning system;

the probe is used for clicking a second target characteristic point on the acetabulum of the patient and sending the optical positioning system;

the optical positioning system is used for reading first position parameter information of the second target characteristic point clicked by the probe;

the optical positioning system is further used for obtaining second position parameter information corresponding to the second target feature point in the hip joint three-dimensional model, calculating the matching degree of the first position parameter information and the second position parameter information, and calling the probe to re-click a new second target feature point on the acetabulum of the patient when the matching degree is smaller than a set threshold value until the matching degree is larger than or equal to the set threshold value.

15. The acetabular rotational osteotomy surgical robotic system of claim 14, wherein said optical positioning system comprises a binocular camera and a second movable mount;

the binocular camera is fixedly arranged on the second movable support;

16. The acetabular rotational osteotomy surgical robotic system of claim 12, wherein said optical positioning system is further for acquiring a current execution path of said tip tool in said robotic arm system;

17. A surgical navigation method implemented by using the surgical navigation system for the hip joint according to any one of claims 1 to 4, the surgical navigation method comprising:

acquiring image data of a hip joint image;

establishing a hip joint three-dimensional model based on the image data;

18. The surgical navigation method of claim 17, wherein the step of building a three-dimensional model of the hip joint based on the image data includes:

19. The surgical navigation method of claim 17, wherein the step of obtaining the location of the center of the sphere of the acetabulum socket in the hip joint from the three-dimensional model of the hip joint comprises:

20. A control method of a surgical robot system, wherein the control method is implemented by using the surgical robot system for acetabular rotation osteotomy of any one of claims 5 to 16, the control method comprising: