CN111467036B

CN111467036B - Surgical navigation system, acetabular osteotomy surgical robot system and control method thereof

Info

Publication number: CN111467036B
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: 2023-12-26
Anticipated expiration: 2040-04-15
Also published as: CN111467036A

Abstract

The invention discloses a surgical navigation system, an acetabular osteotomy surgical robot system and a control method thereof, wherein the surgical navigation system is used for acquiring image data of an hip joint image and establishing a three-dimensional model of the hip joint based on the image data so as to obtain the spherical center position of a sphere where an acetabular fossa is located. According to the invention, automatic searching and movement to the spherical center of the acetabular fossa can be realized, and an end tool at the end of the mechanical arm system is controlled to perform rotary osteotomy on the acetabulum according to a movement instruction sequence, so that the accuracy of operation is improved; the stability of the operation of the osteotomy is improved by performing the operation based on the mechanical arm; the operation can be stopped at the edge of the safety 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, acetabular osteotomy surgical robot system 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 the hip joint. According to statistics, the incidence rate of the acetabular dysplasia in China is 0.9-3.8 per mill at present, and the artificial hip joint replacement operation must be performed in the late stage. The method is a more effective treatment method for older patients, but for young and active patients, the early surgical intervention can be very effective in delaying the progression of osteoarthritis and avoiding or deferring the artificial joint replacement surgery due to the certain service life of the artificial joint. The periacetabular osteotomy (PAO) well solves the above-mentioned problems by changing the acetabular orientation, increasing acetabular coverage, and reducing stress concentrations, which is currently a more common use in reconstructing acetabular surgical formulas. The osteotomy around the acetabulum has the advantages of thorough correction of deformity and good anatomic restoration; the pelvis ring is complete, and the pelvis deformation after operation is small; the blood circulation of the acetabulum is not destroyed, and the healing after operation is facilitated; strong internal fixation, quick postoperative function recovery, etc.

Traditional osteotomy around the acetabulum is that a doctor uses an orthopedics swing saw to manually conduct polygonal osteotomy around the acetabulum, the acetabulum is separated from the pelvis around, the intercepted acetabulum can move greatly, and coverage rate of the femoral head is corrected to a large extent. However, the osteotomy plane of the polygonal osteotomy is usually a plane, so that the adjustment is not flexible when the angle adjustment is performed, gaps are usually generated at the fractured ends of the osteotomy, the osteotomy plane is uneven, poor fracture healing is easily caused, the fixation is unstable, and the conditions such as fracture of a fixture occur. The incision that is exposed during surgery is also quite large and may lead to delayed healing and even severe acetabular correction and acetabular necrosis.

Therefore, the prior proposal of carrying out the osteotomy around the acetabulum by holding a saw blade by a doctor has difficulty in grasping the sphere center of the spherical osteotomy, and the spherical structure of the osteotomy area can not be ensured during cutting; in addition, the vibration of the manually operated ring saw is relatively large, and the reaction force of the osteotomy is not easy to grasp, thereby easily causing eccentricity.

Disclosure of Invention

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

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

the invention provides a surgical navigation system of a hip joint, which comprises a surgical 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 surgical navigation module is also used for acquiring the sphere center position of the sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint.

Preferably, the surgical navigation module is configured to obtain a first target feature point of the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fit the first target feature point to obtain the spherical center position of the sphere where the acetabular fossa is located.

Preferably, the surgical navigation module is used for performing segmentation processing on the hip joint image to obtain a plurality of segmented images, and establishing the three-dimensional model of the hip joint according to image data corresponding to the segmented images.

Preferably, the surgical navigation system comprises a display module;

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

the operation navigation module is used for outputting the three-dimensional model of the hip joint to the display module for display; and/or the number of the groups of groups,

the surgical navigation system further comprises a main control module, a vehicle body structure and a first movable bracket;

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 rotary osteotomy of acetabulum, which comprises the surgical navigation system for hip joint, an optical positioning system and a mechanical arm system;

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

the surgical navigation system is used for generating a motion instruction sequence according to the hip joint three-dimensional model and sending the spherical 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 the central point position of the acetabulum of the patient and sending the central point position and the movement instruction sequence to the mechanical arm system;

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

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

wherein the three-dimensional morphological parameters include the anteversion angle and abduction angle of the acetabulum;

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

Preferably, the surgical navigation system is further configured to determine a plurality of osteotomies lines during an acetabular rotation osteotomies operation according to the center of sphere position, the orientation parameters, and a target size of the end tool;

wherein, the parameters of each osteotomy line comprise an osteotomy azimuth parameter and an osteotomy depth parameter, and a plurality of osteotomy lines form an osteotomy region;

the surgical navigation system is further configured to generate the sequence of motion instructions from a plurality of the osteotomies.

Preferably, the robotic arm system includes 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;

the base is fixedly provided with a first reference target ball, and the tail end tool is fixedly provided with a second reference target ball;

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 end 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 end tool includes a spherical saw blade of the target size;

the top end position of the inner arc-shaped surface of the spherical saw blade coincides with the center point of the spherical osteotomy pendulum saw.

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

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

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 and transmitting 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 center point position according to the center point position, and triggering the end tool to start working according to the motion instruction sequence; and/or the number of the groups of groups,

the base also 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 comprises 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 support pedal is started to work, the hydraulic device in the support pedal pushes the support column out to prop up the base, and the movable 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 to the supporting column, and the movable 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 the 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 used for respectively acquiring 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 acquiring a conversion relation 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 convert the spherical center position into the center point position of the patient's acetabulum according to the conversion.

Preferably, the surgical navigation system is used for displaying and navigating the acetabulum of the patient in real time in the three-dimensional model of the hip joint according to the conversion relation.

Preferably, the probe is communicatively connected to the optical positioning system;

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

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

the optical positioning system is further used for acquiring second parameter information corresponding to the second target feature point in the three-dimensional model of the hip joint, calculating the matching degree of the first parameter information and the second parameter information, and calling the probe to reselect 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 bracket;

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

The optical positioning system acquires 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 obtain 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, and if so, continuously controlling the end tool to perform rotary osteotomy 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 of the hip joint, and comprises the following steps:

acquiring image data of a hip joint image;

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

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

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

Dividing the hip joint image to obtain a plurality of divided images;

and establishing the three-dimensional model of the hip joint according to 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 is located in the hip joint according to the three-dimensional model of the hip joint includes:

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

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

the surgical navigation system generates a motion instruction sequence according to the hip joint three-dimensional model and sends the spherical 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 an acetabulum of a patient and sends the central point position and the movement instruction sequence to the mechanical arm system;

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

Preferably, the navigation subsystem is further used for obtaining the anteversion angle and the abduction angle of the acetabulum according to the characteristic points.

The invention has the positive progress effects that:

(1) The spherical center position of the sphere where the acetabular fossa is located is accurately obtained by establishing the three-dimensional model of the hip joint, so that the actual center point position of the patient acetabulum can be accurately obtained according to the spherical center position, an end tool at the tail end of the mechanical arm system is controlled to perform rotary osteotomy operation on the acetabulum according to a motion instruction sequence, namely automatic searching and motion to the spherical center of the acetabular fossa are realized, and the accuracy of operation is improved;

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

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

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

Drawings

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

Fig. 2 is a second structural diagram of the operation guidance system for hip joint of embodiment 1 of the present invention.

Fig. 3 is a schematic structural view of an acetabular rotated osteotomy robotic system of embodiment 2 of the invention.

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

Fig. 5 is a schematic view showing a first part of a mechanical arm system in an acetabular rotary osteotomy robot system according to embodiment 3 of the invention.

Fig. 6 is a schematic view showing a second part of the mechanical arm system in the acetabular rotary osteotomy robot system of embodiment 3 of the invention.

Fig. 7 is a schematic structural diagram of a third part of a mechanical arm system in the acetabular rotary osteotomy robot system of embodiment 3 of the invention.

Fig. 8 is a schematic structural view of an end effector in an acetabular rotated osteotomy robotic surgical system of example 3 of the invention.

Fig. 9 is a schematic structural view of an end tool in the acetabular rotated osteotomy robot system of embodiment 3 of the invention.

Fig. 10 is a schematic structural view of an optical positioning system in an acetabular rotated osteotomy robot system of embodiment 3 of the invention.

Fig. 11 is a schematic structural view of an acetabular rotated osteotomy robotic system of embodiment 3 of the invention.

Fig. 12 is a schematic view of the first acetabular state of the surgical robotic system of example 3 after osteotomy.

Fig. 13 is a schematic view of a second acetabular state of the acetabular rotated osteotomy robotic system of example 3 of the invention after osteotomy.

Fig. 14 is a schematic view showing a first execution state of a spherical saw blade in the acetabular rotary osteotomy robot system of embodiment 3 of the invention.

Fig. 15 is a schematic view showing a second execution state of the spherical saw blade in the acetabular rotary osteotomy robot system of 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 the surgical robot system of embodiment 5 of the present invention.

Detailed Description

The invention is further illustrated by means of 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 of 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 bracket 5.

The surgical navigation module 1 is used for acquiring image data of a hip joint image and establishing a three-dimensional model of the hip joint 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 three-dimensional model of the hip joint according to image data corresponding to the plurality of segmented images.

The image data is a CT (computed tomography) scanning image of the patient's dysplastic acetabulum, and specifically includes data such as the shape of the pelvis, the femur part, the shape of the section, etc., and a three-dimensional model of the hip joint is reconstructed according to the data, namely, the virtual pelvis and the femur, so as to reproduce the diagnosis information of the affected part of the patient, and prepare for preoperative planning and operative evaluation.

Specifically, it is three-dimensional surface reconstructed and displayed based on an input set of DICOM (digital imaging and communications in medicine) data, i.e., CT data. Specifically, (1) performing preoperative CT scanning on a patient, and acquiring CT image data of acetabulum and femur according to preset CT imaging layer distance and layer thickness; (2) Dividing the input CT image to obtain target bone region information, performing rough segmentation on the data by a machine learning method, and then further obtaining a smooth segmentation result by an integral segmentation method based on energy evolution; (3) After obtaining each CT corresponding segmented image, reconstructing three-dimensional information by utilizing information in a plurality of two-dimensional segmented images, and completing bone three-dimensional model reconstruction; (4) Through the attribute of the reconstructed object surface data, the geometric data required by display is mapped, and then the bone sectional view can be displayed through rendering.

In addition, but not limited to, a Matching cube algorithm (a three-dimensional surface reconstruction algorithm) in a public image processing library VTK (visualization tool kit) can be used to implement the establishment of a three-dimensional model based on CT images.

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

The acetabular fossa can be approximately a spherical surface, and the operation navigation module is used for acquiring model parameters according to the three-dimensional model of the hip joint to directly acquire the spherical center position of the sphere where the acetabular fossa is located. Or alternatively, the first and second heat exchangers may be,

the surgical navigation module 1 is used for acquiring a first target feature point of the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fitting the first target feature point to obtain the spherical center position of the sphere where the acetabular fossa is located, wherein the spherical center position is used as a reference point for subsequent robot track planning.

Wherein the first target feature points comprise anterior superior iliac spine, anterior acetabular rim, posterior acetabular rim, superior acetabular rim, acetabular fossa surface, and the like.

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

The health side surface of the acetabular fossa on the three-dimensional model of the hip joint can be used as a reference, and the position of the spherical center can be adjusted in a manual fine adjustment mode and the like so as to further ensure the accuracy of 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 acetabular fossa of the three-dimensional model based on the selected target feature points and the neural network model, and acetabular edge 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 three-dimensional model of the hip joint to the display module 2 for display.

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

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

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 acquiring the hip joint images from the main control module 3.

The operation navigation system of the hip joint of the embodiment corresponds to a pre-operation planning stage, a three-dimensional model of the hip joint is established through the hip joint image, and the spherical center position of a sphere where the acetabular fossa is located is accurately obtained according to the three-dimensional model of the hip joint, so that the accuracy and safety of a follow-up acetabular rotating osteotomy operation are ensured.

Example 2

As shown in fig. 3, the surgical robot system for acetabular rotary osteotomy of the present embodiment includes the surgical navigation system 100 for hip joint of embodiment 1, and the surgical robot system for acetabular rotary osteotomy of the present embodiment further includes the optical positioning system 6 and the mechanical arm system 7. The optical positioning system 6 is communicatively connected to the surgical navigation system 100 and the robotic arm system 7, respectively.

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

during the acetabular rotation osteotomy, the optical positioning system 6 is configured to convert the spherical center position into a central point position of the acetabulum of the patient, and send the central point position and the motion command 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 center point position and controlling the end tool to perform rotary osteotomy on the acetabulum according to the movement command sequence.

Specifically, the optical positioning system 6 is connected with the surgical navigation system 100 and the mechanical arm system 7 through network cable communication respectively.

The operation navigation system transmits data, user instructions and the like to the optical positioning system through the gigabit Ethernet; the optical positioning system converts the information into a position instruction under the coordinates of the mechanical arm after acquiring the information, and transmits the position instruction to the mechanical arm system through a communication interface; and then the mechanical arm system directly transmits the target motion instruction to the mechanical arm body through the hundred megaEthernet so as to realize data interaction transmission and instruction transmission and execution.

The surgical navigation system transmits the tool center of the end tool to the mechanical arm system through the optical positioning system, and the mechanical arm system automatically moves towards the spherical center of the acetabular fossa of the patient when the user manually drags to a certain safety range; when the tool center of the end tool moving to the mechanical arm coincides with the spherical center of the acetabular fossa of the bone of the patient, the end tool reaches a path planning reference position; the preset ball movement is initiated by the user manually depressing the ball swing button to power it.

The mechanical arm can be broken at any time in the movement process along the sphere, and the path is manually adjusted again; providing a virtual clamp for the operation by preoperative planning, wherein the virtual clamp is stopped immediately at the edge part of the safety area; the display module in the operation navigation system can display the corresponding virtual scene, and provides real-time image navigation for the user.

In the embodiment, a three-dimensional model of the hip joint is established through the operation navigation system to accurately obtain the spherical center position of the sphere where the acetabular fossa is located, the actual center 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 end tool in the mechanical arm system is controlled to perform rotary osteotomy on the acetabulum according to the movement instruction sequence, namely automatic searching and movement to the spherical center of the acetabular fossa are realized, so that the accuracy and safety of the follow-up acetabular rotary osteotomy operation are ensured, and the stability of the osteotomy operation is improved.

Example 3

The surgical robot system for rotary osteotomy of acetabulum of this embodiment is a further improvement over embodiment 2, specifically:

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

Wherein the three-dimensional morphological parameters include the anteversion angle and abduction angle of the acetabulum; the imaging acetabular anteversion angle is an included angle alpha between the acetabular axis and the coronal plane, and the abduction angle is an intersection angle beta of the projection of the acetabular axis on the coronal plane and the vertical axis.

The surgical navigation system 100 is also used to determine a target size of the end tool based on the three-dimensional morphological parameters, the lower limb force line parameters, the diameter parameters, the edge morphology parameters, and the orientation parameters.

The surgical navigation system 100 is also used to determine a plurality of osteotomies lines at the time of the acetabular rotation osteotomies based on the center of sphere position, orientation parameters, and the target size of the end tool.

Wherein the parameters of each osteotomy line include an osteotomy azimuth parameter and an osteotomy depth parameter, the plurality of osteotomies lines forming an osteotomy region, the planned osteotomy line to be used as a safety region boundary for intraoperative control.

The spherical center of the acetabular fossa is the spherical center of the osteotomy region, and the diameter of the end tool (i.e. the spherical saw blade) is the diameter of the osteotomy region, so that the planned spherical virtual osteotomy line and the spherical virtual osteotomy region are obtained.

The surgical navigation system 100 is also used to generate a sequence of motion instructions from a plurality of osteotomies.

After the preoperative planning is completed, the operation navigation system stores relevant information of the corresponding patient so as to provide relevant authority operators for calling. The above operations in the surgical navigation system are performed just prior to surgery by the user, without being performed in the operating room or without patient involvement.

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 electrical control module 13, and a communication module 14.

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

The mechanical arm system completes rotary osteotomy around the spherical center of the acetabular fossa according to a motion instruction sequence while reducing vibration-induced eccentricity.

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 center 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 an 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 operation, and the calibration of the tool spherical center is completed.

In addition, in the embodiment, the spherical swing saw is adopted, and the precise control of the mechanical arm is combined, so that the spherical osteotomy operation suitable for the acetabulum fossa structure is realized, the accurate adjustment and fixation are easy, the interference of the original pelvis wide osteotomy on the bone structure can be effectively reduced, and the operation wound is greatly reduced.

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

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

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

the electrical control module 13 is used for triggering 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 triggering the end tool 11 to start working around the center point position according to the motion command sequence.

The mechanical arm system 7 further 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 movement locking mechanism comprises a supporting pedal and a loosening pedal;

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

when the supporting pedal is stepped on to start working, the hydraulic device in the supporting pedal pushes the supporting column out of the supporting 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 be opened, the hydraulic device in the release pedal retracts the support column, and the moving roller below the base 8 contacts the ground to move the mechanical arm system 7.

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

As shown in fig. 10, the optical positioning system 6 includes a binocular camera 15 and a second movable bracket 16, and the binocular camera is fixedly arranged on the second movable bracket 16.

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

The optical positioning system 6 is configured to obtain, by using a calibration algorithm, a first reference coordinate system T1 of the base 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 in an optical positioning reference coordinate system T0, and perform hand-eye calibration on the mechanical arm system 7 according to the first reference coordinate system T1 and the second reference coordinate.

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 a 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, 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 based on the fourth reference coordinate system T4 corresponding to the surgical navigation system 100 and obtained by preoperative planning is converted into the optical positioning reference coordinate system T0, and the acetabulum, the surgical navigation system, the mechanical arm system and the optical positioning system of the patient are positioned 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 patient's acetabulum and send the optical positioning system 6;

the optical positioning system 6 is used for reading first position parameter information of the second target feature points selected by the probe 17;

the optical positioning system 6 is further configured to obtain second location parameter information corresponding to a second target feature point in the three-dimensional model of the hip joint, calculate a matching degree of the first location parameter information and the second location parameter information, and call the probe 17 to reselect 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 greater than or equal to the set threshold value, so as to complete readjustment of preoperative planning to ensure accuracy of operation.

The optical positioning system 6 is also used to transform the spherical center position into the center point position of the patient's acetabulum according to the transformation relationship during the intraoperative control phase.

When the acetabulum is rotated and osteotomies are performed, the operation navigation system 100 is used for displaying and navigating the acetabulum of a patient in real time in the three-dimensional model of the hip joint according to the conversion relation, so that the rotation osteotomies of the acetabulum of the patient can be fed back in real time, namely, the rotation osteotomies are monitored and navigated through the operation navigation system 100, and the convenience of operation and the use experience of operators (such as doctors) are improved.

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 during the acetabular rotation osteotomy;

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 yes, continue to control the end tool 11 to perform a rotary osteotomy operation on the acetabulum; if not, exiting the current execution path.

The surgical robot system of the embodiment participates in the operation from preoperative planning, preoperative evaluation, intraoperative control and intraoperative real-time monitoring, and ensures the safety, accuracy and operability of the acetabular rotation osteotomy.

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

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

In this embodiment, the surgical navigation system is provided with dedicated navigation system software for preoperative planning and intraoperative control, and database software for storing patient information, diagnostic information, and surgical information. The operation navigation system is arranged at a position far away from an operating table in an operating room, a user can complete preoperative diagnosis planning, three-dimensional reconstruction and issuing system instructions through interaction with a user interface so as to control the mechanical arm system to perform operation according to the designated instructions, and three-dimensional image information of a patient and intra-operative dynamic image monitoring 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, is used in cooperation with the reference target ball arranged on the pelvis of a patient and the base of the mechanical arm system, and can dynamically capture the motion trail of the reference target ball and the mechanical arm system, monitor the operation state in real time and dynamically position the operation area. The method can also be matched with other operation positioning devices, such as a matched probe and a reference target ball arranged on an end tool, so that the method can be used for realizing registration and coordinate system transformation algorithm in operation, accurately positioning the target operation position and realizing navigation in operation.

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 the pose of the instrument. The mechanical arm system is placed on one side of the operating table, which can be operated, and is close to an affected part of a patient, the end effector, namely the spherical pendulum saw, is fixed on the mechanical arm, a saw blade of the spherical pendulum saw matched with the shape and the size of the acetabulum of the patient is installed, and the top end position of the inner arc surface of the spherical saw blade is ensured to coincide with the center point of the spherical pendulum saw through processing, so that the tool center (O point) of the end tool can be converted into the center P0 point of the spherical saw blade through the diameter parameter of the saw blade; the motion track of the end tool is controlled by a man-machine interaction instruction of the surgical navigation system, pose information of the feedback end effector is captured in real time by the optical positioning system to form closed-loop control, the motion track of the center P0 point of the saw blade is ensured to conform to an expected spherical section by the surgical robot system, and finally, the spherical pendulum saw swings to complete bone cutting operation by providing power for manual operation of a user.

The embodiment overcomes the defect that the existing operation navigation equipment cannot navigate in the bone cutting operation around the acetabulum, and expands the application range of the navigation equipment. The calculation method and the software evaluation system for the acetabular covering of the hip joint dysplasia are developed independently through the world first set, and a theoretical basis is provided for the scientific and standardized acetabular surgery. The operation robot system for rotary osteotomy of acetabulum is suitable for hospitals at all levels, especially primary hospitals, and 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 robotic system completes the rotary osteotomy, it is necessary to rotate the osteotomy by a certain angle. Specifically, as shown in fig. 12, the acetabulum is completely cut off, and then the cut-off acetabulum is rotated in the direction shown by the arrow by a planned rotation angle (as shown in fig. 13), at this time, the acetabulum is fixed to the pelvis with the screw at the current position, and the completion of the operation is determined; wherein, the acetabular coverage is calculated based on the superposition condition of the femoral head and the acetabulum in the azimuth.

The following is a specific description with reference to examples:

the user: the hospital has a user in the role of a system administrator and the hospital has a user in the role of a surgeon who gets a training certificate. The purpose is as follows: and according to the operation of the user on the visual interface, completing a series of acetabulum rotation osteotomy procedures from preoperative planning to postoperative evaluation.

(1) Preoperative planning phase

Starting a hip joint operation navigation system by a user, logging in, checking and loading basic information, diagnosis information and CT data information corresponding to a patient;

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

selecting characteristic points on the three-dimensional model of the hip joint, 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 so as to plan the size of the end effector;

Starting automatic planning, automatically displaying the osteotomy region of the acetabulum osteotomy and the surrounding situation of pelvis, and automatically planning the osteotomy rotation angle;

performing predictive evaluation on the acetabular coverage parameter, and manually adjusting a scheme according to an evaluation result when the acetabular coverage parameter is smaller than a set value, and repeating the previous step and the process until the acetabular coverage parameter meets the operation requirement;

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

(2) Preoperative device validation stage

Starting the operation navigation system of the hip joint by a user, and operating and connecting and checking the working state of each system by the user;

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

verifying the comprehensive positioning accuracy of the system, and repeating the previous step and the process of the step until the preset comprehensive positioning accuracy index is met if the comprehensive positioning accuracy does not meet the expectation; ending the stage after finishing the confirmation;

(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 the preoperative equipment confirmation are finished, and if the operation planning and the preoperative equipment confirmation are not finished or the adjustment is needed, the two stages are repeated until the operation requirement is met;

the probe connection is confirmed, and a third reference target ball is installed at the acetabulum of the patient after the confirmation is correct, so that the dynamic tracking of the position of the acetabulum of the patient is realized;

characteristic points are selected on the acetabulum and CT three-dimensional model of the patient respectively for matching;

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

verifying the bone registration accuracy, and repeating the two steps and the process of the step until the preset registration accuracy is met if the bone registration accuracy does not meet the expectation;

after the bone registration accuracy is confirmed without errors, the end effector registration is completed according to the size of the end effector planned before operation, and a second reference coordinate system T2 of the end effector calibrated in the confirmation of the equipment before operation is translated to a spherical center position P0 of the spherical saw blade to form a new reference coordinate system of the end effector; ending the stage after finishing the confirmation;

(4) Intraoperative planning and intraoperative navigation control stage

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

model information, position information and track planning information during preoperative planning are exported, and navigation in the operation is started after no error is confirmed;

based on pre-registration of preoperative planning and three-dimensional registration results registered in the operation, displaying the relative position between the acetabulum of the patient and the end effector, and converting the movement path of the preoperative planning into a fourth reference coordinate system T4 of the acetabulum of the patient to obtain a path I;

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

after the user confirms that the end effector is positioned correctly relative to the bone of the patient, the end effector is held in the hand to provide power;

the robot executes the first path through the second path feedback, the optical positioning system monitors the operation process in real time, feeds back and displays the osteotomy position and depth information, and the user checks whether the position is proper after the second path is completed;

if the position is inaccurate, readjusting the first path, and repeating the two steps and the process of the step until the operation expectation is met;

and (3) after the user operation is finished, manually disconnecting the power of the end effector, withdrawing the mechanical arm according to the path III, and ending the stage after the mechanical arm moves to the safety position.

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

as shown in fig. 14, the robot arm reaches a safe initial position above the operation target area in a posture S1;

(1) Starting an osteotomy motion instruction sequence, enabling the mechanical arm to reach a position A1 in a posture S1, and establishing a target coordinate system by taking a spherical saw blade axis as a Z axis by taking a center point P0 of the spherical saw blade as an origin point and a center point of acetabulum of a patient to coincide;

(2) Keeping the spherical saw blade center point P0 unchanged, and rotating counterclockwise around the direction (as shown in the figure, the Y axis) perpendicular to the Z axis of the target coordinate system to a posture S2;

(3) The center point P0 of the spherical saw blade is kept unchanged, and the spherical saw blade rotates anticlockwise to the gesture Si around the direction (the Y axis in the figure) perpendicular to the Z axis of the target coordinate system;

(4) The spherical saw blade central point P0 is kept unchanged, and the spherical saw blade rotates anticlockwise to the gesture SN around the direction (the Y axis in the figure) perpendicular to the Z axis of the target coordinate system;

(5) The center point P0 of the spherical saw blade is kept unchanged, and the spherical saw blade rotates clockwise around the direction (the Y axis in the figure) perpendicular to the Z axis of the target coordinate system to return to the gesture Si;

(6) Keeping the spherical saw blade center point P0 unchanged, and rotating clockwise around the direction (shown as a Y axis) perpendicular to the Z axis of the target coordinate system to return to the gesture S2;

(7) Keeping the spherical saw blade center point P0 unchanged, and rotating clockwise around the direction (shown as a Y axis) perpendicular to the Z axis of the target coordinate system to return to the gesture S1;

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

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

(10) After returning to the position Ai by the gesture S1, keeping the center point P0 of the spherical saw blade unchanged, and rotating clockwise around the Z-axis direction of the target coordinate system to the gesture Si;

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

(12) Repeating the above steps (3) - (11) until the position AN, i.e., the position A1, is returned in the posture S1, as shown in fig. 15;

and returning to a safe initial position above the operation target area by the gesture S1 to finish the osteotomy movement instruction sequence.

Example 4

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

s101, acquiring image data of a hip joint image;

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

specifically, step S102 includes:

performing segmentation processing on the hip joint image to obtain a plurality of segmented images;

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

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

Specifically, step S103 includes:

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

In the embodiment, a three-dimensional model of the hip joint is established through the hip joint image, and 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, namely, automatic searching and movement to the spherical center of the acetabular fossa are realized, so that the accuracy and safety of a follow-up acetabular rotating osteotomy are ensured.

Example 5

As shown in fig. 17, the control method of the surgical robot system of the present embodiment is implemented by using the surgical robot system for rotary osteotomy of an acetabulum of embodiment 2 or 3, and the control method includes:

S201, the surgical navigation system generates a motion instruction sequence according to the three-dimensional model of the hip joint and sends the spherical center position and the motion instruction sequence to the optical positioning system;

s202, when the acetabulum rotates to cut bone, the optical positioning system converts the spherical center position into the central point position of the acetabulum of the patient, and sends the central point position and a movement instruction sequence to the mechanical arm system;

and S203, the mechanical arm system moves the tool center of the end tool to the center point position, and controls the end tool to perform rotary osteotomy on the acetabulum according to the movement instruction sequence.

In the embodiment, a three-dimensional model of the hip joint is established through the operation navigation system to accurately obtain the spherical center position of the sphere where the acetabular fossa is located, the actual center 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 end tool in the mechanical arm system is controlled to perform rotary osteotomy on the acetabulum according to the movement instruction sequence, namely automatic searching and movement to the spherical center of the acetabular fossa are realized, so that the accuracy and safety of the subsequent acetabular rotary osteotomy operation are ensured, and the stability of the osteotomy operation is improved; in addition, the operation navigation system is used for monitoring and navigating the rotary osteotomy condition, 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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

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

wherein the image data comprises position shape data and section shape data of pelvis bones and femur bones;

the surgical navigation module is also used for acquiring the sphere center position of a sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint;

the operation navigation module is used for carrying out segmentation processing on the hip joint image to obtain a plurality of segmented images, and establishing the three-dimensional model of the hip joint according to image data corresponding to the segmented images;

Wherein the segmentation process includes a rough segmentation process and a smooth segmentation process which are sequentially performed;

the rough segmentation processing is realized on the image data of the hip joint image based on a preset machine learning method;

and the smooth segmentation processing is realized by processing the data after the rough segmentation processing based on an integral segmentation method of energy evolution.

2. The surgical navigation system of claim 1, wherein the surgical navigation module is configured to obtain the spherical center position of a sphere in which the acetabular fossa is located according to model parameters of the three-dimensional model of the hip joint; or alternatively, the first and second heat exchangers may be,

the surgical navigation module is used for acquiring a first target characteristic point of the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fitting the first target characteristic point to obtain the spherical center position of the sphere where the acetabular fossa is located.

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

4. A surgical robotic system for acetabular rotary osteotomy, the surgical robotic system comprising the surgical navigation system for a hip joint of any of claims 1-3, the surgical robotic system further comprising an optical positioning system and a robotic arm system;

5. The surgical robotic system of claim 4, wherein the surgical navigation system is configured to obtain three-dimensional morphological parameters, lower limb force line parameters, diameter parameters of the acetabular fossa, rim morphology parameters of the acetabulum, and orientation parameters of the acetabulum from the three-dimensional model of the hip joint;

6. The surgical robotic system of claim 5, wherein the surgical navigation system is further configured to determine a plurality of osteotomies during an acetabular rotary osteotomies based on the center of sphere position, the orientation parameters, and a target size of the end tool;

7. The acetabular rotary osteotomy surgical robotic system of claim 6, wherein the robotic arm system includes a base, a robotic arm body, an end effector, and the end tool;

8. The acetabular rotary osteotomy surgical robotic system of claim 7, wherein the end effector comprises a spherical osteotomy pendulum saw, and the end tool comprises a spherical saw blade of the target size;

Wherein, the top end position of the inner arc surface of the spherical saw blade coincides with the center point of the spherical osteotomy pendulum saw.

9. The acetabular rotary osteotomy surgical robotic system of claim 8, wherein the 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 center point position according to the center point position, and triggering the end tool to start working around the center point position according to the motion instruction sequence; and/or the number of the groups of groups,

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

10. The acetabular rotary osteotomy surgical robotic system of claim 9, wherein the movement locking mechanism includes a support pedal and a release pedal;

when the release pedal is opened, the hydraulic device in the release pedal retracts the support column, and the moving wheel below the base contacts the ground to move the mechanical arm system.

11. The acetabular rotary osteotomy surgical robotic system of claim 7, further comprising a probe;

12. The surgical robotic system of claim 11, wherein the surgical navigation system is configured to display and navigate a patient's acetabulum in real time in the three-dimensional model of the hip joint according to the transformation relationship.

13. The acetabular rotary osteotomy robotic surgical system of claim 11 or 12, wherein the probe is communicatively coupled to the optical positioning system;

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

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

the optical positioning system is further used for acquiring second position parameter information corresponding to the second target feature point in the three-dimensional model of the hip joint, calculating the matching degree of the first position parameter information and the second position parameter information, and calling the probe to click a new second target feature point on the acetabulum of the patient again 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.

14. The acetabular rotary osteotomy robotic surgical system of claim 13, wherein the optical positioning system includes a binocular camera and a second movable mount;

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

15. The acetabular rotary osteotomy surgical robotic system of claim 11, wherein the optical positioning system is further configured to obtain a current execution path of the end tool in the robotic arm system;

16. A surgical navigation method, characterized in that the surgical navigation method is implemented using the surgical navigation system of the hip joint according to any one of claims 1 to 3, the surgical navigation method comprising:

Acquiring image data of a hip joint image;

wherein the image data comprises position shape data and section shape data of pelvis bones and femur bones; establishing a three-dimensional model of the hip joint based on the image data;

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

the step of establishing a three-dimensional model of the hip joint based on the image data comprises the following steps:

dividing the hip joint image to obtain a plurality of divided images;

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

17. The surgical navigation method of claim 16, wherein the step of obtaining a spherical center position of a sphere in which an acetabular fossa is located in a hip joint from the three-dimensional model of the hip joint includes: