CN113509296A - Method and system for automatically adjusting position and posture of acetabular cup and surgical robot - Google Patents
Method and system for automatically adjusting position and posture of acetabular cup and surgical robot Download PDFInfo
- Publication number
- CN113509296A CN113509296A CN202110777345.8A CN202110777345A CN113509296A CN 113509296 A CN113509296 A CN 113509296A CN 202110777345 A CN202110777345 A CN 202110777345A CN 113509296 A CN113509296 A CN 113509296A
- Authority
- CN
- China
- Prior art keywords
- cup
- acetabular
- acetabular cup
- posture
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4688—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor having operating or control means
- A61F2002/469—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor having operating or control means electrical
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgery (AREA)
- Transplantation (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Physical Education & Sports Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Prostheses (AREA)
Abstract
The embodiment of the invention discloses a method and a system for automatically adjusting the posture of an acetabular cup and a surgical robot, wherein the method comprises the following steps: s1, controlling the acetabular cup to move from the current position to a preset cup beating position, detecting a posture adjustment signal in real time, and acquiring the current posture information of the acetabular cup and the current posture information of an acetabular socket of a target object when the posture adjustment signal is detected, wherein the preset cup beating position is located in the acetabular socket; s2, adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket; s3, if the acetabulum cup after posture adjustment is not at the preset cup beating position, repeatedly executing the steps S1 and S2. The problem of prior art can't guarantee that the position of beating the cup of acetabular cup is its best position of beating the cup is solved.
Description
Technical Field
The embodiment of the invention relates to the field of medical equipment, in particular to a method and a system for automatically adjusting the posture of an acetabular cup and a surgical robot.
Background
The aim of total hip replacement is to replace a diseased hip joint with a joint prosthesis, and the requirement of the operation is that the installation pose of the prosthesis should be as accurate as possible, such as the installation position, abduction angle and anteversion angle of the joint prosthesis (i.e. acetabular cup), of course, the actual situation also needs to be determined according to the physiological structure of a patient and is usually determined by preoperative planning. In addition, in the actual acetabular cup installation operation, the acetabular cup is difficult to grind to be particularly smooth and irregular, so when a doctor puts the acetabular cup near the acetabular cup, the central axis of the acetabular cup is often deviated from the central axis of the acetabular cup, the posture of the acetabular cup needs to be adjusted by the doctor by experience so that the acetabular cup is located at the preset acetabular cup installation and cup-beating position, and the central axis of the acetabular cup is overlapped with the central axis of the acetabular cup so as to ensure that the abduction angle and the anteversion angle of the acetabular cup meet the preset requirements, the posture adjustment process is usually long, and the final cup-beating posture of the acetabular cup is difficult to be the optimal cup-beating posture.
Disclosure of Invention
The embodiment of the invention provides a method and a system for automatically adjusting the posture of an acetabular cup and a surgical robot, and solves the problem that the prior art cannot ensure that the acetabular cup beating posture is the optimal acetabular cup beating posture.
In a first aspect, an embodiment of the present invention provides a method for automatically adjusting the posture of an acetabular cup, including:
s1, controlling the acetabular cup to move from the current position to a preset cup beating position, detecting a posture adjustment signal in real time, and acquiring the current posture information of the acetabular cup and the current posture information of an acetabular socket of a target object when the posture adjustment signal is detected, wherein the preset cup beating position is located in the acetabular socket;
s2, adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket;
s3, if the acetabulum cup after posture adjustment is not at the preset cup beating position, repeatedly executing the steps S1 and S2.
In a second aspect, an embodiment of the present invention further provides a surgical robot, including:
the movement module comprises a mechanical arm and is used for driving the acetabular cup to move;
the posture acquisition module comprises an acetabular cup posture unit and an acetabular socket posture unit and is used for acquiring the current posture information of the acetabular cup in real time through the acetabular cup posture unit and acquiring the current posture information of the acetabular socket of the target object in real time through the acetabular socket posture unit;
and the controller is used for adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket.
In a third aspect, the embodiment of the present invention further provides a system for automatically adjusting the posture of an acetabular cup, which includes a processor and a memory, where the memory stores a computer program, and is characterized in that the processor is configured to execute the method for automatically adjusting the posture of an acetabular cup according to any embodiment when executing the computer program.
The technical scheme of the method for automatically adjusting the posture of the acetabular cup provided by the embodiment of the invention controls the acetabular cup to move from the current position to the preset cup beating position, detects a posture adjusting signal in real time, and acquires the current posture information of the acetabular cup and the current posture information of the acetabular socket of a target object when the posture adjusting signal is detected; and if the acetabulum cup after the posture adjustment is not positioned at the preset cup beating position, the steps are repeatedly executed until the acetabulum cup after the posture adjustment is positioned at the preset cup beating position. Because the preset cup beating position is the optimal longitudinal position of the acetabular cup, the posture of the acetabular cup which is at the preset cup beating position and the central axis of which is coincident with the central axis of the acetabular socket is the optimal cup beating posture of the acetabular cup, compared with the artificial adjustment of the posture of the acetabular cup, the posture adjustment time of the acetabular cup can be greatly reduced, the acetabular cup can be adjusted to the optimal cup beating posture, and the success rate of acetabular cup installation is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for automatically adjusting the position of an acetabular cup according to an embodiment of the invention;
FIG. 2 is a diagrammatic view of a surgical robot provided in accordance with one embodiment of the present invention;
FIG. 3A is a schematic illustration of the acetabular cup positioned adjacent to the acetabular socket prior to adjustment of the attitude provided by one embodiment of the invention;
FIG. 3B is a schematic view of the acetabular cup moved to the acetabular socket side wall in accordance with one embodiment of the invention;
FIG. 3C is a schematic view of an acetabular cup position after adjustment of the degree of contact according to an embodiment of the invention;
FIG. 3D is a schematic view of the adjusted acetabular cup of the present invention;
fig. 4 is a schematic diagram of a pose after another coincidence degree adjustment according to an embodiment of the present invention is provided;
FIG. 5 is a schematic view of a surgical robot provided in accordance with another embodiment of the present invention;
FIG. 6 is a block diagram of a surgical robot according to another embodiment of the present invention;
fig. 7 is a block diagram of another surgical robot according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a method for automatically adjusting the posture of an acetabular cup according to an embodiment of the invention. The technical scheme of the embodiment is suitable for adjusting the posture of the acetabular cup through the current posture information of the acetabular cup and the current posture information of the acetabular socket, so that when the acetabular cup is located at a preset cup beating position, the central axis of the acetabular cup is coincident with the central axis of the acetabular socket. The method can be executed by a controller of the surgical robot provided by the embodiment of the invention, and the controller can be realized in a software and/or hardware manner. The method specifically comprises the following steps:
s101, controlling the acetabulum cup to move from the current position to a preset cup beating position, detecting a pose adjustment signal in real time, and acquiring current pose information of the acetabulum cup and current pose information of an acetabulum socket of a target object when the pose adjustment signal is detected, wherein the preset cup beating position is located in the acetabulum socket.
Wherein the target object is a patient currently receiving acetabular cup installation, in particular a patient who has completed acetabular socket milling surgery and awaits acetabular cup driving.
Wherein, the cup beating position is preset as the cup beating position determined before the operation of a doctor, and the center of the cup beating position is close to the center of an acetabulum fossa.
Wherein, the acetabular cup is driven by a mechanical arm to move from the current position to a preset cup beating position, the mechanical arm is a part of a surgical robot and is used for driving the acetabular cup 31 to move through the acetabular cup connecting rod 3 under the control of a controller or under the dragging of a user (such as a doctor), as shown in fig. 2. The surgical robot includes a base 1, a first optical array 41 disposed on the base, a robotic arm 11, a second optical array 42 disposed on the robotic arm 11, and a third optical array 43 disposed near the hip of the patient, and a controller connecting the first optical array 41, the second optical array 42, and the third optical array 43.
The controller acquires the coordinate information of the base 1 in real time through the first optical array 41, acquires the current pose information of the acetabular cup 31 carried by the mechanical arm 11 through the connecting rod 3 in real time through the second optical array 42, acquires the current pose information of the acetabular socket in real time through the third optical array 43, and converts the current pose information of the acetabular cup 31 and the current pose information of the acetabular socket into a coordinate system corresponding to the first optical array so as to determine and adjust the current pose of the acetabular cup.
In the embodiment, the posture adjustment signal is detected in real time in the process that the acetabular cup moves from the current position (see fig. 3A) to the preset cup beating position, and when the posture adjustment signal is detected, the current posture information of the acetabular cup and the current posture information of the acetabular socket of the target object are acquired for posture adjustment of the acetabular cup.
In one embodiment, the posture adjustment signal is triggered by an external force, which is an impact force that the acetabular cup receives when the acetabular cup touches the inner wall of the acetabular socket (see fig. 3B) during movement to the preset cup hitting position. Specifically, when the force sensor arranged on the mechanical arm detects that the acetabular cup is subjected to external force due to the fact that the acetabular cup touches the inner wall of the acetabular fossa, a pose adjusting signal is generated, and the current pose information of the acetabular cup and the current pose information of the acetabular fossa of the target object are obtained according to the pose adjusting signal. The longitudinal adjustment of the acetabular cup is realized firstly by means of the mode of firstly moving and then generating a pose adjustment signal based on external force, and then the transverse contact ratio adjustment of the acetabular cup is realized by means of the pose adjustment signal and subsequent steps, so that the pose of the acetabular cup is automatically adjusted.
In one embodiment, before the acetabular cup is controlled to move from the current position to the preset cup beating position and the posture adjustment signal is detected in real time, current posture information of the acetabular cup and current posture information of an acetabular socket of the target object are obtained; and adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket. Before the longitudinal adjustment of the acetabular cup, the transverse contact ratio adjustment is firstly carried out on the acetabular cup, so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket when the acetabular cup starts to move for the first time, and the increase of the longitudinal movement amount of the acetabular cup in the process of the first movement is facilitated.
A method of aligning the central axis of an acetabular cup with the central axis of an acetabular socket comprising: adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket, and updating the current posture information of the acetabular cup; and adjusting the position of the central shaft of the acetabular cup in the preset direction according to the updated current pose information of the acetabular cup so as to enable the central shaft of the acetabular cup to coincide with the central shaft of the acetabular socket, wherein the preset direction is a direction perpendicular to the central shaft of the acetabular socket.
In one embodiment, the posture adjustment signal is generated when the acetabular cup is detected to have moved a preset step length, wherein the preset step length is smaller than the minimum distance between the preset cup hitting position and the inner wall of the acetabular fossa. Specifically, the distance between the current acetabular cup and the preset cup beating position is set to be H, and the H is equal to 8 preset step lengths. And (3) carrying out pose adjustment on the acetabular cup in the figure 3A to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket (see figure 4), then controlling the acetabular cup after the pose adjustment to move to a preset cup position in a preset step length, generating a pose adjustment signal when detecting that the acetabular cup moves to the preset cup position in each preset step length, and acquiring the current pose information of the acetabular cup and the current pose information of the acetabular socket of the target object according to the pose adjustment signal. Firstly, transverse contact ratio adjustment is carried out on the acetabular cup, then longitudinal position adjustment is carried out on the acetabular cup, and then subsequent contact ratio adjustment is carried out on the acetabular cup based on the position and posture adjustment signal, so that real-time position and posture correction of the acetabular cup is realized.
In one embodiment, the mode of automatically adjusting the acetabular cup pose is triggered by a pose follow-up signal generated by the surgeon by stepping on foot pedals of the surgical robot. Specifically, when the surgeon drags the acetabular cup to the vicinity of the acetabular fossa (see fig. 3A) and the surgical robot is required to automatically perform the posture adjustment of the acetabular cup, the foot pedal of the surgical robot is stepped on, and the controller generates a posture follow-up signal according to the action information of the foot pedal. Accordingly, when the doctor needs to terminate the mode of automatically adjusting the posture of the acetabular cup, a posture follow-up termination signal can be generated by stepping on the pedal plate. Of course, the pedal depression manner for generating the pose follow-up signal is different from the pedal depression manner and/or the depression timing for generating the pose follow-up end signal.
It can be understood that the pose adjustment signals generated based on different triggering modes correspond to different automatic adjustment modes, different automatic adjustment modes need different pose follow-up signals to be triggered, and different pose follow-up signals can be generated through different pedal stepping modes.
S102, adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket.
Adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket, and updating the current pose information of the acetabular socket; and adjusting the position of the central shaft of the acetabular cup in the preset direction according to the updated current pose information of the acetabular cup so as to enable the central shaft of the acetabular cup to coincide with the central shaft of the acetabular socket. For completing the overlap adjustment of the acetabular cup in the transverse direction. Wherein the preset direction is the direction vertical to the central axis of the acetabulum fossa.
S103, if the acetabulum cup after the pose adjustment is not located at the preset cup beating position, the steps are repeatedly executed.
And determining whether the acetabulum cup after the pose adjustment is positioned at a preset cup beating position, if so, locking the current pose of the acetabulum cup, and if not, repeatedly executing the steps S101 and S102.
Illustratively, for the case where the pose adjustment signal is triggered by an external force. Controlling the mechanical arm to drive the acetabular cup to move towards a preset cup beating position until external force applied to the acetabular cup when the acetabular cup touches the inner wall of the acetabular socket (see fig. 3B) is detected, generating a pose adjusting signal according to the external force, acquiring current pose information of the acetabular cup and current pose information of the acetabular socket of a target object according to the pose adjusting signal, and adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket (see fig. 3C); then detecting whether the acetabulum cup after the pose adjustment is located at a preset cup beating position or not; if so, locking the current pose of the acetabular cup, otherwise, continuously controlling the mechanical arm to drive the acetabular cup to move towards the preset cup beating position until an external force applied when the acetabular cup touches the inner wall of the acetabular socket is detected again, generating a pose adjusting signal according to the external force, acquiring the current pose information of the acetabular cup and the current pose information of the acetabular socket of the target object according to the pose adjusting signal, adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so as to enable the central axis of the acetabular cup to be coincident with the central axis of the acetabular socket, detecting whether the acetabular cup after the pose adjustment is located at the preset cup beating position currently, if so, locking the current pose of the acetabular cup, and if not, repeatedly executing the steps until the acetabular cup after the pose adjustment is located at the preset cup beating position.
Illustratively, for the case where the pose adjustment signal is generated upon detecting that the acetabular cup movement completes a preset step size. Controlling the mechanical arm to drive the acetabulum cup (shown in figure 4) with the adjusted posture to move to a preset cup beating position, generating a posture adjusting signal when detecting that the mechanical arm drives the acetabulum cup to move for a preset step length, adjusting the current posture of the acetabulum cup according to the posture adjusting signal so as to enable the central axis of the acetabulum cup with the adjusted posture to coincide with the central axis of the acetabulum socket, detecting whether the acetabulum cup with the adjusted posture is positioned at the preset cup beating position, if so, locking the current posture of the acetabulum cup, if not, driving the acetabulum cup with the adjusted posture to continue to move for a preset step length to the preset cup beating position, generating a posture adjusting signal when completing the preset step length, adjusting the current posture of the acetabulum cup according to the posture adjusting signal so as to enable the central axis of the acetabulum cup with the adjusted posture to coincide with the central axis of the acetabulum socket, and detecting whether the acetabulum cup with the adjusted posture is positioned at the preset cup, if so, locking the current pose of the acetabular cup, otherwise, repeatedly executing the steps until the acetabular cup with the adjusted pose is positioned at the preset cup beating position.
It can be understood that the coordinate of the preset cupping position is set as the origin coordinate, and the direction from the preset cupping position to the opening of the acetabulum fossa is a positive direction. If the longitudinal coordinate of the acetabulum cup after the pose adjustment is smaller than the longitudinal coordinate of the preset cup beating position, controlling the mechanical arm to drive the acetabulum cup to move towards the opening direction of the acetabulum socket; if the longitudinal coordinate of the acetabulum cup after the posture adjustment is larger than the longitudinal coordinate of the preset cup beating position, the mechanical arm is controlled to drive the acetabulum cup to move towards the bottom of the acetabulum socket.
In the embodiment, the acetabulum cup can be controlled to move to the preset cup beating position through an automatic adjustment mode, and the central shaft of the acetabulum cup at the preset cup beating position is superposed with the central shaft of the acetabulum socket; the acetabulum cup can be controlled to move to a preset cup beating position in a mode of mixing two automatic adjustment modes, and the central axis of the acetabulum cup at the preset cup beating position is superposed with the central axis of the acetabulum socket. For example, the acetabulum cup is moved to a position near a preset cup beating position by triggering an automatic adjustment mode of a pose adjustment signal through external force, and then the acetabulum cup is controlled to move to the preset cup beating position from the position near the preset cup beating position through the automatic adjustment mode of the pose adjustment signal generated based on a preset step length, and the central axis of the acetabulum cup coincides with the central axis of the acetabulum socket. It can be understood that when the automatic adjustment mode of the pose adjustment signal is triggered by an external force, and the acetabular cup moves to the position near the preset cup hitting position, the acetabular cup moves back and forth near the preset cup hitting position, so that when the acetabular cup is detected to start to move back and forth at the preset cup hitting position, the current automatic adjustment mode is switched to the automatic adjustment mode for generating the pose adjustment signal based on the preset step length.
In one embodiment, when the posture-adjusted acetabular cup is detected to be at a preset cup beating position, the posture of the mechanical arm is locked through the posture locking instruction, so that the posture of the acetabular cup is locked, and the cup beating operation of the posture-locked acetabular cup can be conveniently executed.
The technical scheme of the method for automatically adjusting the posture of the acetabular cup provided by the embodiment of the invention controls the acetabular cup to move from the current position to the preset cup beating position, detects a posture adjusting signal in real time, and acquires the current posture information of the acetabular cup and the current posture information of the acetabular socket of a target object when the posture adjusting signal is detected; and if the acetabulum cup after the posture adjustment is not positioned at the preset cup beating position, the steps are repeatedly executed until the acetabulum cup after the posture adjustment is positioned at the preset cup beating position. The preset cup beating position is the optimal longitudinal position of the acetabular cup, and the posture of the acetabular cup which is at the preset cup beating position and the central axis of which is coincident with the central axis of the acetabular fossa is the optimal cup beating posture of the acetabular cup. Compared with manual adjustment of the posture of the acetabular cup, the posture adjustment time of the acetabular cup can be greatly reduced, the acetabular cup can be adjusted to the optimal cup beating posture, and the success rate of acetabular cup installation is improved.
Another embodiment of the present invention provides a surgical robot. As shown in fig. 2, 5 and 6, the surgical robot can be used to perform the method for automatically adjusting the posture of the acetabular cup provided by any of the above embodiments, and comprises: a motion module 201, a pose acquisition module 202 and a controller 203; the movement module 201 comprises a mechanical arm 11 for moving the acetabular cup 31; the pose acquisition module 202 comprises an acetabular cup pose unit and an acetabular fossa pose unit, and is used for acquiring the current pose information of the acetabular cup 31 arranged at the tail end of the mechanical arm 11 in real time through the acetabular cup pose unit and acquiring the current pose information of the acetabular fossa of the target object 01 in real time through the acetabular fossa pose unit; the controller 203 is used for adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket.
The controller is further configured to drive the acetabular cup 31 to move from the current position to a preset cup beating position through the mechanical arm 11, and when a pose adjusting signal is detected, obtain current pose information of the acetabular cup 31 and current pose information of an acetabular socket of the target object in real time through the pose obtaining module 202.
The surgical robot also comprises a force sensing module, wherein the force sensing module is used for detecting collision force applied when the acetabular cup touches the inner wall of the acetabular fossa in the process of moving to the preset cup hitting position; the pose adjustment signal is triggered by the detected impact force. The force sensor module is preferably a six-dimensional force sensor.
Wherein, the mechanical arm 11 drives the acetabular cup 31 to move through the acetabular cup connecting rod 3 arranged at the tail end of the mechanical arm.
The surgical robot further comprises a base 1, a first optical array 41 arranged on the base 1, a mechanical arm 11 connected with the base 1, a six-dimensional force sensor 2 arranged on the mechanical arm 11, a second optical array 42 arranged on the mechanical arm 11, a third optical array 43 arranged near an acetabulum fossa of the target object 01, and an optical camera 5. The first optical array is used for acquiring coordinate information of the base, the acetabulum fossa is located at the tail end of the active follow-up area 02, and the posture of the active follow-up area 02 changes along with the change of the posture of the acetabulum fossa. It should be noted that the active following area is a cone-shaped virtual area, and the size of the active following area can be set according to the size of a specific operation opening.
The acetabular cup posture unit is a second optical array 42 arranged on the mechanical arm, and the acetabular socket posture unit is a third optical array 43 placed near the acetabular socket. The controller acquires coordinate information of a base of the system in real time through the first optical array 41, acquires current pose information of the acetabular cup in real time through the second optical array 42, acquires current pose information of the acetabular socket in real time through the third optical array 43, and converts the current pose information of the acetabular cup and the current pose information of the acetabular socket into a coordinate system corresponding to the first optical array 41 so as to determine and adjust the current pose of the acetabular cup.
In one embodiment, the posture adjustment signal is triggered by an external force, namely an impact force applied when the acetabular cup touches the inner wall of the acetabular socket during the movement to the preset cup hitting position. Specifically, when it is detected by a force sensor provided on the mechanical arm that the acetabular cup is subjected to an external force due to touching the inner wall of the acetabular socket (see fig. 3B), a posture adjustment signal is generated, and the current posture information of the acetabular cup and the current posture information of the acetabular socket of the target object are acquired according to the posture adjustment signal. The longitudinal adjustment of the acetabular cup is realized firstly by means of the mode of firstly moving and then generating a pose adjustment signal based on external force, and then the transverse contact ratio adjustment of the acetabular cup is realized by means of the pose adjustment signal and subsequent steps, so that the pose of the acetabular cup is automatically adjusted.
In one embodiment, before the acetabular cup is controlled to move from the current position to the preset cup beating position and the posture adjustment signal is detected in real time, current posture information of the acetabular cup and current posture information of an acetabular socket of the target object are obtained; and adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket. Before the longitudinal adjustment of the acetabular cup, the transverse contact ratio adjustment is firstly carried out on the acetabular cup, so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket when the acetabular cup starts to move for the first time, and the increase of the longitudinal movement amount of the acetabular cup in the process of the first movement is facilitated.
A method of aligning the central axis of an acetabular cup with the central axis of an acetabular socket comprising: adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket, and updating the current posture information of the acetabular cup; and adjusting the position of the central shaft of the acetabular cup in the preset direction according to the updated current pose information of the acetabular cup so as to enable the central shaft of the acetabular cup to coincide with the central shaft of the acetabular socket, wherein the preset direction is a direction perpendicular to the central shaft of the acetabular socket.
In one embodiment, the posture adjustment signal is generated when the acetabular cup is detected to have moved a preset step length, wherein the preset step length is smaller than the minimum distance between the preset cup hitting position and the inner wall of the acetabular fossa. Specifically, the position and orientation of the acetabular cup in fig. 3A are adjusted to make the central axis of the acetabular cup coincide with the central axis of the acetabular socket, see fig. 4, the position and orientation adjusted acetabular cup is controlled to move to a preset cup beating position in a preset step length, a position and orientation adjustment signal is generated when the preset step length is detected to be moved every time, and the current position and orientation information of the acetabular cup and the current position and orientation information of the acetabular socket of the target object are obtained according to the position and orientation adjustment signal. Firstly, transverse contact ratio adjustment is carried out on the acetabular cup, then longitudinal position adjustment is carried out on the acetabular cup, and then subsequent contact ratio adjustment is carried out on the acetabular cup based on the position and posture adjustment signal, so that real-time position and posture correction of the acetabular cup is realized.
In one embodiment, the mode of automatically adjusting the acetabular cup pose is triggered by a pose follow-up signal generated by the surgeon by stepping on foot pedals of the surgical robot. Specifically, when a doctor drags the acetabular cup to the position close to the acetabular fossa and the surgical robot is required to automatically perform posture adjustment of the acetabular cup, the foot pedal of the surgical robot is trampled, and the controller generates a posture follow-up signal according to the action information of the foot pedal. Accordingly, when the doctor needs to terminate the mode of automatically adjusting the posture of the acetabular cup, the posture follow-up termination signal can be generated by stepping on the pedal plate of the surgical robot. Of course, the pedal depression manner for generating the pose follow-up signal is different from the pedal depression manner and/or the depression timing for generating the pose follow-up end signal;
it can be understood that the pose adjustment signals generated based on different triggering modes correspond to different automatic adjustment modes, different automatic adjustment modes need different pose follow-up signals to be triggered, and different pose follow-up signals can be generated through different pedal stepping modes.
The acetabulum cup posture adjusting method comprises the following steps: adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket, and updating the current pose information of the acetabular socket; and adjusting the position of the central shaft of the acetabular cup in the preset direction according to the updated current pose information of the acetabular cup so as to enable the central shaft of the acetabular cup to coincide with the central shaft of the acetabular socket. For completing the overlap adjustment of the acetabular cup in the transverse direction. Wherein the preset direction is the direction vertical to the central axis of the acetabulum fossa.
Determining whether the acetabulum cup after the pose adjustment is positioned at a preset cup beating position, if so, locking the current pose of the acetabulum cup, and if not, repeatedly executing the following steps: the mechanical arm 11 drives the acetabular cup 31 to move from the current position to the preset cup beating position, when a pose adjusting signal is detected, the pose acquiring module 202 acquires the current pose information of the acetabular cup 31 and the current pose information of the acetabular socket of the target object in real time, and the pose of the acetabular cup is adjusted according to the current pose information of the acetabular cup and the current pose information of the acetabular socket, so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket.
Illustratively, for the case where the pose adjustment signal is triggered by an external force. Controlling the mechanical arm to drive the acetabular cup to move towards a preset cup beating position until external force applied to the acetabular cup when the acetabular cup touches the inner wall of the acetabular socket (see fig. 3B) is detected, generating a pose adjusting signal according to the external force, acquiring current pose information of the acetabular cup and current pose information of the acetabular socket of a target object according to the pose adjusting signal, and adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket (see fig. 3C); then detecting whether the acetabulum cup after the pose adjustment is located at a preset cup beating position or not; if so, locking the current pose of the acetabular cup, otherwise, continuously controlling the mechanical arm to drive the acetabular cup to move towards the preset cup beating position until an external force applied when the acetabular cup touches the inner wall of the acetabular socket is detected again, generating a pose adjusting signal according to the external force, acquiring the current pose information of the acetabular cup and the current pose information of the acetabular socket of the target object according to the pose adjusting signal, adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so as to enable the central axis of the acetabular cup to be coincident with the central axis of the acetabular socket, detecting whether the acetabular cup after the pose adjustment is located at the preset cup beating position currently, if so, locking the current pose of the acetabular cup, and if not, repeatedly executing the steps until the acetabular cup after the pose adjustment is located at the preset cup beating position.
Illustratively, for the case where the pose adjustment signal is generated upon detecting that the acetabular cup movement completes a preset step size. Controlling the mechanical arm to drive the acetabulum cup (shown in figure 4) with the adjusted posture to move to a preset cup beating position, generating a posture adjusting signal when detecting that the mechanical arm drives the acetabulum cup to move for a preset step length, adjusting the current posture of the acetabulum cup according to the posture adjusting signal so as to enable the central axis of the acetabulum cup with the adjusted posture to coincide with the central axis of the acetabulum socket, detecting whether the acetabulum cup with the adjusted posture is positioned at the preset cup beating position, if so, locking the current posture of the acetabulum cup, if not, driving the acetabulum cup with the adjusted posture to continue to move for a preset step length to the preset cup beating position, generating a posture adjusting signal when completing the preset step length, adjusting the current posture of the acetabulum cup according to the posture adjusting signal so as to enable the central axis of the acetabulum cup with the adjusted posture to coincide with the central axis of the acetabulum socket, and detecting whether the acetabulum cup with the adjusted posture is positioned at the preset cup, if so, locking the current pose of the acetabular cup, otherwise, repeatedly executing the steps until the acetabular cup with the adjusted pose is positioned at the preset cup beating position.
It can be understood that the coordinate of the preset cupping position is set as the origin coordinate, and the direction from the preset cupping position to the opening of the acetabulum fossa is a positive direction. If the longitudinal coordinate of the acetabulum cup after the pose adjustment is smaller than the longitudinal coordinate of the preset cup beating position, controlling the mechanical arm to drive the acetabulum cup to move towards the opening direction of the acetabulum socket; if the longitudinal coordinate of the acetabulum cup after the posture adjustment is larger than the longitudinal coordinate of the preset cup beating position, the mechanical arm is controlled to drive the acetabulum cup to move towards the bottom of the acetabulum socket.
In the embodiment, the controller can control the acetabular cup to move to the preset cup beating position through an automatic adjustment mode, and the central shaft of the acetabular cup at the preset cup beating position is superposed with the central shaft of the acetabular socket; the acetabulum cup can be controlled to move to a preset cup beating position in a mode of mixing two automatic adjustment modes, and the central axis of the acetabulum cup at the preset cup beating position is superposed with the central axis of the acetabulum socket. For example, the acetabulum cup is moved to the position near the preset cup beating position through an automatic adjustment mode of triggering the posture adjustment signal by external force, and then the acetabulum cup is controlled to move to the preset cup beating position from the position near the preset cup beating position through an automatic adjustment mode of generating the posture adjustment signal based on the preset step length, and the central axis of the acetabulum cup coincides with the central axis of the acetabulum socket. It can be understood that when the automatic adjustment mode of the pose adjustment signal is triggered by an external force, and the acetabular cup moves to the position near the preset cup hitting position, the acetabular cup moves back and forth near the preset cup hitting position, so that when the acetabular cup starts to move back and forth at the preset cup hitting position is detected, the current automatic adjustment mode is switched to the automatic adjustment mode in which the pose adjustment signal is generated based on the preset step length.
In some embodiments, the surgical robot further comprises a display module, such as display 6 of fig. 5, for displaying at least the relative pose relationship between the acetabular cup and the acetabular socket. Specifically, the controller converts the current pose information of the acetabular cup acquired in real time through the second optical array and the current pose information of the acetabular socket acquired in real time through the third optical array into a coordinate system corresponding to the first optical array, and outputs the current pose information of the acetabular cup and the current pose information of the acetabular socket converted into the first optical array to the display device, so that a doctor visually observes the relative pose relationship between the acetabular cup and the acetabular socket through the display device.
In some embodiments, the system further comprises an optical camera 5 for detecting the pose of the acetabular socket and acetabular cup, and the pose correspondence therebetween, by detecting the pose of the second optical array and the third optical array.
In some embodiments, the surgical robot further comprises an anti-collision detection module 204 (see fig. 7) for determining the pose of the patient's hip joint by positioning a third optical array 43 disposed on the patient's hip joint by the optical camera 5 and for acquiring the poses of the various joints of the robotic arms; and determining the pose adjustment amount of the mechanical arm according to the pose of the hip joint of the patient, the pose of each joint of the mechanical arm and the preset distance range. The controller is further used for controlling the mechanical arm to rotate according to the current pose adjustment amount on the premise of keeping the current pose of the acetabular cup unchanged if the pose adjustment amount is not within the preset adjustment threshold value, so that the pose adjustment amount is within the preset adjustment threshold value, and at the moment, the distance between the mechanical arm and the hip joint is larger than or equal to the preset distance range. Preferably, the controller is further configured to: if the pose adjustment amount is not within the preset adjustment threshold, on the premise of keeping the current pose of the acetabular cup unchanged, controlling the rotation of the mechanical arm according to the current pose adjustment amount, then acquiring the current pose adjustment amount of the mechanical arm again through the collision detection module, determining whether the current pose adjustment amount is within the preset adjustment threshold, and if not, repeating the steps until the current pose adjustment amount of the mechanical arm is within the preset adjustment threshold. The controller is further configured to: and if the current pose adjustment amount is within a preset adjustment threshold, outputting prompt information for indicating the pose safety of the mechanical arm through a display device 6. The posture adjustment amount is limited in the preset adjustment threshold value, so that the distance between the mechanical arm and the hip joint is larger than or equal to the preset distance range, the mechanical arm cannot touch the hip joint of a patient in the whole cup beating process, and the safety of the cup beating process is improved.
Compared with the prior art, the technical scheme of the surgical robot provided by the embodiment of the invention is that the controller is used for acquiring the current pose information of the acetabular cup and the current pose information of the acetabular socket of the target object through the pose acquisition module according to the pose adjustment signal detected by the acetabular cup in the process of moving from the current position to the preset cup beating position, and adjusting the pose of the acetabular cup according to the current pose information of the acetabular cup and the current pose information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket, and if the acetabular cup after the pose adjustment is not at the preset cup beating position, the steps are continued until the central axis of the acetabular cup after the pose adjustment coincides with the central axis of the acetabular socket. Because the preset cup beating position is the optimal longitudinal position of the acetabular cup expected by a doctor, the posture of the acetabular cup which is at the preset cup beating position and the central axis of which is coincident with the central axis of the acetabular socket is the optimal cup beating posture of the acetabular cup, compared with the posture adjustment of the acetabular cup manually, the posture adjustment time of the acetabular cup can be greatly reduced, the acetabular cup can be adjusted to the optimal cup beating posture, and the success rate of acetabular cup installation is improved.
The surgical robot provided by the embodiment of the invention can execute the method for automatically adjusting the posture of the acetabular cup provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Another embodiment of the present invention further provides a system for automatically adjusting the posture of an acetabular cup, the system including a processor and a memory, the memory storing a computer program, the processor executing the computer program to perform a method for automatically adjusting the posture of the acetabular cup, the method including:
s1, controlling the acetabular cup to move from the current position to a preset cup beating position, detecting a posture adjustment signal in real time, and acquiring the current posture information of the acetabular cup and the current posture information of an acetabular socket of a target object when the posture adjustment signal is detected, wherein the preset cup beating position is located in the acetabular socket;
s2, adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket;
s3, if the acetabulum cup after posture adjustment is not at the preset cup beating position, repeatedly executing the steps S1 and S2.
Of course, the computer program of the system for automatically adjusting the posture of the acetabular cup provided by the embodiment of the invention is not limited to the method operations described above, and may also perform related operations in the method for automatically adjusting the posture of the acetabular cup provided by any embodiment of the invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the method for automatically adjusting the posture of the acetabular cup according to the embodiments of the present invention.
It should be noted that, in the embodiment of the surgical robot, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A method for automatically adjusting the posture of an acetabular cup is characterized by comprising the following steps:
s1, controlling the acetabular cup to move from the current position to a preset cup beating position, detecting a posture adjustment signal in real time, and acquiring the current posture information of the acetabular cup and the current posture information of an acetabular socket of a target object when the posture adjustment signal is detected, wherein the preset cup beating position is located in the acetabular socket;
s2, adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup coincides with the central axis of the acetabular socket;
s3, if the acetabulum cup after posture adjustment is not at the preset cup beating position, repeatedly executing the steps S1 and S2.
2. The method of claim 1, further comprising, prior to said controlling said acetabular cup to move from a current position to a preset cup,:
acquiring current pose information of an acetabular cup and current pose information of an acetabular fossa of a target object;
and adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket.
3. The method according to claim 1 or 2,
the posture adjusting signal is triggered by external force, and the external force is collision force received when the acetabular cup touches the inner wall of the acetabular fossa in the movement process of the acetabular cup to the preset cup hitting position.
4. The method according to claim 1 or 2,
the pose adjustment signal is generated when the acetabular cup is detected to move for a preset step length; the preset step length is smaller than the minimum distance between the position where the cup is arranged and the inner wall of the acetabulum fossa.
5. The method of claim 1 wherein adjusting the attitude of the acetabular cup based on the current attitude information of the acetabular cup and the current attitude information of the acetabular socket such that the central axis of the acetabular cup coincides with the central axis of the acetabular socket comprises:
adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so that the central axis of the acetabular cup is parallel to the central axis of the acetabular socket, and updating the current posture information of the acetabular cup;
and adjusting the position of the central shaft of the acetabular cup in the preset direction according to the updated current pose information of the acetabular cup so as to enable the central shaft of the acetabular cup to coincide with the central shaft of the acetabular socket.
6. A surgical robot, comprising:
the movement module comprises a mechanical arm and is used for driving the acetabular cup to move;
the posture acquisition module comprises an acetabular cup posture unit and an acetabular socket posture unit and is used for acquiring the current posture information of the acetabular cup in real time through the acetabular cup posture unit and acquiring the current posture information of the acetabular socket of the target object in real time through the acetabular socket posture unit;
and the controller is used for adjusting the posture of the acetabular cup according to the current posture information of the acetabular cup and the current posture information of the acetabular socket so as to enable the central axis of the acetabular cup to coincide with the central axis of the acetabular socket.
7. A surgical robot as claimed in claim 6,
the controller is further used for driving the acetabular cup to move from the current position to a preset cup beating position through the mechanical arm, and when a pose adjusting signal is detected, the current pose information of the acetabular cup and the current pose information of the acetabular socket of the target object are obtained in real time through the pose obtaining module.
8. A surgical robot as claimed in claim 7,
the surgical robot also comprises a force sensing module, wherein the force sensing module is used for detecting collision force received when the acetabular cup touches the inner wall of the acetabular fossa in the process of moving to a preset cup hitting position;
the pose adjustment signal is triggered by the detected impact force.
9. A surgical robot as claimed in claim 7,
the pose adjusting signal is generated when the acetabular cup is detected to move for a preset step length;
the preset step length is smaller than the minimum distance between the position where the cup is arranged and the inner wall of the acetabulum fossa.
10. A surgical robot as claimed in claim 6, further comprising:
the display module is at least used for displaying the relative pose relation of the acetabular cup and the acetabular fossa.
11. A system for automatically adjusting the posture of an acetabular cup, comprising a processor and a memory, the memory storing a computer program, wherein the processor is configured to execute the computer program to perform the method of automatically adjusting the posture of an acetabular cup according to any one of claims 1 to 5.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110777345.8A CN113509296B (en) | 2021-07-09 | 2021-07-09 | Method and system for automatically adjusting position and posture of acetabular cup and surgical robot |
| PCT/CN2022/104671 WO2023280310A1 (en) | 2021-07-09 | 2022-07-08 | Surgical robot and control method therefor |
| EP22837055.7A EP4368140A1 (en) | 2021-07-09 | 2022-07-08 | Surgical robot and control method therefor |
| US18/408,519 US20240138941A1 (en) | 2021-07-09 | 2024-01-09 | Surgical robots and control methods thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110777345.8A CN113509296B (en) | 2021-07-09 | 2021-07-09 | Method and system for automatically adjusting position and posture of acetabular cup and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113509296A true CN113509296A (en) | 2021-10-19 |
| CN113509296B CN113509296B (en) | 2023-08-11 |
Family
ID=78066598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110777345.8A Active CN113509296B (en) | 2021-07-09 | 2021-07-09 | Method and system for automatically adjusting position and posture of acetabular cup and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113509296B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| US20080255584A1 (en) * | 2005-04-09 | 2008-10-16 | David Beverland | Acetabular Cup Positioning |
| CN102612350A (en) * | 2009-10-01 | 2012-07-25 | 马科外科公司 | Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool |
| US20140135791A1 (en) * | 2012-11-09 | 2014-05-15 | Blue Belt Technologies, Inc. | Systems and methods for navigation and control of an implant positioning device |
| US20150297362A1 (en) * | 2012-11-02 | 2015-10-22 | Polaris Surgical Llc | Systems and methods for measuring orthopedic parameters in arthroplastic procedures |
| US20180338799A1 (en) * | 2017-05-29 | 2018-11-29 | Intellijoint Surgical Inc. | Systems and methods for surgical navigation with a tracker instrument |
| US20190090962A1 (en) * | 2015-08-05 | 2019-03-28 | Friedrich Boettner | Fluoroscopy-Based Measurement and Processing System and Method |
| US20190380720A1 (en) * | 2016-10-27 | 2019-12-19 | The First Affiliated Hospital Of Sun Yat-Sen University | Positioning guiding device and positioning method thereof for acetabulum reaming and acetabular cup prosthesis implantation |
| CN111870348A (en) * | 2020-07-23 | 2020-11-03 | 武汉联影智融医疗科技有限公司 | Surgical robot auxiliary positioning method, surgical robot and storage medium |
| US20210059838A1 (en) * | 2019-09-03 | 2021-03-04 | Russell J. Bodner | Methods and Systems for Targeted Alignment and Sagittal Plane Positioning for Hip Replacement Surgery |
| US20210068979A1 (en) * | 2019-09-07 | 2021-03-11 | Ihip Surgical, Llc | System and Method for Total Hip Arthroplasty |
| CN112809686A (en) * | 2021-02-02 | 2021-05-18 | 杭州柳叶刀机器人有限公司 | Robot body state follow-up control method and device |
-
2021
- 2021-07-09 CN CN202110777345.8A patent/CN113509296B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| US20080255584A1 (en) * | 2005-04-09 | 2008-10-16 | David Beverland | Acetabular Cup Positioning |
| CN102612350A (en) * | 2009-10-01 | 2012-07-25 | 马科外科公司 | Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool |
| US20150297362A1 (en) * | 2012-11-02 | 2015-10-22 | Polaris Surgical Llc | Systems and methods for measuring orthopedic parameters in arthroplastic procedures |
| US20140135791A1 (en) * | 2012-11-09 | 2014-05-15 | Blue Belt Technologies, Inc. | Systems and methods for navigation and control of an implant positioning device |
| US20190090962A1 (en) * | 2015-08-05 | 2019-03-28 | Friedrich Boettner | Fluoroscopy-Based Measurement and Processing System and Method |
| US20190380720A1 (en) * | 2016-10-27 | 2019-12-19 | The First Affiliated Hospital Of Sun Yat-Sen University | Positioning guiding device and positioning method thereof for acetabulum reaming and acetabular cup prosthesis implantation |
| US20180338799A1 (en) * | 2017-05-29 | 2018-11-29 | Intellijoint Surgical Inc. | Systems and methods for surgical navigation with a tracker instrument |
| US20210059838A1 (en) * | 2019-09-03 | 2021-03-04 | Russell J. Bodner | Methods and Systems for Targeted Alignment and Sagittal Plane Positioning for Hip Replacement Surgery |
| US20210068979A1 (en) * | 2019-09-07 | 2021-03-11 | Ihip Surgical, Llc | System and Method for Total Hip Arthroplasty |
| CN111870348A (en) * | 2020-07-23 | 2020-11-03 | 武汉联影智融医疗科技有限公司 | Surgical robot auxiliary positioning method, surgical robot and storage medium |
| CN112809686A (en) * | 2021-02-02 | 2021-05-18 | 杭州柳叶刀机器人有限公司 | Robot body state follow-up control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113509296B (en) | 2023-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113520601B (en) | Real-time correction method and system for pose of end tool and surgical robot | |
| US11950859B2 (en) | Navigation and positioning system and method for joint replacement surgery robot | |
| US9456765B2 (en) | Systems and methods for measuring parameters in joint replacement surgery | |
| KR102351633B1 (en) | Systems and methods for monitoring a surgical procedure with critical regions | |
| CN111467036A (en) | Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof | |
| WO2019050821A1 (en) | Camera control for surgical robotic systems | |
| CN113040920A (en) | System and method for manipulating anatomy | |
| EP4241717A1 (en) | Surgical robot and motion error detection method and detection device therefor | |
| JP2018506352A (en) | Navigation system and method for reducing tracking interruptions during surgery | |
| JP2016503319A (en) | System and method for guidance and control of an implant placement device | |
| KR102394901B1 (en) | Two dimensional medical image-based planning apparatus for spine surgery, and method thereof | |
| US11682122B2 (en) | Auto-tracker characterization with robotics applications | |
| CN115379814A (en) | System and method for controlling robot movement of a tool based on virtual boundaries | |
| EP4026509A2 (en) | Device for guiding position of robot, method therefor, and system comprising same | |
| WO2023029922A1 (en) | Method and system for limiting movement area of robot | |
| CN115363762A (en) | Positioning method and device of surgical robot and computer equipment | |
| WO2023280310A1 (en) | Surgical robot and control method therefor | |
| CN113276111A (en) | Surgical robot control system and control method | |
| CN113509296A (en) | Method and system for automatically adjusting position and posture of acetabular cup and surgical robot | |
| CN112168197B (en) | Positioning method and navigation system for elbow joint external fixation rotating shaft | |
| KR102274175B1 (en) | Surgical navigation apparatus and the method thereof | |
| JP2023026389A (en) | System and method for intraoperatively determining image alignment | |
| CN115211966A (en) | Orthopedic robot positioning method, system, equipment and medium | |
| US20230190378A1 (en) | Robotic Systems, Methods And Software Programs For Modifying Tool Operation Based On Tissue Parameters | |
| CN117159158A (en) | Medical surgical robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |