CN113768628A

CN113768628A - Bone grinding amount safety range determining method and electronic device

Info

Publication number: CN113768628A
Application number: CN202111138145.4A
Authority: CN
Inventors: 张雪晴; 陈超民; 吴博
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2021-12-10
Anticipated expiration: 2041-09-27
Also published as: CN113768628B

Abstract

The application relates to a bone abrasion amount safety range determining method, a joint replacement surgery robot system, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring a CT image corresponding to a joint part of a target object; acquiring bone density information and bone strength information of a joint part by using a bone density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to a joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount; and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount. Through the method and the device, the problem of low reliability of real-time monitoring of the bone abrasion amount in the joint replacement operation in the related art is solved, and the technical effect of improving the reliability of the real-time monitoring of the bone abrasion amount is realized.

Description

Bone grinding amount safety range determining method and electronic device

Technical Field

The present application relates to the field of medical device technology, and in particular, to a bone abrasion amount safety range determination method, a joint replacement surgery robot system, an electronic device, and a storage medium.

Background

The joint replacement operation is to adopt metal, high molecular polyethylene, ceramic and other materials, prepare an artificial joint prosthesis according to the shape, structure and function of a human joint, implant the artificial joint prosthesis into a human body through a surgical technology to replace the function of a diseased joint, and achieve the purposes of relieving joint pain and recovering the function of the joint.

In traditional joint replacement operation, mainly through the manual operation of rubbing of bad bone of doctor's experience, go to judge whether suitable with the naked eye to rub the bone volume, the difficult meeting of avoiding is rubbed together with bad bone with patient's good bone, even links healthy soft tissue such as cruciate ligament etc. and also can't remain to lead to the patient to need to bear the wound that great wound brought, and the recovery time that reaches 1 to 2 years.

In the existing joint replacement surgery, an MAKO robot system can be adopted to monitor the bone grinding amount in the surgery process in real time, the bone grinding amount is presented to a doctor in a digital interface mode, a navigation instrument monitors tracking arrays arranged at the tail end of a mechanical arm and the joint position of a patient in real time, the pose information of an electric drill at the tail end of the mechanical arm is further obtained, and the real-time monitoring of the bone grinding amount is achieved. However, in such technical solutions, the visual field area of the navigation instrument is easily blocked in the use process, the accuracy of navigation tracking is greatly interfered by the outside, the process of installing the tracking array is complicated, the preoperative workload is increased, the tracking array is easy to move, so that the navigation accuracy is reduced, and the reliability of real-time monitoring of the bone abrasion amount in the joint replacement surgery is further reduced.

At present, no effective solution is provided aiming at the problem of low reliability of real-time monitoring of the bone abrasion amount in the joint replacement operation in the related art.

Disclosure of Invention

The embodiment of the application provides a method for determining a bone abrasion amount safety range, a joint replacement surgery robot system, an electronic device and a storage medium, so as to at least solve the problem of low reliability of real-time monitoring of bone abrasion amount in joint replacement surgery in the related art.

In a first aspect, an embodiment of the present application provides a method for determining a bone-grinding-amount safety range, where the method includes: acquiring a CT image corresponding to a joint part of a target object; acquiring bone density information and bone strength information of the joint part by using a bone density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount; and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount.

In some of these embodiments, the method further comprises: and determining whether to send a navigation calibration instruction to a mechanical arm module of a driving bone grinding module in the robot system or not according to the current bone grinding amount and the safety range of the bone grinding amount.

In some of these embodiments, the method further comprises: and drawing a bone strength safety line corresponding to the safe range of the bone grinding amount on the corrected CT image, and displaying the bone strength safety line and the current bone grinding amount by using a display module in the robot system.

In some of these embodiments, modifying the CT image in real-time from the ultrasound image comprises: registering the ultrasound image with the CT image; and reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.

In some embodiments, the real-time correction of the CT image according to the ultrasound image and the obtaining of the current bone-worn amount comprises: and comparing and analyzing the corrected CT image with the CT image before correction to obtain the current bone grinding amount.

In some embodiments, the bone grinding parameters include bone grinding feed, bone grinding rotation speed, and bone grinding force.

In a second aspect, embodiments of the present application provide a joint replacement surgical robotic system, the system comprising: the bone grinding device comprises a bone grinding module, a mechanical arm module, a control module, an ultrasonic detection module and a bone density detection module, wherein the bone grinding module is fixedly connected with the tail end of the mechanical arm module and is used for carrying out bone grinding operation on a joint part of a target object; the mechanical arm module is in communication connection with the control module; the ultrasonic detection module is arranged at the joint part of the target object, is in communication connection with the control module, and is used for performing ultrasonic scanning on the joint part of the target object; the bone density detection module is arranged at a joint part of the target object, is in communication connection with the control module, and is used for acquiring bone density information and bone strength information of the joint part; the control module is used for executing the method for determining the safe bone grinding amount range according to the first aspect.

In a third aspect, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the method for determining a bone-grinding-amount safety range according to the first aspect.

In a fourth aspect, an embodiment of the present application further provides a storage medium, in which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining a bone-worn amount safety range according to the first aspect.

Compared with the related art, the method for determining the safe range of the bone grinding amount, the joint replacement surgery robot system, the electronic device and the storage medium provided by the embodiment of the application acquire the CT image corresponding to the joint part of the target object; acquiring bone density information and bone strength information of a joint part by using a bone density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to a joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount; and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount. The problem of low reliability of real-time monitoring of the bone abrasion amount in the joint replacement operation in the related art is solved, and the technical effect of improving the reliability of the real-time monitoring of the bone abrasion amount in the joint replacement operation is achieved.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a flowchart of a method for determining a bone grinding amount safety range according to an embodiment of the present application;

FIG. 2 is a block diagram of a joint replacement surgical robotic system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

The present embodiment provides a method for determining a bone grinding amount safety range, and fig. 1 is a flowchart of a method for determining a bone grinding amount safety range according to an embodiment of the present application, as shown in fig. 1, the method includes:

step S101 acquires a CT image corresponding to a joint region of a target object.

In this embodiment, the CT image may be a two-dimensional image or a three-dimensional image, the CT image is used to show a joint part to be operated, and for performing auxiliary positioning, a CT image of the joint part is obtained in advance, and an identifier of the CT image in a corresponding coordinate system is obtained. For example, a bone anatomy 3D model for displaying a surgical site is established according to a CT (Computed Tomography, CT for short) scan image of a joint site, a spatial coordinate system is then established for the 3D model for displaying, each point on the 3D model has a corresponding coordinate, preoperative planning is performed based on the 3D model, and a surgical plan is determined.

And step S102, acquiring bone density information and bone strength information of the joint part by using a bone density detection module.

In this embodiment, the bone density detection module may be an ultrasonic bone density detector, and the ultrasonic bone density detection module is fixedly disposed in a peripheral region of a joint portion of the target object, and performs ultrasonic scanning on the joint portion in real time, and acquires bone density information and bone strength information of the joint portion.

And step S103, acquiring bone grinding parameters according to the bone density information and the bone strength information.

In this embodiment, the bone milling module may be disposed at a distal end of a robot arm module in the robot system, and the bone milling module may include a driving unit and an executing unit, wherein the driving unit is fixedly connected to the distal end of the robot arm module, and the executing unit includes an acetabular file, i.e., a drill bit, for milling a bone.

In the above embodiment, force feedback information of the bone grinding module during grinding operation of the joint part of the target object of the bone grinding module can be obtained in real time, and bone grinding parameters are configured according to the force feedback information, wherein the force feedback information in the joint part can be obtained by devices such as a pressure sensor arranged on the bone grinding module and/or a mechanical arm module.

And step S104, acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module.

In this embodiment, the ultrasonic detection module may be disposed at a joint portion of the target object, and when the bone grinding module performs a grinding operation on the joint portion of the target object, the ultrasonic detection module may be used to perform an ultrasonic scan on the joint portion of the target object in real time, perform an ultrasonic imaging process on the joint portion of the target object based on the transmitted ultrasonic wave and the received reflected ultrasonic wave, and acquire an ultrasonic image of the joint portion in real time, where the ultrasonic image may be a three-dimensional ultrasonic image.

And S105, correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount.

In this embodiment, based on the acquired real-time ultrasound image, a CT image obtained before the operation may be corrected in real time, and the corrected CT image and the CT image before the correction are compared to obtain a real-time bone grinding amount of the joint portion of the target object, where the CT image before the correction is an initial CT image corresponding to the joint portion of the target object obtained before the operation.

And S106, calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount.

In this embodiment, based on the bone grinding parameter and the current bone grinding amount, the safety range of the bone grinding amount and the like can be obtained through comprehensive calculation, and the current bone grinding amount and the safety range of the bone grinding amount are displayed on a display module of the robot system in real time, so that a bone density safety barrier is provided, and a safer guarantee is provided for a doctor to perform a joint replacement operation.

In the above embodiment, the milled bone quantity safety range may include a boundary of milled bone parameters and a boundary of milled bone quantity.

In the above embodiments, the bone grind parameters may include, but are not limited to, at least one of: bone grinding feed amount, bone grinding rotating speed and bone grinding force; the safe range of the bone abrasion amount can be drawn on the corrected CT image in the form of a safe line of the bone strength.

In the above embodiments, the joint replacement surgery may include knee joint replacement surgery, hip joint replacement surgery, and joint replacement surgery such as shoulder joint, elbow joint, ankle joint, and in the present embodiment, hip joint replacement surgery is taken as an example.

In the joint replacement surgery adopting the MAKO robot system, the joint part of a target object to be operated is subjected to CT scanning before the surgery, the navigation system and the mechanical arm are registered, the tracking arrays arranged at the tail end of the mechanical arm, the hip joint of the target object and the like are monitored in real time by the navigation system, the pose information of an electric drill at the tail end of the mechanical arm is obtained in real time, and the monitoring of the bone grinding amount is realized. However, in such solutions, the tracking array is prone to movement, resulting in reduced navigation accuracy; meanwhile, the visual field area of the navigation system is easily shielded in the use process, so that the operation efficiency is influenced.

The ultrasonic bone density detector is a miniaturized version of the bone density detector. The bone density measuring system is a special technology in the field of ultrasonic diagnosis, and mainly utilizes the change of bone mass to ultrasonic attenuation and sound velocity to carry out noninvasive, nondestructive and non-radiative detection on physiological parameters of human body bone density bone strength and the like, and is commonly used for diagnosing osteoporosis diseases.

In this embodiment, by providing the ultrasonic bone density detector and the ultrasonic detection module, in the process of grinding and filing the bone by the bone grinding module, the bone density information and the bone strength information of the joint part of the target object are fed back in real time by the ultrasonic bone density detector, the ultrasonic image of the joint part is fed back in real time by the ultrasonic detection module, the preoperative CT image is corrected in real time by the ultrasonic image, the preoperative CT image and the intraoperative CT image are compared to monitor the bone grinding amount in real time, various tracking arrays do not need to be installed, the preoperative workload is reduced, and the operation efficiency is improved; meanwhile, the system is compatible with a navigation system, and related bone grinding information is timely compensated when the navigation system fails (for example, a visual field area is blocked), so that the reliability of the joint replacement operation is guaranteed.

Acquiring a CT image corresponding to a joint region of the target object through the above steps S101 to S106; acquiring bone density information and bone strength information of a joint part by using a bone density detection module; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to a joint part by using an ultrasonic detection module; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount; and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount. Through the method and the device, the problem that the reliability of the real-time monitoring of the bone abrasion amount in the joint replacement operation is low in the related art is solved, and the technical effect of improving the reliability of the real-time monitoring of the bone abrasion amount in the joint replacement operation is achieved.

In this embodiment, the bone grinding amount safety range may be drawn on the corrected CT image in the form of a bone strength safety line, and is visually displayed to the user by using a display module in the robot system, and the user may determine whether the bone grinding in the current operation is in place according to the current bone grinding amount and the bone grinding amount safety range, for example, when the current bone grinding amount exceeds the bone grinding amount safety range, a navigation calibration instruction is sent to a mechanical arm module driving the bone grinding module in the robot system, so that the bone grinding module is prevented from grinding bones or other soft tissues, and the safety of the joint replacement operation is ensured.

In this embodiment, the safety range of the bone grinding amount can be displayed on the joint real-time model in a visual form, for example, a bone strength safety line and the like are displayed on the joint real-time model, a user can judge whether the current bone grinding amount exceeds the bone strength safety line, and when the current bone grinding amount exceeds the bone strength safety line, a navigation calibration instruction is sent to a mechanical arm module of a driving bone grinding module in a robot system, the bone grinding module is prevented from grinding bones or other soft tissues and the like, the safety of the joint replacement operation is guaranteed, a bone density safety barrier is provided in real time, a visual function of visually judging whether the bone grinding is in place is provided for a doctor, and a safer guarantee is provided for the doctor to perform the operation.

In the above embodiment, the display module of the robot system may display a CT image before correction and a CT image after correction, the bone strength safety line may be drawn on the CT image before correction (i.e., a CT image before operation) or the CT image after correction (i.e., a CT image after operation), the current bone grinding amount may be displayed in a numerical form or in a drawing form, and a visualization function that can visually judge whether the bone grinding is in place is provided to a doctor.

In some of these embodiments the bone density detection module comprises a detection unit and a processing unit; the method for acquiring the bone density information and the bone strength information of the joint part by using the bone density detection module is realized by the following steps:

step 1, the detection unit transmits ultrasonic waves to the joint part and receives the ultrasonic waves reflected by the joint part.

And 2, generating bone density information and bone strength information of the joint part by the processing unit according to the transmitted ultrasonic waves and the reflected ultrasonic waves.

In this embodiment, the detection unit may be an ultrasonic probe, the ultrasonic probe may include a transmitting portion and a receiving portion, the ultrasonic probe may contact with a tested bone (e.g., a hip bone) of the target object, and a medical ultrasonic couplant is filled or coated between contact surfaces of the ultrasonic probe and the tested bone to reduce interface loss of the ultrasonic waves between air and the tested bone of the target object, so that the ultrasonic waves are effectively transmitted between the transmitting portion and the receiving portion and the hip bone of the target object.

The transmitting part of the ultrasonic probe transmits ultrasonic waves to joint parts of a target object, the ultrasonic waves are transmitted to human tissues and bones, and partial energy returns to the probe; the receiving portion of the ultrasonic probe is capable of receiving ultrasonic waves reflected by the joint portion, performing acoustic-electric conversion, and converting an echo containing a sound velocity signal into an electric signal to generate a reception signal.

The processing unit may generate bone density data from the received signals, the bone density data including, but not limited to, at least one of: bone density information, bone strength information, osteoporosis status information, and the like.

In some embodiments, the processing unit may further perform ultrasonic imaging according to the received signal, for example, the bone density detection module may be used to acquire an ultrasonic image corresponding to the joint region, including:

And 2, generating an ultrasonic image of the joint part by the processing unit according to the transmitted ultrasonic wave and the reflected ultrasonic wave.

In this embodiment, the detection unit of the bone density detection module may be used to perform ultrasonic scanning on the joint portion, and then perform ultrasonic imaging to generate an ultrasonic image of the joint portion, or the ultrasonic detection module may be used to perform ultrasonic scanning on the joint portion to generate an ultrasonic image of the joint portion.

In some of these embodiments, acquiring a CT image corresponding to a joint region of a target object is accomplished by:

step 1, medical image data corresponding to a joint portion of a target object is acquired.

And 2, segmenting and reconstructing the joint part of the target object according to the medical image data, determining a first three-dimensional model corresponding to the joint part of the target object, and taking the first three-dimensional model as a CT image corresponding to the joint part of the target object.

In the above embodiment, the CT image may be image-registered from the ultrasound image; and reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, correcting the CT image in real time according to the ultrasonic image, segmenting and reconstructing a joint part of the target object according to the corrected CT image, and determining a second three-dimensional model corresponding to the joint part of the target object.

In this embodiment, the accuracy of the second three-dimensional model generated based on the corrected CT image can be improved by performing image registration on the ultrasound image and the CT image, and the accuracy of navigation positioning and/or real-time monitoring of the bone grinding amount can be improved in the process of performing navigation positioning on the bone grinding module based on the second three-dimensional model or calculating the bone grinding amount based on the second three-dimensional model.

In some of these embodiments, the method further comprises: and determining the osteoporosis state of the joint part of the target object according to the bone density information and the bone strength information.

In this embodiment, the parameter configuration may be performed on the bone grinding module according to the bone density information, the bone strength information, and the osteoporosis state, so as to obtain bone grinding parameters corresponding to the bone density information, the bone strength information, and the osteoporosis state.

In the above embodiment, since the target object may have an osteoporosis problem, it is necessary to detect whether there is osteoporosis in the joint part of the target object and correct the bone grinding parameter according to the osteoporosis state of the joint part of the target object, so as to prevent the problem of hand injury and the like due to osteoporosis in the joint part and to ensure the reliability of the joint replacement surgery.

This embodiment provides a joint replacement surgery robot system, and fig. 2 is a block diagram of a structure of a joint replacement surgery robot system according to an embodiment of the present application, and as shown in fig. 2, the system includes: the bone grinding device comprises a bone grinding module 20, a mechanical arm module 21, a control module 22, an ultrasonic detection module 23 and a bone density detection module 24, wherein the bone grinding module 20 is fixedly connected with the tail end of the mechanical arm module 21 and is used for grinding a joint part of a target object; the mechanical arm module 21 is in communication connection with the control module 22 and is used for receiving a navigation instruction sent by the control module 22 and moving the bone grinding module 20 to a joint part of a target object according to the navigation instruction; the ultrasonic detection module 23 is arranged at a joint part of the target object, is in communication connection with the control module 22, and is used for performing ultrasonic scanning on the joint part of the target object; the bone density detection module 24 is arranged at a joint part of the target object, is in communication connection with the control module 22, and is used for acquiring bone density information and bone strength information of the joint part; the control module 22 is used for the method for determining the safe range of the bone grinding amount as the above embodiment.

In this embodiment, the bone grinding module 20 may include an electric drill handle, an electric drill main body mechanism and a drill bit, wherein the electric drill handle may support a doctor to hold the electric drill by hand, the electric drill main body mechanism includes a motor and a driving mechanism for driving the electric drill, the driving mechanism is connected with the drill bit, the drill bit includes an acetabular file for grinding the bone, and the bone grinding module 20 may be fixedly connected to the end of the mechanical arm module 21 through the adapter module 25.

In the above embodiment, the bone density detection module 24 may be an ultrasonic bone density detector, wherein the ultrasonic bone density detector includes a detection unit 241 and a processing unit 242, the detection unit 241 may include a micro sensor (ultrasonic diagnostic device) for transmitting an ultrasonic wave to a preset portion and receiving an ultrasonic wave reflected by the preset portion, and the processing unit 242 may include a micro circuit board for performing operations such as processing and amplification on data acquired by the detection unit 241, and sending the data to the control module 22, so that the control module 22 may perform calculation of the current bone grinding amount based on the data acquired by the detection unit 241.

In the above embodiment, the system further includes a display module 24, communicatively connected to the control module 22, for displaying information such as the current bone grinding amount, the safety range of the bone grinding amount, and the CT image calculated by the control module 22.

In some of these embodiments, the control module 22 is further configured for acquiring a CT image corresponding to a joint region of the target subject; acquiring bone density information and bone strength information of the joint part by using a bone density detection module 24; obtaining bone grinding parameters according to the bone density information and the bone strength information; acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module 23; correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount; and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount.

In some of these embodiments, the control module 22 is further configured to determine whether to send navigation calibration instructions to the robot arm module 21 driving the bone grind module 20 in the robotic system according to the current bone grind quantity and the bone grind quantity safety range.

In some of these embodiments, the control module 22 is further configured to draw a bone strength safety line corresponding to the safe range of the bone grinding amount on the corrected CT image, and to display the bone strength safety line and the current bone grinding amount using a display module in the robot system.

In some of these embodiments, the control module 22 is further configured for registering the ultrasound image with the CT image; and reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.

In some embodiments, the control module 22 is further configured to compare and analyze the corrected CT image with the CT image before correction to obtain the current bone grinding amount.

In some of these embodiments, the milling parameters include milling feed, milling rotational speed, and milling force.

It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.

The present embodiment further provides an electronic apparatus, and fig. 3 is a schematic diagram of a hardware structure of the electronic apparatus according to an embodiment of the present application, and as shown in fig. 3, the electronic apparatus includes a memory 304 and a processor 302, where the memory 304 stores a computer program, and the processor 302 is configured to execute the computer program to perform the steps in any of the method embodiments.

Specifically, the processor 302 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 304 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 304 may include a Hard Disk Drive (Hard Disk Drive, abbreviated to HDD), a floppy Disk Drive, a Solid State Drive (SSD), flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 304 may include removable or non-removable (or fixed) media, where appropriate. The memory 304 may be internal or external to the joint replacement surgical robotic system, where appropriate. In a particular embodiment, the memory 304 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, Memory 304 includes Read-Only Memory (ROM) and Random Access Memory (RAM). The ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), Electrically rewritable ROM (EAROM), or FLASH Memory (FLASH), or a combination of two or more of these, where appropriate. The RAM may be a Static Random-Access Memory (SRAM) or a Dynamic Random-Access Memory (DRAM), where the DRAM may be a Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), an Extended data output Dynamic Random-Access Memory (EDODRAM), a Synchronous Dynamic Random-Access Memory (SDRAM), and the like.

Memory 304 may be used to store or cache various data files for processing and/or communication purposes, as well as possibly computer program instructions for execution by processor 302.

The processor 302 may implement any of the above-described embodiments of the method for determining a safe range of bone wear by reading and executing computer program instructions stored in the memory 304.

Optionally, the electronic apparatus may further include a transmission device 306 and an input/output device 308, where the transmission device 306 is connected to the processor 302, and the input/output device 308 is connected to the processor 302.

Alternatively, in this embodiment, the processor 302 may be configured to execute the following steps by a computer program:

s1, a CT image corresponding to the joint region of the target object is acquired.

And S2, acquiring the bone density information and the bone strength information of the joint part by using the bone density detection module.

And S3, obtaining bone grinding parameters according to the bone density information and the bone strength information.

And S4, acquiring an ultrasonic image corresponding to the joint part by using the ultrasonic detection module.

And S5, correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount.

And S6, calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount.

In addition, in combination with the method for determining the safe range of the bone grinding amount in the above embodiments, the embodiments of the present application may be implemented by providing a storage medium. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the above-described embodiments of the method for determining a safe range of bone abrasion amount.

It should be understood by those skilled in the art that various features of the above embodiments can be combined arbitrarily, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

The above examples are merely illustrative of several embodiments of the present application, and the description is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for determining a safe range of bone grinding amount, the method comprising:

acquiring a CT image corresponding to a joint part of a target object;

acquiring bone density information and bone strength information of the joint part by using a bone density detection module;

obtaining bone grinding parameters according to the bone density information and the bone strength information;

acquiring an ultrasonic image corresponding to the joint part by using an ultrasonic detection module;

correcting the CT image in real time according to the ultrasonic image, and acquiring the current bone grinding amount;

and calculating to obtain the bone grinding amount safety range according to the bone grinding parameters and the current bone grinding amount.

2. The method for determining a bone grinding amount safety range according to claim 1, further comprising:

and determining whether to send a navigation calibration instruction to a mechanical arm module of a driving bone grinding module in the robot system or not according to the current bone grinding amount and the safety range of the bone grinding amount.

3. The method for determining a bone grinding amount safety range according to claim 2, further comprising:

and drawing a bone strength safety line corresponding to the safe range of the bone grinding amount on the corrected CT image, and displaying the bone strength safety line and the current bone grinding amount by using a display module in the robot system.

4. The method for determining the safe range of bone grinding quantity according to claim 1, wherein the real-time correction of the CT image according to the ultrasound image comprises:

registering the ultrasound image with the CT image;

and reconstructing an ultrasonic image in real time according to the ultrasonic data obtained in real time, and correcting the CT image in real time according to the ultrasonic image.

5. The method for determining the safety range of bone grinding quantity according to claim 4, wherein the real-time correction of the CT image according to the ultrasonic image and the acquisition of the current bone grinding quantity comprises:

and comparing and analyzing the corrected CT image with the CT image before correction to obtain the current bone grinding amount.

6. The method for determining the safety range of bone grinding quantity according to claim 1, wherein the bone grinding parameters include bone grinding feed quantity, bone grinding rotation speed and bone grinding force.

7. A joint replacement surgical robotic system, the system comprising: a bone grinding module, a mechanical arm module, a control module, an ultrasonic detection module and a bone density detection module, wherein,

the bone grinding module is fixedly connected with the tail end of the mechanical arm module and is used for carrying out bone grinding operation on a joint part of a target object;

the mechanical arm module is in communication connection with the control module;

the ultrasonic detection module is arranged at the joint part of the target object, is in communication connection with the control module, and is used for performing ultrasonic scanning on the joint part of the target object;

the bone density detection module is arranged at a joint part of the target object, is in communication connection with the control module, and is used for acquiring bone density information and bone strength information of the joint part;

the control module is used for executing the bone grinding amount safety range determining method of any one of claims 1 to 6.

8. The joint replacement surgical robotic system of claim 7, wherein the bone density detection module comprises at least one bone density probe disposed within tissue of the joint site of the target subject or adhesively secured to a skin surface of the joint site of the target subject.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the bone grinding safety range determination method according to any one of claims 1 to 6.

10. A storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program, when executed by a processor, implements the bone grinding amount safety range determining method according to any one of claims 1 to 6.