CN115300041B

CN115300041B - Acetabular osteotomy orthopedic surgery positioning tool, system and computer equipment

Info

Publication number: CN115300041B
Application number: CN202210955390.2A
Authority: CN
Inventors: 孟李艾俐; 周越; 张兴鹏; 李昂
Original assignee: Bone Shengyuanhua Robot Shenzhen Co ltd
Current assignee: Bone Shengyuanhua Robot Shenzhen Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-03-14
Anticipated expiration: 2042-08-10
Also published as: CN115300041A; WO2024032168A1

Abstract

The embodiment of the application is suitable for the technical field of medical treatment, provides an acetabular bone cutting orthopedic surgery positioning tool, system and computer equipment, acetabular bone cutting orthopedic surgery positioning tool includes fixed connection and separable switching pole and support, include a conical nut and three at least staple on the support, conical nut with the support passes through threaded connection and can continue to rotate, the staple is located axial displacement can be followed in the guiding hole of support, will the downstream and extrude when conical nut is rotated the staple, the extruded the staple can be followed in the axial the guiding hole stretches out and pricks acetabular socket bone face, realizes the fixed of support and acetabular socket. By adopting the acetabular osteotomy orthopedic surgery positioning tool, real-time three-dimensional poses of acetabular bone blocks in a hip dysplasia surgery process under the assistance of a robot can be accurately tracked, and the success rate of hip dysplasia surgeries is greatly improved.

Description

Acetabular osteotomy orthopedic surgery positioning tool, system and computer equipment

Technical Field

The embodiment of the application belongs to the technical field of medical treatment, and particularly relates to an acetabular osteotomy orthopedic surgery positioning tool, an acetabular osteotomy orthopedic surgery positioning system and computer equipment.

Background

Osteoarthritis (OA) is a degenerative disease of articular cartilage caused by aging, trauma, joint deformity, etc., and is called "immortal cancer" by the World Health Organization (WHO). According to incomplete statistics, at least 3.6 hundred million patients with osteoarthritis exist all over the world, and the number of patients with osteoarthritis in China is up to more than 1 hundred million. In 2020, the treatment cost of the orthopedic chronic diseases in China is increased to 850 billion; presumably, the cost will reach 18000 billion dollars by 2050. With the continuous increase of the aging population, osteoarthritis will bring huge social and economic burdens.

Hip dysplasia (DDH) is a congenital acetabular bony dysplasia resulting from inadequate coverage of the femoral head by the acetabulum, a reduced contact area of the acetabulum and increased contact stress, leading to premature cartilage degeneration, which leads to secondary osteoarthritis, and serious DDH patients lose labor capacity in middle and young years. DDH has been reported in the literature to be the primary cause of secondary hip osteoarthritis (incidence rates can reach 43%).

According to incomplete statistics, DDH patients in China are estimated to be 300-500 ten thousand, and the DDH patients generally need to be treated by means of acetabular osteotomy orthopedic surgery. As shown in fig. 1, a schematic representation of a typical acetabular osteotomy orthopedic procedure generally includes: (a) Cutting bones around the acetabulum to enable the acetabulum bone blocks to be in a free state; (b) Rotating to orthopedic reposition the acetabular bone block and correcting the position and posture of the acetabulum; (c) fixing the reduced acetabular bone pieces with screws; (d) Healing of acetabular bone, and recovering normal hip joint anatomical morphology and cartilage biomechanical function. In the operation treatment process shown in fig. 1, because key bone parts of multiple adjacent vascular nerves of the pelvis are required to be cut off to enable the acetabular bone blocks to be in a free state, and then the posture of the acetabular bone blocks is corrected through bare-handed rotation correction and fine reduction, so that the problem of insufficient acetabular coverage is corrected, the problems of large trauma, high operation risk, large operation difficulty, steep learning curve, large individual difference of operators and the like exist.

Disclosure of Invention

In view of the above, the present disclosure provides an acetabular osteotomy orthopedic positioning tool, a system and a computer device, which are used to improve the success rate of hip dysplasia surgery.

According to a first aspect of the embodiment of the application, the acetabular osteotomy orthopedic positioning tool comprises a fixedly connected and separable adapter rod and a support, wherein the support comprises a conical nut and at least three fixing nails, the conical nut is in threaded connection with the support and can continuously rotate, the fixing nails are located in guide holes of the support and can move axially, the conical nut moves downwards and presses the fixing nails when being rotated, and the pressed fixing nails can axially extend out of the guide holes and penetrate into the bone surface of an acetabular socket to realize the fixation of the support and the acetabular socket.

A second aspect of embodiments of the present application provides an acetabular osteotomy orthopaedic positioning system comprising a robotic arm having a tracer mounted at a distal end thereof and an acetabular osteotomy orthopaedic positioning tool according to the first aspect, and a computer device for performing the following operations:

controlling the mechanical arm to fix one end of the support of the acetabular osteotomy orthopedic positioning tool in the acetabular fossa;

registering and registering the acetabular bone block by using a tracer at the tail end of the mechanical arm;

controlling the mechanical arm to separate an adapter rod of the acetabular osteotomy orthopedic positioning tool from the support; the separated support is kept in the acetabulum socket, and the separated adapter rod is fixed at the tail end of the mechanical arm;

after the osteotomy of the acetabular bone block is completed, controlling the mechanical arm to assemble and fix the adapter rod and the bracket, and manipulating the acetabular bone block fixed with the acetabular osteotomy orthopedic positioning tool to move to a planned position;

after the acetabular bone piece is secured to the pelvis, controlling the robotic arm to remove the acetabular osteotomy orthopedic positioning tool from the acetabular socket; wherein, a tracer is fixed on the pelvis.

A third aspect of embodiments of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing, when executing the computer program:

the acetabulum osteotomy orthopedic positioning tool comprises a fixedly connected and separable adapter rod and a support, wherein the support comprises a conical nut and at least three fixing nails, the conical nut is in threaded connection with the support and can rotate continuously, the fixing nails are positioned in a guide hole of the support and can move axially, the conical nut moves downwards and presses the fixing nails when being rotated, and the pressed fixing nails can axially extend out of the guide hole and penetrate into the bone surface of the acetabulum socket to realize the fixation of the support and the acetabulum socket;

A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements:

the acetabulum osteotomy orthopedic positioning tool comprises an adapter rod and a support which are fixedly connected and separable, wherein the support comprises a conical nut and at least three fixing nails, the conical nut is in threaded connection with the support and can continuously rotate, the fixing nails are positioned in a guide hole of the support and can axially move, the conical nut moves downwards and presses the fixing nails when being rotated, and the pressed fixing nails can axially extend out of the guide hole and penetrate into the bone surface of the acetabular socket to realize the fixation of the support and the acetabular socket;

A fifth aspect of embodiments of the present application provides a computer program product which, when run on a computer, causes the computer to perform:

after the acetabular bone block is cut, controlling the mechanical arm to assemble and fix the adapter rod and the bracket, and manipulating the acetabular bone block fixed with the acetabular bone cutting orthopedic positioning tool to move to a planned position;

after the acetabular bone piece is secured to the pelvis, controlling the robotic arm to remove the acetabular osteotomy orthopedic positioning tool from the acetabular socket; wherein a tracer is fixed on the pelvis.

Compared with the prior art, the embodiment of the application has the following advantages:

the embodiment of the application can control the mechanical arm to fix the support end of the positioning tool in the acetabulum fossa after the registration and registration step of the pelvis of the acetabulum osteotomy is finished by providing the acetabulum osteotomy orthopedic positioning tool. At this time, the tracer at the tail end of the mechanical arm can be used as a tracer of the acetabular bone block and used for registering and registering the acetabular bone block. After all registration and registration are completed, the positioning tool can be unlocked from the middle section, and the adapter rod is separated from the support. The detached holder will continue to rest within the acetabular socket and the adapter rod is removed from the acetabular socket simultaneously with the end of the mechanical arm. The surgeon may then perform an osteotomy of the acetabular bone piece in accordance with the preoperative planning protocol. After the osteotomy is completed, the positioning tool is assembled, so that the adapter rod and the bracket can be fixed together again. In this way, the acetabular bone pieces can be manipulated to the preoperatively planned position by controlling the end of the robotic arm and secured to the pelvis using bone screws. After unlocking the holder end of the positioning tool, the robotic arm may be moved away from the acetabular socket along with the positioning tool. By applying the acetabular osteotomy orthopedic surgery positioning tool provided by the embodiment of the application, the real-time three-dimensional pose of a free acetabular bone block can be accurately tracked, and the success rate of DDH surgery is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic illustration of a typical acetabular osteotomy orthopedic treatment;

FIG. 2 is a schematic view of an acetabular osteotomy orthopedic aid robotic system for DDH treatment according to an embodiment of the present application;

FIG. 3 is a schematic view of a planning scenario for acetabular osteotomy orthopaedic surgery provided by an embodiment of the present application;

FIG. 4 is a schematic view of a surgical navigation system provided by an embodiment of the present application;

FIG. 5 is a schematic view of an acetabular osteotomy orthopedic positioning tool provided in an embodiment of the present application;

FIG. 6 is a side view of an acetabular osteotomy orthopedic positioning tool provided in accordance with an embodiment of the present application;

FIG. 7 is a schematic view of an acetabular osteotomy orthopedic positioning tool in fixed connection with an acetabular bone block provided by an embodiment of the application;

FIG. 8 is a schematic view of the acetabular osteotomy orthopaedic positioning tool set forth in the examples herein with the support frame separated from the adapter rod and secured within the acetabular socket;

FIG. 9 is a schematic view of a support and an adapter rod of an acetabular osteotomy orthopedic positioning tool reassembled according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of an operating process of a computer device according to an embodiment of the present application;

fig. 11 is a schematic diagram of a computer device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

Aiming at the difficult problems of large trauma, high surgical risk, large operation difficulty, steep learning curve, large individual difference of operators and the like in the treatment process of the acetabular osteotomy orthopedic surgery shown in the figure 1, the success rate of DDH surgery can be effectively improved by means of computer assistance and technical means such as navigation positioning, accurate osteotomy and the like. However, there are no mature products currently on the market that can be used to perform DDH surgery. The embodiment of the application provides an acetabulum osteotomy orthopedic auxiliary robot system for DDH treatment by combining application experiences of an orthopedic surgical robot in other surgical modes, such as knee joint replacement surgery, traditional hip joint replacement surgery and the like. As shown in fig. 2, it is a schematic diagram of an acetabular osteotomy orthopedic aid robot system for DDH treatment, which is mainly composed of three core modules, namely: the robot-assisted bone cutting system comprises a computer-assisted bone cutting planning module, a robot-assisted rotary bone cutting module and a robot-guided orthopedic reduction module.

Among the above functional modules, the acetabulum posture reduction (revision) performed by the robot-guided orthopaedic reduction module is a key ring, and is also the most difficult step in the acetabular osteotomy orthopaedic surgery, and the reduction precision of the revision directly affects the postoperative functional recovery. Therefore, the dynamic tracking and pose estimation of the free acetabular bone blocks are very important in the operation. The common optical navigation usually adopts an infrared positioning and tracking mode, although the system robustness and the real-time performance are better, the system is invasive because the system can only identify the infrared markers implanted into the pelvic bone block and the acetabular bone block. In addition, under the narrow exposure operative field of minimally invasive osteotomy, the probe-based interactive indirect positioning method is easy to cause inaccurate pelvis registration, thereby influencing the estimation accuracy of the position and posture of the acetabular bone block. Therefore, under the restriction of the minimally invasive surgery field, how to realize the dynamic tracking of the non-invasive acetabular bone block and the accurate pose estimation is of great importance. The embodiment of the application provides a scheme combining software and hardware, which can accurately track the real-time three-dimensional pose of an acetabular bone block in the DDH operation process under the assistance of a robot, and greatly improves the success rate of the DDH operation.

The greatest difference between the DDH operation and the conventional hip replacement operation is that the conventional hip replacement operation is to install an artificial prosthesis to replace the original bone surface function of an acetabulum fossa after the acetabulum fossa of a patient is ground by a rasp. The service life of this type of implanted prosthesis is generally between 15 and 20 years. Therefore, clinically, for young patients with DDH, the procedure of retaining the acetabular component is generally selected, i.e., as shown in fig. 1, the pieces of dysplastic acetabular bone are separated from the pelvis, and then are adjusted to the ideal pose as determined by the physician's preoperative assessment before being stapled to the pelvis. The whole process is very complex and comprises a plurality of technical links. The embodiment of the application aims at solving one link, namely, the free acetabulum bone block is tracked in a real-time three-dimensional pose mode through the assistance of a navigator and a mechanical arm.

The following describes a specific process of performing real-time three-dimensional pose tracking on a free acetabular bone block provided in the embodiment of the present application.

Before an operation, a patient scans CT, and carries out image segmentation according to the CT to obtain a three-dimensional model of the pelvis of the patient. Then, the doctor carries out preoperative surgical plan planning on the three-dimensional model of the pelvis of the patient, and determines the cutting position of the acetabular bone block and the reset position of the free acetabular bone block after the free acetabular bone block is fixed in a rotating mode.

Fig. 3 is a schematic view of a planning scheme of acetabular osteotomy orthopedic surgery according to an embodiment of the present application. Wherein (a) in fig. 3 shows a reconstructed three-dimensional model of the patient's pelvis, and a, B, C, D marked in (a) in fig. 3 are region schematic symbols. A surgical plan based on this three-dimensional model planning first requires the acetabular bone pieces to be separated from the pelvis along the dotted lines shown in fig. 3 (a). The separated acetabulum bone blocks can rotate and move, so that the finally reached position can recover the anatomical morphology and the biomechanical function of a normal hip joint after being fixed by bone nails. Shown in fig. 3 (b) is an example of the relative positions of the acetabular bone piece and the pelvis after rotational displacement.

After the surgical plan is planned, the normal surgical procedure can be entered.

During surgery, a surgeon first exposes the surgical site through routine surgical access and then registers the patient's pelvis. For convenience of subsequent description, the registration principle is briefly described here.

Fig. 4 is a schematic view of a surgical navigation system according to an embodiment of the present disclosure. In fig. 4, the surgical robot system is equipped with a navigator including an infrared transmitting device and an infrared receiving device. Correspondingly, the matched tool of the surgical robot system also comprises a tool named as a tracer, and the tracer consists of a reflective ball capable of reflecting infrared rays and a technical framework. When the operation robot system is used, the tracer and an object to be positioned are rigidly fixed, and the three-dimensional coordinate of the tracer can be read in real time by the navigator through transmitting infrared light and receiving the infrared light reflected by the tracer. The coordinate system where the three-dimensional coordinates are located is a world coordinate system preset by the navigator, and remains unchanged in the whole operation process. Accordingly, as long as the target object is rigid and does not deform, such as a bone, a robot arm tip, etc., the real-time three-dimensional coordinates of any one point on the target object can be acquired by the navigator.

In the actual operation process, besides the rigid fixing of the tracer on the pelvis, the tail end of the mechanical arm can also be rigidly fixed with the tracer, so that the three-dimensional pose of the tail end of the mechanical arm can be tracked in real time. In addition, all registration procedures use one probe, and four reflective balls are also arranged on the probe. In this way, real-time three-dimensional coordinates of the probe tip can also be tracked by the navigator. In the operation space, if the real-time three-dimensional position of any one point is required to be acquired, the probe tip is only used for clicking the point.

Let the coordinate system of the three-dimensional pelvic CT model be C _mf The coordinate system of the world coordinate system of the navigator is C _f The purpose of registration is to find the transformation relation (R) _f0 ，t _f0 ) So that after a point set is arbitrarily marked on the pelvis bone surface of the real world, the points in the point set pass through (R) _f0 ，t _f0 ) After conversion, the Euclidean distance between the corresponding point pairs on the three-dimensional model bone surface of the pelvis CT is less thanAn initially set threshold r. In popular language, i.e. after registration, the real world pelvis can be considered to have been substantially fitted to the pelvis of the CT three-dimensional model. The problem at present is that after the acetabular bone block is cut and separated from the pelvis, the acetabular bone block is not rigidly fixed with the pelvis any more, so that the tracer on the pelvis cannot be used for tracking the free acetabular bone block in a three-dimensional pose manner in real time.

According to the conventional robot operation idea, the most direct solution is to drill a tracer on the acetabular bone block, so that when the acetabular bone block is in a free state, the acetabular bone block can be continuously positioned through the tracer rigidly connected with the acetabular bone block. However, such a solution is not practical in an operative procedure because the opening of the operative access only marginally exposes the acetabular socket during acetabular surgery. If the tracer is fixed on the acetabular bone block by the bone nail, the tracer is fixed on the acetabular bone block in the whole process, so that the operation of a doctor is seriously interfered. It is contemplated that in addition to the real-time pose of the free acetabular bone piece being tracked, the relative position of the free acetabular bone piece and the pelvis are maintained after confirmation of its pose and preoperative planning to facilitate the final "fixing the free acetabular bone piece and pelvis together with bone screws" step. In the robot-assisted surgery process, the most reasonable mode is to clamp the free acetabular bone blocks through the mechanical arm, so that if the pelvis of a patient is displaced, the mechanical arm can also accurately adjust the pose of the acetabular bone blocks to keep the corresponding to the pelvis.

In order to achieve the above functions, embodiments of the present application provide an acetabular osteotomy orthopedic positioning tool for robot-assisted acetabular osteotomy orthopedic positioning, which enables positioning of an acetabular bone piece throughout the surgical procedure, and enables a robotic arm to help fix the relative positions of a free acetabular bone piece and a pelvis in a final stapling stage. The tool is comprised of two parts, one part adapted to be received within and fixedly attached to the acetabular socket and the other part mounted to the mechanical arm. Before cutting bones, combining the two ends, calculating the coordinates of the acetabular fossa through the self coordinates of the mechanical arm, then separating the two ends and cutting the bones, connecting the acetabular fossa end with the mechanical arm end after the bone cutting is finished, and placing the acetabular fossa to a preset position through the mechanical arm.

Fig. 5 and 6 are schematic views illustrating an acetabular osteotomy orthopedic positioning tool according to an embodiment of the present application. Wherein figure 6 shows a side view of the acetabular osteotomy orthopedic positioning tool. As seen in connection with fig. 5 and 6, the acetabular osteotomy orthopedic positioning tool includes a fixedly attached and separable adapter rod 501 and a bracket 502. The bracket can be a spherical bracket, the spherical bracket comprises a conical nut 503 and at least three fixing nails 504, and the conical nut 503 and the bracket 502 can be connected through threads and can continue to rotate; the fixing pin 504 is located in a guide hole of the bracket 502 and is axially movable. When the cone nut 503 is turned, it will move downward and compress the staple 504. At this point, the compressed fixation pin 504 may be axially extended through the pilot hole and driven into the acetabular socket bone surface to secure the holder 502 to the acetabular socket.

In the embodiment of the present application, one end of the adapting rod 501 has a guiding shaft and a pin, and the bracket 502 has a pin slot. Thus, the guide shaft and the pin on the adapter rod 501 can be matched with the pin groove on the bracket 502 to realize positioning. On the same end of the adapter rod 501 as the guide shaft and the pin, there is also a coupling nut 505, and the coupling nut 505 can be connected to the adapter rod 501 and can rotate freely. After the joint nut 505 is matched and locked with the external thread on the bracket 502, the adapter rod 501 and the bracket 502 can be fixed.

After the registration process is finished, the conversion relation between the CT three-dimensional model coordinate system and the real world coordinate system is confirmed. At this point, after the acetabular osteotomy positioning tool is mounted on the end of the mechanical arm, the end of the mechanical arm is manipulated to secure the spherical bearing 502 side of the tool within the acetabular socket. FIG. 7 is a schematic view of an acetabular osteotomy orthopedic positioning tool fixedly attached to an acetabular bone piece (the end of the robotic arm is not shown in FIG. 7). At this time, the end of the mechanical arm, the positioning tool, and the acetabular bone are all connected in a fixed and rigid manner, and the positioning tool in fig. 7 is a positioning tool including the structure of the adapter rod and the spherical bracket in the foregoing example. In this connected state, it can be understood that the tracer at the end of the mechanical arm simultaneously plays the role of the tracer for the acetabular bone piece. Thus, the acetabular bone piece (i.e., the dashed portion of fig. 3) may be registered once, with reference to the robotic arm end tracer.

After registration is complete, the positioning tool can be detached from the middle segment. Thus, with the ball 502 and adapter 501 separated, the ball 502 can remain seated in the acetabular socket and the adapter 501 can remain seated on the end of the arm as shown in FIG. 8. In a specific implementation, after the holder 502 has been secured to the acetabular socket in accordance with FIG. 7, the adapter nut 505 of FIG. 5 may be disengaged from the adapter rod 501, thereby permitting disengagement of the adapter rod 501 from the holder 502. In contrast to the view of fig. 7, in fig. 8 only the carrier part of the positioning tool remains fixed in the acetabular socket and the adapter rod of the positioning tool is already separated from the carrier.

An osteotomy of the acetabular bone piece may then be performed in accordance with the preoperative planning protocol. During the osteotomy procedure, the ball bearing 502 remaining in the acetabular socket does not interfere with the osteotomy procedure since the adapter 501 has been separated from the ball bearing 502. After the osteotomy is completed, the mechanical arm can be controlled again to restore the connection between the spherical support 502 and the adapter 501. This corresponds to the robotic arm being secured to the acetabular bone piece by a tool, as shown in fig. 9. Fig. 9 shows a schematic view of the adapter rod of the positioning tool being reconnected to the spherical holder after the acetabular bone piece has been osteotomy. That is, the robotic arm may guide the acetabular bone piece by controlling the pose of the tip such that the relative positions of the acetabular bone piece and the pelvis are consistent with those in the pre-operative planning protocol. After reaching the planned position, the mechanical arm is locked and then the acetabular bone pieces and the pelvis are fixed together by bone screws. In the whole process, the real-time three-dimensional position of the pelvis can be determined by the tracer on the pelvis in real time, and the real-time three-dimensional position of the acetabular bone block can be determined by the tracer at the tail end of the mechanical arm in real time, so that the execution accuracy of the planned surgical scheme is ensured.

After the acetabular bone piece is secured to the pelvis, the spherical bearing 502 may be removed from the acetabular socket and the procedure partially completed.

In the embodiment of the application, by providing the acetabular osteotomy orthopedic positioning tool, the mechanical arm can be controlled to fix the support end of the positioning tool in the acetabular fossa after the registration and registration step of the pelvis of the acetabular osteotomy orthopedic operation is completed. At this time, the tracer at the tail end of the mechanical arm can be used as a tracer of the acetabular bone block and used for registering and registering the acetabular bone block. After all registration and registration are completed, the positioning tool can be unlocked from the middle section, and the adapter rod is separated from the support. The detached holder will continue to rest within the acetabular socket and the adapter rod is removed from the acetabular socket simultaneously with the end of the mechanical arm. The surgeon may then perform an osteotomy of the acetabular bone piece in accordance with the preoperative planning protocol. After the osteotomy is completed, the positioning tool is assembled, so that the adapter rod and the bracket can be fixed together again. In this way, the acetabular bone piece can be manipulated to the preoperative planned position by controlling the end of the robotic arm and secured to the pelvis using bone screws. After unlocking the holder end of the positioning tool, the robotic arm may be moved away from the acetabular socket along with the positioning tool. By applying the acetabular osteotomy orthopedic surgery positioning tool provided by the embodiment of the application, the real-time three-dimensional pose of a free acetabular bone block can be accurately tracked, and the success rate of DDH surgery is greatly improved.

In combination with the above description, the present application further provides an acetabular osteotomy orthopedic positioning system, which may include a navigator, a robotic arm, and a computer device. Wherein, the tail end of the mechanical arm can be provided with a tracer and the acetabular osteotomy orthopedic positioning tool introduced in the foregoing; the navigator can comprise an infrared transmitting device and an infrared receiving device, the infrared transmitting device can be used for transmitting infrared rays in the operation process, and the infrared receiving device can be used for receiving the infrared rays reflected by the tracer at the tail end of the mechanical arm and the tracer on the pelvis so as to determine the real-time poses of the pelvis and the acetabular bone block.

As shown in fig. 10, the computer device in the system may be configured to perform the following operations:

s1001, controlling the mechanical arm to fix one end of the support of the acetabulum osteotomy orthopedic positioning tool in the acetabulum socket.

It should be noted that the operations performed by the computer device shown in fig. 10 are only part of the process involved in the surgical procedure for accurately tracking the real-time three-dimensional pose of the free acetabular bone mass. When the acetabulum osteotomy orthopedic surgery is carried out, the planning of a surgical plan and the like are assisted through computer equipment.

Specifically, before an operation, CT scanning may be performed on the pelvis of the patient, a three-dimensional pelvis model is obtained by means of three-dimensional reconstruction, and a doctor may plan an operation plan on the three-dimensional pelvis model of the patient. Then, the surgery was performed according to the planned surgical plan.

In the operation process, the pelvis registration and registration are required to be carried out, and the transformation relation between the pelvis three-dimensional model coordinate system and the real world coordinate system is obtained. After the registration of the pelvis is completed, the computer device may mount the acetabular osteotomy orthopaedic positioning tool at the end of the robotic arm, and then perform the operations of S1001, controlling the robotic arm to secure the holder end of the positioning tool within the patient' S acetabular fossa.

And S1002, registering and registering the acetabular bone block by using a tracer at the tail end of the mechanical arm.

After the mechanical arm is controlled to fix the support end of the positioning tool in the acetabulum socket of the patient, the acetabulum bone block, the positioning tool and the tail end of the mechanical arm are in fixed rigid connection. At this time, the registration and registration step of the acetabular bone block can be performed by using a tracer at the end of the mechanical arm.

S1003, controlling the mechanical arm to separate the adapter rod of the acetabular osteotomy orthopedic positioning tool from the support.

After registration and registration are completed, the computer equipment can control the mechanical arm to unlock the positioning tool from the middle section, so that the transfer rod and the support of the positioning tool are separated. The separated bracket will continue to remain in the acetabular socket and the separated adapter rod will be secured to the end of the mechanical arm.

Then, under the assistance of computer equipment, the doctor can carry out normal osteotomy according to the planning scheme before the art, and the acetabulum bone piece after the osteotomy will be in free state, is fixed with the support of positioning tool on the acetabulum bone piece.

And S1004, after the acetabular bone block is cut, controlling the mechanical arm to assemble and fix the adapter rod and the support, and operating the acetabular bone block fixed with the acetabular bone cutting orthopedic surgery positioning tool to move to a planned position.

After the osteotomy is completed, the computer equipment can control the mechanical arm to reassemble and fix the adapter rod of the positioning tool and the bracket fixed on the acetabular bone block. Thus, the real-time three-dimensional pose of the resected acetabular bone mass can be determined by the tracer at the end of the mechanical arm, the three-dimensional pose of the pelvis can be determined by the tracer mounted on the pelvis, and the computer device can adjust the mechanical arm according to the respective real-time three-dimensional pose and move the mechanical arm to the position determined in the preoperative planning scheme.

In this embodiment, if the pelvis moves, the computer device may determine the real-time pose of the moved pelvis by using the tracer on the pelvis, and then control the mechanical arm to adjust the pose of the acetabular bone block clamped by the mechanical arm, so that the relative pose of the acetabular bone block and the pelvis meets the preoperative planning requirement.

After the acetabulum bone block is moved to the planned position, the acetabulum bone block can be fixed on the pelvis through bone nails.

S1005, controlling the mechanical arm to remove the acetabular osteotomy positioning tool from the acetabular socket after the acetabular bone piece is fixed to the pelvis.

After the fixation of the acetabulum bone block is completed, the step of acetabulum pose reduction is basically completed. At this point, the mechanical arm may be manipulated to remove the positioning tool in its entirety from the acetabular socket.

It should be noted that, since the specific operations of the steps executed by the computer device in the foregoing embodiments are similar to the operations described in the foregoing embodiments, the description is simple. For details, reference may be made to the detailed description of the foregoing embodiments.

Referring to fig. 11, a schematic diagram of a computer device provided in an embodiment of the present application is shown. As shown in fig. 11, the computer device 1100 in the embodiment of the present application includes: a processor 1110, a memory 1120, and computer programs 1121 stored in the memory 1120 and operable on the processor 1110. The processor 1110, when executing the computer program 1121, implements the steps in the various embodiments described above, such as the operational steps S1001 to S1005 performed by the computer device shown in fig. 10.

Illustratively, the computer program 1121 can be divided into one or more modules/units, which are stored in the memory 1120 and executed by the processor 1110 to accomplish the present application. The one or more modules/units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 1121 in the computer device 1100. For example, the computer program 1121 may implement the following functions:

The computing device 1100 may be a desktop computer, a cloud server, or other computing device. The computer device 1100 may include, but is not limited to, a processor 1110, a memory 1120. Those skilled in the art will appreciate that fig. 11 is merely an example of a computing device 1100 and is not intended to be a limitation of computing device 1100, and may include more or fewer components than illustrated, or some of the components may be combined, or different components, e.g., computing device 1100 may also include input output devices, network access devices, buses, or the like.

The Processor 1110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 1120 may be an internal storage unit of the computer device 1100, such as a hard disk or a memory of the computer device 1100. The memory 1120 can also be an external storage device of the computer device 1100, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the computer device 1100. Further, the memory 1120 may also include both an internal storage unit and an external storage device of the computer device 1100. The memory 1120 is used for storing the computer program 1121 and other programs and data required by the computer device 1100. The memory 1120 may also be used to temporarily store data that has been output or is to be output.

An embodiment of the present application further discloses a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements:

The embodiment of the application also discloses a computer program product, when the computer program product runs on a computer, the computer is enabled to realize:

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. An acetabular osteotomy orthopedic positioning system comprising a robotic arm and a computer device, wherein the robotic arm is provided at a distal end thereof with a tracer and an acetabular osteotomy orthopedic positioning tool, the acetabular osteotomy orthopedic positioning tool comprises a fixedly connected and separable adapter rod and a support, the support comprises a cone nut and at least three fixing nails, the cone nut is in threaded connection with the support and can rotate continuously, the fixing nails are located in a guide hole of the support and can move along an axial direction, the cone nut can move downwards and press the fixing nails when being rotated, the pressed fixing nails can axially extend out of the guide hole and penetrate into a bone surface of an acetabular socket, and the support and the acetabular socket are fixed, and the computer device is used for performing the following operations:

2. The acetabular osteotomy orthopedic positioning system of claim 1, further comprising a navigator including an infrared emitting device for emitting infrared light during surgery and an infrared receiving device for receiving infrared light reflected by a tracer at the end of the robotic arm and a tracer on the pelvis to determine a real-time pose of the pelvis and the acetabular bone pieces.

3. The acetabular osteotomy orthopedic positioning system of claim 1, wherein after manipulating the acetabular bone block with the acetabular osteotomy orthopedic positioning tool secured thereto to move to a planned position, the computer device is further configured to perform the following:

if the pelvis moves, determining the real-time pose of the moved pelvis by using a tracer on the pelvis;

controlling the mechanical arm to adjust the posture of the acetabular bone block clamped by the mechanical arm so that the relative posture of the acetabular bone block and the pelvis meets preoperative planning requirements.

4. The acetabular osteotomy orthopedic positioning system of claim 1, wherein the adapter rod has a guide shaft and a pin at one end thereof, and the support has a pin slot therein, the guide shaft and the pin on the adapter rod cooperating with the pin slot on the support to effect positioning.

5. The acetabular osteotomy orthopedic positioning system of claim 4, wherein an engagement nut is further provided at one end of the adapter rod, the engagement nut is connected to the adapter rod and is freely rotatable, and the engagement nut is locked with the external thread of the support to fix the adapter rod to the support.

6. The acetabular osteotomy orthopedic positioning system of claim 5, wherein the coupling nut is separable from the adapter rod after the holder is secured to the acetabular socket, thereby enabling separation of the adapter rod from the holder.

7. The acetabular osteotomy orthopedic positioning system of claim 1, wherein the bearing is a spherical bearing.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements:

9. A computer-readable storage medium storing a computer program, the computer program when executed by a processor implementing: